`airsimdroneracinglab.types`¶

Module Contents¶

Classes¶

`MsgpackMixin`()
`ImageType`()	`airsimdroneracinglab.types.DepthPerspective`¶
`DrivetrainType`()	Type of DrivetrainType
`LandedState`()	`airsimdroneracinglab.types.Flying`¶
`WeatherParameter`()
`Vector3r`(x_val=0.0, y_val=0.0, z_val=0.0)	`airsimdroneracinglab.types.x_val`¶
`Quaternionr`(x_val=0.0, y_val=0.0, z_val=0.0, w_val=1.0)	`airsimdroneracinglab.types.w_val`¶
`Pose`(position_val=Vector3r(), orientation_val=Quaternionr())	`airsimdroneracinglab.types.orientation`¶
`CollisionInfo`()	`airsimdroneracinglab.types.has_collided`¶
`GeoPoint`()	`airsimdroneracinglab.types.altitude`¶
`YawMode`(is_rate=True, yaw_or_rate=0.0)	Struct YawMode with two fields, yaw_or_rate and is_rate.
`RCData`(timestamp=0, pitch=0.0, roll=0.0, throttle=0.0, yaw=0.0, switch1=0, switch2=0, switch3=0, switch4=0, switch5=0, switch6=0, switch7=0, switch8=0, is_initialized=False, is_valid=False)	`airsimdroneracinglab.types.is_initialized`¶
`ImageRequest`(camera_name, image_type, pixels_as_float=False, compress=True)	`airsimdroneracinglab.types.camera_name`¶
`ImageResponse`()	`airsimdroneracinglab.types.camera_orientation`¶
`CarControls`(throttle=0, steering=0, brake=0, handbrake=False, is_manual_gear=False, manual_gear=0, gear_immediate=True)
`KinematicsState`()	`airsimdroneracinglab.types.angular_acceleration`¶
`EnvironmentState`()
`CarState`()
`MultirotorState`()	`airsimdroneracinglab.types.collision`¶
`ProjectionMatrix`()	`airsimdroneracinglab.types.matrix`¶
`CameraInfo`()	`airsimdroneracinglab.types.fov`¶
`LidarData`()
`ImuData`()
`BarometerData`()
`MagnetometerData`()
`GnssFixType`()
`GnssReport`()
`GpsData`()
`DistanceSensorData`()
`PIDGains`(kp, ki, kd)	Struct to store values of PID gains. Used to transmit controller gain values while instantiating
`AngleRateControllerGains`(roll_gains=PIDGains(0.25, 0, 0), pitch_gains=PIDGains(0.25, 0, 0), yaw_gains=PIDGains(0.25, 0, 0))	Struct to contain controller gains used by angle level PID controller
`AngleLevelControllerGains`(roll_gains=PIDGains(2.5, 0, 0), pitch_gains=PIDGains(2.5, 0, 0), yaw_gains=PIDGains(2.5, 0, 0))	Struct to contain controller gains used by angle rate PID controller
`VelocityControllerGains`(x_gains=PIDGains(0.2, 0, 0), y_gains=PIDGains(0.2, 0, 0), z_gains=PIDGains(2.0, 2.0, 0))	Struct to contain controller gains used by velocity PID controller
`PositionControllerGains`(x_gains=PIDGains(0.25, 0, 0), y_gains=PIDGains(0.25, 0, 0), z_gains=PIDGains(0.25, 0, 0))	Struct to contain controller gains used by position PID controller
`TrajectoryTrackerGains`(kp_cross_track=7.5, kd_cross_track=0.0, kp_vel_cross_track=5.0, kd_vel_cross_track=0.0, kp_along_track=0.4, kd_along_track=0.0, kp_vel_along_track=0.04, kd_vel_along_track=0.0, kp_z_track=2.0, kd_z_track=0.0, kp_vel_z=0.4, kd_vel_z=0.0, kp_yaw=3.0, kd_yaw=0.1)	Struct to contain trajectory tracker gains used by the pure pursuit controller for moveBySpline and moveBySplineVelConstraints
`MeshPositionVertexBuffersResponse`()

class airsimdroneracinglab.types.MsgpackMixin¶

__repr__(self)¶

Returns: Description
Return type: TYPE

to_msgpack(self, *args, **kwargs)¶

Parameters

*args – Description
**kwargs – Description

Returns

Description

Return type

TYPE

classmethod from_msgpack(cls, encoded)¶

Parameters: encoded (TYPE) – Description
Returns: Description
Return type: TYPE

class airsimdroneracinglab.types.ImageType¶

DepthPerspective¶

Description

Type: int

DepthPlanner¶

Description

Type: int

DepthVis¶

Description

Type: int

DisparityNormalized¶

Description

Type: int

Infrared¶

Description

Type: int

Scene¶

Description

Type: int

Segmentation¶

Description

Type: int

SurfaceNormals¶

Description

Type: int

Scene = 0¶

DepthPlanner = 1¶

DepthPerspective = 2¶

DepthVis = 3¶

DisparityNormalized = 4¶

Segmentation = 5¶

SurfaceNormals = 6¶

Infrared = 7¶

class airsimdroneracinglab.types.DrivetrainType¶

Type of DrivetrainType

ForwardOnly¶

Fixes yaw along tangent of velocity vector (atan2(vy, vx))

Type: int

MaxDegreeOfFreedom¶

Description

Type: int

MaxDegreeOfFreedom = 0¶

ForwardOnly = 1¶

class airsimdroneracinglab.types.LandedState¶

Flying¶

Description

Type: int

Landed¶

Description

Type: int

Landed = 0¶

Flying = 1¶

class airsimdroneracinglab.types.WeatherParameter¶

Rain = 0¶

Roadwetness = 1¶

Snow = 2¶

RoadSnow = 3¶

MapleLeaf = 4¶

RoadLeaf = 5¶

Dust = 6¶

Fog = 7¶

Enabled = 8¶

class airsimdroneracinglab.types.Vector3r(x_val=0.0, y_val=0.0, z_val=0.0)¶

Bases: airsimdroneracinglab.types.MsgpackMixin

x_val¶

Description

Type: float

y_val¶

Description

Type: float

z_val¶

Description

Type: float

x_val = 0.0¶

y_val = 0.0¶

z_val = 0.0¶

static nanVector3r()¶

Returns: Description
Return type: TYPE

__add__(self, other)¶

Parameters: other (TYPE) – Description
Returns: Description
Return type: TYPE

__sub__(self, other)¶

Parameters: other (TYPE) – Description
Returns: Description
Return type: TYPE

__truediv__(self, other)¶

Parameters: other (TYPE) – Description
Returns: Description
Return type: TYPE
Raises: TypeError – Description

__mul__(self, other)¶

Parameters: other (TYPE) – Description
Returns: Description
Return type: TYPE
Raises: TypeError – Description

dot(self, other)¶

Parameters: other (TYPE) – Description
Returns: Description
Return type: TYPE
Raises: TypeError – Description

cross(self, other)¶

Parameters: other (TYPE) – Description
Returns: Description
Return type: TYPE
Raises: TypeError – Description

get_length(self)¶

Returns: Description
Return type: TYPE

distance_to(self, other)¶

Parameters: other (TYPE) – Description
Returns: Description
Return type: TYPE

to_Quaternionr(self)¶

Returns: Description
Return type: TYPE

to_numpy_array(self)¶

Returns: Description
Return type: TYPE

class airsimdroneracinglab.types.Quaternionr(x_val=0.0, y_val=0.0, z_val=0.0, w_val=1.0)¶

Bases: airsimdroneracinglab.types.MsgpackMixin

w_val¶

Description

Type: float

x_val¶

Description

Type: float

y_val¶

Description

Type: float

z_val¶

Description

Type: float

w_val = 0.0¶

x_val = 0.0¶

y_val = 0.0¶

z_val = 0.0¶

static nanQuaternionr()¶

Returns: Description
Return type: TYPE

__add__(self, other)¶

Parameters: other (TYPE) – Description
Returns: Description
Return type: TYPE
Raises: TypeError – Description

__mul__(self, other)¶

Parameters: other (TYPE) – Description
Returns: Description
Return type: TYPE
Raises: TypeError – Description

__truediv__(self, other)¶

Parameters: other (TYPE) – Description
Returns: Description
Return type: TYPE
Raises: TypeError – Description

dot(self, other)¶

Parameters: other (TYPE) – Description
Returns: Description
Return type: TYPE
Raises: TypeError – Description

cross(self, other)¶

Parameters: other (TYPE) – Description
Returns: Description
Return type: TYPE
Raises: TypeError – Description

outer_product(self, other)¶

Parameters: other (TYPE) – Description
Returns: Description
Return type: TYPE
Raises: TypeError – Description

rotate(self, other)¶

Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description
ValueError – Description

conjugate(self)¶

Returns: Description
Return type: TYPE

star(self)¶

Returns: Description
Return type: TYPE

inverse(self)¶

Returns: Description
Return type: TYPE

sgn(self)¶

Returns: Description
Return type: TYPE

get_length(self)¶

Returns: norm of quaternion
Return type: float

to_numpy_array(self)¶

Returns: Description
Return type: np.array

class airsimdroneracinglab.types.Pose(position_val=Vector3r(), orientation_val=Quaternionr())¶

Bases: airsimdroneracinglab.types.MsgpackMixin

orientation¶

Description

Type: Quaternionr

position¶

Description

Type: Vector3r

position¶

orientation¶

static nanPose()¶

Returns: Description
Return type: TYPE

class airsimdroneracinglab.types.CollisionInfo¶

Bases: airsimdroneracinglab.types.MsgpackMixin

has_collided¶

Description

Type: bool

impact_point¶

Description

Type: TYPE

normal¶

Description

Type: TYPE

object_id¶

Description

Type: int

object_name¶

Description

Type: str

penetration_depth¶

Description

Type: float

position¶

Description

Type: TYPE

time_stamp¶

Description

Type: float

has_collided = False¶

normal¶

impact_point¶

position¶

penetration_depth = 0.0¶

time_stamp = 0.0¶

object_name =¶

object_id¶

class airsimdroneracinglab.types.GeoPoint¶

Bases: airsimdroneracinglab.types.MsgpackMixin

altitude¶

Description

Type: float

latitude¶

Description

Type: float

longitude¶

Description

Type: float

latitude = 0.0¶

longitude = 0.0¶

altitude = 0.0¶

class airsimdroneracinglab.types.YawMode(is_rate=True, yaw_or_rate=0.0)¶

Bases: airsimdroneracinglab.types.MsgpackMixin

Struct YawMode with two fields, yaw_or_rate and is_rate. If is_rate field is True then yaw_or_rate field is interpreted as angular velocity in degrees/sec, which means you want vehicle to rotate continuously around its axis at that angular velocity while moving.

If is_rate is False then yaw_or_rate is interpreted as angle in degrees, which means you want vehicle to rotate to specific angle (i.e. yaw) and keep that angle while moving.

When yaw_mode.is_rate == true, the drivetrain parameter shouldn’t be set to ForwardOnly because there’s a contradiction as we’re asking for the drone to keep front pointing ahead, but also rotate continuously. However if you have yaw_mode.is_rate = false in ForwardOnly mode then you can do some funky stuff. For example, you can have drone do circles and have yaw_or_rate set to 90 so camera is always pointed to center. In MaxDegreeofFreedom also you can get some funky stuff by setting yaw_mode.is_rate = true and say yaw_mode.yaw_or_rate = 20. This will cause drone to go in its path while rotating which may allow to do 360 scanning.

In most cases, you just don’t want yaw to change which you can do by setting yaw rate of 0. The shorthand for this is airsim.YawMode()

is_rate¶

if True, yaw_or_rate is interpreted as angular velocity in degrees/sec, if False, yaw_or_rate is interpreted as angles in degrees,

Type: bool

yaw_or_rate¶

value of desired yaw rate, or desired yaw angle. Interpretation depends upon is_rate

Type: float

is_rate = True¶

yaw_or_rate = 0.0¶

class airsimdroneracinglab.types.RCData(timestamp=0, pitch=0.0, roll=0.0, throttle=0.0, yaw=0.0, switch1=0, switch2=0, switch3=0, switch4=0, switch5=0, switch6=0, switch7=0, switch8=0, is_initialized=False, is_valid=False)¶

Bases: airsimdroneracinglab.types.MsgpackMixin

is_initialized¶

Description

Type: bool

is_valid¶

Description

Type: bool

pitch¶

Description

Type: TYPE

roll¶

Description

Type: TYPE

switch1¶

Description

Type: TYPE

switch2¶

Description

Type: TYPE

switch3¶

Description

Type: TYPE

switch4¶

Description

Type: TYPE

switch5¶

Description

Type: TYPE

switch6¶

Description

Type: TYPE

switch7¶

Description

Type: TYPE

switch8¶

Description

Type: TYPE

throttle¶

Description

Type: TYPE

timestamp¶

Description

Type: int

yaw¶

Description

Type: TYPE

timestamp = 0¶

is_initialized = False¶

is_valid = False¶

class airsimdroneracinglab.types.ImageRequest(camera_name, image_type, pixels_as_float=False, compress=True)¶

Bases: airsimdroneracinglab.types.MsgpackMixin

camera_name¶

Description

Type: str

compress¶

Description

Type: bool

image_type¶

Description

Type: TYPE

pixels_as_float¶

Description

Type: bool

camera_name = 0¶

image_type¶

pixels_as_float = False¶

compress = False¶

class airsimdroneracinglab.types.ImageResponse¶

Bases: airsimdroneracinglab.types.MsgpackMixin

camera_orientation¶

Description

Type: TYPE

camera_position¶

Description

Type: TYPE

compress¶

Description

Type: bool

height¶

Description

Type: int

image_data_float¶

Description

Type: float

image_data_uint8¶

Description

Type: TYPE

image_type¶

Description

Type: TYPE

message¶

Description

Type: str

pixels_as_float¶

Description

Type: float

time_stamp¶

Description

Type: TYPE

width¶

Description

Type: int

image_data_uint8¶

image_data_float = 0.0¶

camera_position¶

camera_orientation¶

time_stamp¶

message =¶

pixels_as_float = 0.0¶

compress = True¶

width = 0¶

height = 0¶

image_type¶

class airsimdroneracinglab.types.CarControls(throttle=0, steering=0, brake=0, handbrake=False, is_manual_gear=False, manual_gear=0, gear_immediate=True)¶

Bases: airsimdroneracinglab.types.MsgpackMixin

throttle = 0.0¶

steering = 0.0¶

brake = 0.0¶

handbrake = False¶

is_manual_gear = False¶

manual_gear = 0¶

gear_immediate = True¶

set_throttle(self, throttle_val, forward)¶

class airsimdroneracinglab.types.KinematicsState¶

Bases: airsimdroneracinglab.types.MsgpackMixin

angular_acceleration¶

Description

Type: Vector3r

angular_velocity¶

Description

Type: Vector3r

linear_acceleration¶

Description

Type: Vector3r

linear_velocity¶

Description

Type: Vector3r

orientation¶

Description

Type: Quaternionr

position¶

Description

Type: Vector3r

position¶

orientation¶

linear_velocity¶

angular_velocity¶

linear_acceleration¶

angular_acceleration¶

class airsimdroneracinglab.types.EnvironmentState¶

Bases: airsimdroneracinglab.types.MsgpackMixin

position¶

geo_point¶

gravity¶

air_pressure = 0.0¶

temperature = 0.0¶

air_density = 0.0¶

class airsimdroneracinglab.types.CarState¶

Bases: airsimdroneracinglab.types.MsgpackMixin

speed = 0.0¶

gear = 0¶

rpm = 0.0¶

maxrpm = 0.0¶

handbrake = False¶

collision¶

kinematics_estimated¶

timestamp¶

class airsimdroneracinglab.types.MultirotorState¶

Bases: airsimdroneracinglab.types.MsgpackMixin

collision¶

Description

Type: CollisionInfo

gps_location¶

Description

Type: GeoPoint

kinematics_estimated¶

Description

Type: KinematicsState

landed_state¶

Description

Type: LandedState.Landed

rc_data¶

Description

Type: RCData

timestamp¶

Description

Type: np.uint64

collision¶

kinematics_estimated¶

gps_location¶

timestamp¶

landed_state¶

rc_data¶

class airsimdroneracinglab.types.ProjectionMatrix¶

Bases: airsimdroneracinglab.types.MsgpackMixin

matrix¶

Description

Type: list

matrix = []¶

class airsimdroneracinglab.types.CameraInfo¶

Bases: airsimdroneracinglab.types.MsgpackMixin

fov¶

Description

Type: int

pose¶

Description

Type: TYPE

proj_mat¶

Description

Type: TYPE

pose¶

fov¶

proj_mat¶

class airsimdroneracinglab.types.LidarData¶

Bases: airsimdroneracinglab.types.MsgpackMixin

point_cloud = 0.0¶

time_stamp¶

pose¶

class airsimdroneracinglab.types.ImuData¶

Bases: airsimdroneracinglab.types.MsgpackMixin

time_stamp¶

orientation¶

angular_velocity¶

linear_acceleration¶

class airsimdroneracinglab.types.BarometerData¶

Bases: airsimdroneracinglab.types.MsgpackMixin

time_stamp¶

altitude¶

pressure¶

qnh¶

class airsimdroneracinglab.types.MagnetometerData¶

Bases: airsimdroneracinglab.types.MsgpackMixin

time_stamp¶

magnetic_field_body¶

magnetic_field_covariance = 0.0¶

class airsimdroneracinglab.types.GnssFixType¶

Bases: airsimdroneracinglab.types.MsgpackMixin

GNSS_FIX_NO_FIX = 0¶

GNSS_FIX_TIME_ONLY = 1¶

GNSS_FIX_2D_FIX = 2¶

GNSS_FIX_3D_FIX = 3¶

class airsimdroneracinglab.types.GnssReport¶

Bases: airsimdroneracinglab.types.MsgpackMixin

geo_point¶

eph = 0.0¶

epv = 0.0¶

velocity¶

fix_type¶

time_utc¶

class airsimdroneracinglab.types.GpsData¶

Bases: airsimdroneracinglab.types.MsgpackMixin

time_stamp¶

gnss¶

is_valid = False¶

class airsimdroneracinglab.types.DistanceSensorData¶

Bases: airsimdroneracinglab.types.MsgpackMixin

time_stamp¶

distance¶

min_distance¶

max_distance¶

relative_pose¶

class airsimdroneracinglab.types.PIDGains(kp, ki, kd)¶

Struct to store values of PID gains. Used to transmit controller gain values while instantiating AngleLevel/AngleRate/Velocity/PositionControllerGains objects.

kP¶

Proportional gain

Type: float

kI¶

Integrator gain

Type: float

kD¶

Derivative gain

Type: float

to_list(self)¶

class airsimdroneracinglab.types.AngleRateControllerGains(roll_gains=PIDGains(0.25, 0, 0), pitch_gains=PIDGains(0.25, 0, 0), yaw_gains=PIDGains(0.25, 0, 0))¶

Struct to contain controller gains used by angle level PID controller

roll_gains¶

kP, kI, kD for roll axis

Type: PIDGains

pitch_gains¶

kP, kI, kD for pitch axis

Type: PIDGains

yaw_gains¶

kP, kI, kD for yaw axis

Type: PIDGains

to_lists(self)¶

class airsimdroneracinglab.types.AngleLevelControllerGains(roll_gains=PIDGains(2.5, 0, 0), pitch_gains=PIDGains(2.5, 0, 0), yaw_gains=PIDGains(2.5, 0, 0))¶

Struct to contain controller gains used by angle rate PID controller

roll_gains¶

kP, kI, kD for roll axis

Type: PIDGains

pitch_gains¶

kP, kI, kD for pitch axis

Type: PIDGains

yaw_gains¶

kP, kI, kD for yaw axis

Type: PIDGains

to_lists(self)¶

class airsimdroneracinglab.types.VelocityControllerGains(x_gains=PIDGains(0.2, 0, 0), y_gains=PIDGains(0.2, 0, 0), z_gains=PIDGains(2.0, 2.0, 0))¶

Struct to contain controller gains used by velocity PID controller

x_gains¶

kP, kI, kD for X axis

Type: PIDGains

y_gains¶

kP, kI, kD for Y axis

Type: PIDGains

z_gains¶

kP, kI, kD for Z axis

Type: PIDGains

to_lists(self)¶

class airsimdroneracinglab.types.PositionControllerGains(x_gains=PIDGains(0.25, 0, 0), y_gains=PIDGains(0.25, 0, 0), z_gains=PIDGains(0.25, 0, 0))¶

Struct to contain controller gains used by position PID controller

x_gains¶

kP, kI, kD for X axis

Type: PIDGains

y_gains¶

kP, kI, kD for Y axis

Type: PIDGains

z_gains¶

kP, kI, kD for Z axis

Type: PIDGains

to_lists(self)¶

class airsimdroneracinglab.types.TrajectoryTrackerGains(kp_cross_track=7.5, kd_cross_track=0.0, kp_vel_cross_track=5.0, kd_vel_cross_track=0.0, kp_along_track=0.4, kd_along_track=0.0, kp_vel_along_track=0.04, kd_vel_along_track=0.0, kp_z_track=2.0, kd_z_track=0.0, kp_vel_z=0.4, kd_vel_z=0.0, kp_yaw=3.0, kd_yaw=0.1)¶

Struct to contain trajectory tracker gains used by the pure pursuit controller for moveBySpline and moveBySplineVelConstraints

kp_cross_track¶

P gain for position error measured perpendicular to path tangent, or in the “cross track” direction

Type: float

kd_cross_track¶

D gain for position error measured perpendicular to path tangent, or in the “cross track” direction

Type: float

kp_vel_cross_track¶

P gain for velocity error measured perpendicular to path tangent, or in the “cross track” direction

Type: float

kd_vel_cross_track¶

D gain for velocity error measured perpendicular to path tangent, or in the “cross track” direction

Type: float

kp_along_track¶

P gain for position error measured along path tangent

Type: float

kd_along_track¶

D gain for position error measured along path tangent

Type: float

kp_vel_along_track¶

P gain for velocity error measured along path tangent

Type: float

kd_vel_along_track¶

D gain for velocity error measured along path tangent

Type: float

kp_z_track¶

P gain for position error measured along world Z axis

Type: float

kd_z_track¶

D gain for position error measured along world Z axis

Type: float

kp_vel_z¶

P gain for velocity error measured along world Z axis

Type: float

kd_vel_z¶

D gain for velocity error measured along world Z axis

Type: float

kp_yaw¶

P gain for yaw error

Type: float

kd_yaw¶

D gain for yaw error

Type: float

to_list(self)¶

Call this before sending to setTrajectoryTrackerGains

Returns: Description
Return type: list[float]

class airsimdroneracinglab.types.MeshPositionVertexBuffersResponse¶

Bases: airsimdroneracinglab.types.MsgpackMixin

position¶

orientation¶

vertices = 0.0¶

indices = 0.0¶

name =¶

airsimdroneracinglab.types¶

Module Contents¶

Classes¶

`airsimdroneracinglab.types`¶