AirGen Data types

class airgen.types.AngleLevelControllerGains(roll_gains=<airgen.types.PIDGains object>, pitch_gains=<airgen.types.PIDGains object>, yaw_gains=<airgen.types.PIDGains object>)

Bases: object

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()

class airgen.types.AngleRateControllerGains(roll_gains=<airgen.types.PIDGains object>, pitch_gains=<airgen.types.PIDGains object>, yaw_gains=<airgen.types.PIDGains object>)

Bases: object

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()

class airgen.types.BarometerData

Bases: MsgpackMixin

Barometer for multirotor and cars in AirGen.

default settings in settings.json:

{
    "DefaultSensors": {
        "BarometerSensorName": {
            "SensorType": 1,
            "Enabled" : true,
            "PressureFactorSigma": 0.001825,
            "PressureFactorTau": 3600,
            "UncorrelatedNoiseSigma": 2.7,
            "UpdateLatency": 0,
            "UpdateFrequency": 50,
            "StartupDelay": 0
    }
}

usage:

>>> barometer_data=airgen_client.getBarometerData("BarometerSensorName")

altitude: Quaternionr = <Quaternionr> { 'w_val': 1.0, 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}: altitude of the barometer

pressure: Vector3r = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}: pressure of the barometer

qnh: Vector3r = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}: qnh of the barometer

time_stamp: uint64 = 0: timestamp of the barometer data

class airgen.types.Box2D

Bases: MsgpackMixin

max = <Vector2r> { 'x_val': 0.0, 'y_val': 0.0}

min = <Vector2r> { 'x_val': 0.0, 'y_val': 0.0}

class airgen.types.Box3D

Bases: MsgpackMixin

max = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}

min = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}

class airgen.types.CameraInfo

Bases: MsgpackMixin

fov = -1

pose = <Pose> { 'orientation': <Quaternionr> { 'w_val': 1.0, 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}, 'position': <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}}

proj_mat = <ProjectionMatrix> { }

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

Bases: MsgpackMixin

brake = 0.0

gear_immediate = True

handbrake = False

is_manual_gear = False

manual_gear = 0

set_throttle(throttle_val, forward)

steering = 0.0

throttle = 0.0

class airgen.types.CarState

Bases: MsgpackMixin

collision = <CollisionInfo> { }

gear = 0

handbrake = False

kinematics_estimated = <KinematicsState> { }

maxrpm = 0.0

rpm = 0.0

speed = 0.0

timestamp = 0

class airgen.types.CollisionInfo

Bases: MsgpackMixin

has_collided = False

impact_point = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}

normal = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}

object_id = -1

object_name = ''

penetration_depth = 0.0

position = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}

time_stamp = 0.0

class airgen.types.DetectionInfo

Bases: MsgpackMixin

box2D = <Box2D> { }

box3D = <Box3D> { }

geo_point = <GeoPoint> { 'altitude': 0.0, 'latitude': 0.0, 'longitude': 0.0}

name = ''

relative_pose = <Pose> { 'orientation': <Quaternionr> { 'w_val': 1.0, 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}, 'position': <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}}

class airgen.types.DistanceSensorData

Bases: MsgpackMixin

Distance sensor

default settings in settings.json:

{
    "DefaultSensors": {
        "DistanceSensorName": {
            "SensorType": 5,
            "Enabled" : true,
            "MinDistance": 0.2, # Minimum distance measured by distance sensor (metres, only used to fill Mavlink message for PX4) (Default 0.2m)
            "MaxDistance": 40, Maximum distance measured by distance sensor (metres) (Default 40.0m)
            "X": 0, "Y": 0, "Z": -1, # Position of the sensor relative to the vehicle (in NED, in meters) (Default (0,0,0)-Multirotor, (0,0,-1)-Car)
            "Yaw": 0, "Pitch": 0, "Roll": 0, # Orientation of the sensor relative to the vehicle (degrees) (Default (0,0,0))
            "ExternalController": false, # Whether the sensor is controlled by an external controller (Default false)Whether data is to be sent to external controller such as ArduPilot or PX4 if being used (default true)
            "DrawDebugPoints": false
            }
        }
}

Note

For Cars, the sensor is placed 1 meter above the vehicle center by default. This is required since otherwise the sensor gives strange data due it being inside the vehicle. This doesn't affect the sensor values say when measuring the distance between 2 cars.

usage:

>>> distance_sensor_data=airgen_client.getDistanceSensorData("DistanceSensorName")

distance: float = 0.0: distance measured by the distance sensor

max_distance: float = 0.0: maximum distance measured by the distance sensor

min_distance: float = 0.0: minimum distance measured by the distance sensor

relative_pose: Pose = <Pose> { 'orientation': <Quaternionr> { 'w_val': 1.0, 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}, 'position': <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}}: relative pose of the distance sensor

time_stamp = 0: timestamp of the distance sensor data

class airgen.types.DrivetrainType

Bases: object

ForwardOnly = 1

MaxDegreeOfFreedom = 0

Orient = 2

class airgen.types.EnvironmentState

Bases: MsgpackMixin

air_density = 0.0

air_pressure = 0.0

geo_point = <GeoPoint> { 'altitude': 0.0, 'latitude': 0.0, 'longitude': 0.0}

gravity = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}

position = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}

temperature = 0.0

class airgen.types.GeoPoint(latitude=0.0, longitude=0.0, altitude=0.0)

Bases: MsgpackMixin

altitude = 0.0

latitude = 0.0

longitude = 0.0

class airgen.types.GeoPose(geopoint_val=None, orientation_val=None)

Bases: MsgpackMixin

Parameters:

geopoint_val (GeoPoint)
orientation_val (Quaternionr)

geopoint = <GeoPoint> { 'altitude': 0.0, 'latitude': 0.0, 'longitude': 0.0}

orientation = <Quaternionr> { 'w_val': 1.0, 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}

class airgen.types.GnssFixType

Bases: MsgpackMixin

Represents the GNSS (Global Navigation Satellite System) fix types in AirGen.

This class categorizes the various types of GNSS fixes based on the quality and source of satellite data.

GNSS_FIX_2D_FIX = 2

GNSS_FIX_3D_FIX = 3

GNSS_FIX_NO_FIX = 0

GNSS_FIX_TIME_ONLY = 1

class airgen.types.GnssReport

Bases: MsgpackMixin

Represents a GNSS (Global Navigation Satellite System) report in AirSim.

This class provides detailed information about the current GNSS status and readings.

eph = 0.0

epv = 0.0

fix_type = <GnssFixType> { }

geo_point = <GeoPoint> { 'altitude': 0.0, 'latitude': 0.0, 'longitude': 0.0}

time_utc = 0

velocity = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}

class airgen.types.GpsData

Bases: MsgpackMixin

GPS sensor

default settings in settings.json:

{
    "DefaultSensors": {
        "GPSSensorName": {
            "SensorType": 3,
            "Enabled" : true,
            "EphTimeConstant": 0.9,
            "EpvTimeConstant": 0.9,
            "EphInitial": 25,
            "EpvInitial": 25,
            "EphFinal": 0.1,
            "EpvFinal": 0.1,
            "EphMin3d": 3,
            "EphMin2d": 4,
            "UpdateLatency": 0.2,
            "UpdateFrequency": 50,
            "StartupDelay": 1
            }
        }
}

usage:

>>> gps_data=airgen_client.getGpsData("GPSSensorName")

gnss = <GnssReport> { }: gnss report of the gps

is_valid = False: whether the gps data is valid

time_stamp = 0: timestamp of the gps data

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

Bases: MsgpackMixin

A class to facilitate image capture requests in AirGen.

Parameters:

camera_name (str)
image_type (ImageType)
pixels_as_float (bool)
compress (bool)

camera_name: str = 'front_center'

description： name of the camera.

For car, the default camera names are: front_center, front_right, front_left, back_center, fpv, back_center. fpv camera is driver's head position in the car.

For multirotor, the default camera names are: front_center, front_right, front_left, bottom_center.

In computer vision mode, camera names are same as in multirotor.

Apart from these, you can add more cameras to the vehicles and external cameras which are not attached to any vehicle through the settings.json file.

compress: bool = False: if true, image is compressed using jpg, else uncompressed png. Cannot be true when pixels_as_float is true. Check ImageType for the proper parameters of each image type

image_type: ImageType = 0

pixels_as_float: bool = False: if true, image pixels are returned as float, else as uint8. Check ImageType for the proper parameters of each image type

class airgen.types.ImageResponse

Bases: MsgpackMixin

A class to handle and represent image responses from AirGen.

camera_fov: float = 0.0

camera_orientation: Quaternionr = <Quaternionr> { 'w_val': 1.0, 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}

camera_position: Vector3r = <Vector3r> { 'x_val': 0.0, 'y_val': 0.0, 'z_val': 0.0}

compress: float = True

height: int = 0

image_data_float: List[float] = []

description： float image data stored in raw bytes. Empty if pixels_as_float is false.

usage:

>>> img1d = np.asarray(response.image_data_float, dtype=np.float32)
>>> img = img1d.reshape(response.height, response.width, num_channels)

image_data_uint8: bytes = b''

description： uint8 image data stored in raw bytes. Empty if pixels_as_float is true.

usage:

>>> img1d = np.frombuffer(response.image_data_uint8, dtype=np.uint8) # get 1d numpy array
>>> img_rgb = img1d.reshape(response.height, response.width, 3) # reshape to 3 channel image array H X W X 3

image_type: ImageType = 0

message: str = ''

pixels_as_float: bool = False

time_stamp = 0

width: int = 0

class airgen.types.ImageType

Bases: object

Image types supported by AirGen.

Default settings of camera type in settings.json

{
    "CameraDefaults": {
        "CaptureSettings": [
            "ImageType": 0,
            "Width": 256,
            "Height": 256,
            "FOV_Degrees": 90,
            "AutoExposureSpeed": 100.0,
            "AutoExposureBias": 0,
            "MotionBlurAmount": 0.0,
            "MotionBlurMaxDistortion": 0.0,
            "TargetGamma": 1.0
            }
        ]
    }
}

example code: .. todo:: add link to example script for cameras

DepthPerspective = 2

decription： distance between object and camera's focal point. This is suitable for point cloud reconstruction.