控制接口

def reset(self):
将车辆重置至其初始启动状态def ping(self):
如果连接已建立，则此调用将返回true，否则将被阻止直到超时def getClientVersion(self):def getServerVersion(self):def getMinRequiredServerVersion(self):def getMinRequiredClientVersion(self):

基本飞行控制

def enableApiControl(self, is_enabled, vehicle_name = ''):
启用或禁用与vehicle_name对应的车辆的API控制def isApiControlEnabled(self, vehicle_name = ''):
如果建立了API控件，则返回true。def armDisarm(self, arm, vehicle_name = ''):
车辆防护或解除防护def simPause(self, is_paused):
暂停模拟def simIsPause(self):
如果暂停模拟，则返回truedef simContinueForTime(self, seconds):
继续模拟指定的秒数def simContinueForFrames(self, frames):
继续（如果暂停，则继续）指定帧数的模拟，之后将暂停模拟。def getHomeGeoPoint(self, vehicle_name = ''):
获取车辆的原始位置def confirmConnection(self):
每1秒检查一次连接状态并在控制台中报告，以便用户可以查看连接进度。def simSetLightIntensity(self, light_name, intensity):
更改命名灯光的强度def simSwapTextures(self, tags, tex_id = 0, component_id = 0, material_id = 0):
运行时交换纹理APIdef simSetObjectMaterial(self, object_name, material_name, component_id = 0):
运行时交换纹理APIdef simSetObjectMaterialFromTexture(self, object_name, texture_path, component_id = 0)
运行时交换纹理API

时间控制

def simSetTimeOfDay(self, is_enabled, start_datetime = "", is_start_datetime_dst = False, celestial_clock_speed = 1, update_interval_secs = 60, move_sun = True):控制太阳在环境中的位置

天气控制

def simEnableWeather(self, enable):
启用天气效果。在使用“simSetWeatherParameter”API之前需要调用def simSetWeatherParameter(self, param, val):
启用各种天气效果

摄像机控制

def simGetImage(self, camera_name, image_type, vehicle_name = '', external = False):
获取单个图像def simGetImages(self, requests, vehicle_name = '', external = False):
获取多个图像

CinemAirSim

def simGetPresetLensSettings(self, camera_name, vehicle_name = '', external = False):  def simSetPresetLensSettings(self, preset_lens_settings, camera_name, vehicle_name = '', external = False):  def simSetPresetFilmbackSettings(self, preset_filmback_settings, camera_name, vehicle_name = '', external = False):  def simSetPresetFilmbackSettings（self，preset_filmback_settings，camera_name，vehicle_name=“”，external=False）：def simGetFilmbackSettings(self, camera_name, vehicle_name = '', external = False):  def simSetFilmbackSettings(self, sensor_width, sensor_height, camera_name, vehicle_name = '', external = False):  def simGetFocalLength(self, camera_name, vehicle_name = '', external = False):  def simSetFocalLength(self, focal_length, camera_name, vehicle_name = '', external = False):  def simEnableManualFocus(self, enable, camera_name, vehicle_name = '', external = False):  def simGetFocusDistance(self, camera_name, vehicle_name = '', external = False):  def simGetFocusDistance（self，camera_name，vehicle_name=“”，external=False）：def simSetFocusDistance(self, focus_distance, camera_name, vehicle_name = '', external = False):  def simGetFocusAperture(self, camera_name, vehicle_name = '', external = False):  def simSetFocusAperture(self, focus_aperture, camera_name, vehicle_name = '', external = False):  def simEnableFocusPlane(self, enable, camera_name, vehicle_name = '', external = False):  def simGetCurrentFieldOfView(self, camera_name, vehicle_name = '', external = False):  

结束CinemaAirSim

def simTestLineOfSightToPoint(self, point, vehicle_name = ''):
返回目标点是否从输入车辆的角度可见def simTestLineOfSightBetweenPoints(self, point1, point2):
返回目标点是否从源点的角度可见def simGetWorldExtents(self):
返回表示世界最小和最大范围的GeoPoints列表def simRunConsoleCommand(self, command):
允许客户端通过API在Unreal的本地控制台中执行命令。
提供对无数内置命令的访问，如“stat unit”、“stat fps”、“open[map]”、调整任何配置设置等。
通过向级别蓝图添加自定义事件，然后调用控制台命令“ce MyEventName[args]”，允许用户非常容易地创建定制API。无需重新编译AirSim！#获取不真实场景中的静态网格
def simGetMeshPositionVertexBuffers(self):def simGetCollisionInfo(self, vehicle_name = ''):def simSetVehiclePose(self, pose, ignore_collision, vehicle_name = ''):设置车辆的姿势
如果不想更改位置（或方向），只需将位置（或方位）的组件设置为浮点值def simGetVehiclePose(self, vehicle_name = ''):
返回姿势内的位置位于车辆起点的框架内def simSetTraceLine(self, color_rgba, thickness=1.0, vehicle_name = ''):
启用跟踪时修改线条的颜色和粗细def simGetObjectPose(self, object_name):
返回姿势中的位置在世界帧中def simSetObjectPose(self, object_name, pose, teleport = True):
设置对象（演员）在环境中的姿势def simGetObjectScale(self, object_name):
获取对象在世界中的比例def simSetObjectScale(self, object_name, scale_vector):
设置世界中对象的比例def simListSceneObjects(self, name_regex = '.*'):
列出环境中存在的对象def simLoadLevel(self, level_name):
加载由其名称指定的级别def simListAssets(self):
列出资产注册表中存在的所有资产def simSpawnObject(self, object_name, asset_name, pose, scale, physics_enabled=False, is_blueprint=False):
“”“在世界上生成选定对象def simDestroyObject(self, object_name):
“”“从世界中删除选定对象def simSetSegmentationObjectID(self, mesh_name, object_id, is_name_regex = False):
设置特定对象的分段IDdef simGetSegmentationObjectID(self, mesh_name):
返回给定网格名称的对象IDdef simAddDetectionFilterMeshName(self, camera_name, image_type, mesh_name, vehicle_name = '', external = False):
添加要以通配符格式检测的网格名称def simSetDetectionFilterRadius(self, camera_name, image_type, radius_cm, vehicle_name = '', external = False):
设置所有摄像机的检测半径def simClearDetectionMeshNames(self, camera_name, image_type, vehicle_name = '', external = False):
清除检测过滤器中的所有网格名称def simGetDetections(self, camera_name, image_type, vehicle_name = '', external = False):
获取当前检测

相机API

def simPrintLogMessage(self, message, message_param = "", severity = 0):
在模拟器窗口中打印指定消息。
如果提供了message_param，那么它将打印在消息旁边，在这种情况下，如果使用相同的消息值调用此API
但再次使用不同的message_param，则前一行被新行覆盖（而不是API在显示上创建新行）。
例如，当使用不同的i值调用API时，“simPrintLogMessage（“Iteration:”，to_string（i））”会不断更新显示的同一行。严重性参数的有效值为0到3（含0到3），对应不同的颜色。def simGetCameraInfo(self, camera_name, vehicle_name = '', external=False):
获取相机的详细信息def simGetDistortionParams(self, camera_name, vehicle_name = '', external = False):
获取相机失真参数def simSetDistortionParams(self, camera_name, distortion_params, vehicle_name = '', external = False):
设置相机失真参数def simSetDistortionParam(self, camera_name, param_name, value, vehicle_name = '', external = False):
设置单摄像机失真参数def simSetCameraPose(self, camera_name, pose, vehicle_name = '', external = False):
-控制选定摄影机的姿势def simSetCameraFov(self, camera_name, fov_degrees, vehicle_name = '', external = False):
-控制选定相机的视野def simGetGroundTruthKinematics(self, vehicle_name = ''):
获取车辆的地面真实运动学
返回KinematicsState内的位置位于车辆起点的框架内def simSetKinematics(self, state, ignore_collision, vehicle_name = ''):
设置车辆的运动学状态def simGetGroundTruthEnvironment(self, vehicle_name = ''):
获取地面实况环境状态The position inside the returned EnvironmentState is in the frame of the vehicle's starting point
返回的EnvironmentState内的位置位于车辆起点的框架内

传感器API

def getImuData（self，imu_name=“”，车辆名称=“”）：def getBarometerData(self, barometer_name = '', vehicle_name = ''):
气压计数据：def getMagnetometerData(self, magnetometer_name = '', vehicle_name = ''):
磁强计数据：
def getGpsData(self, gps_name = '', vehicle_name = ''):def getGpsData（self，gps_name=“”，vehicle_name=“”）：
Gps数据：def getDistanceSensorData(self, distance_sensor_name = '', vehicle_name = ''):
距离传感器数据：def getLidarData(self, lidar_name = '', vehicle_name = ''):
激光雷达数据：def simGetLidarSegmentation(self, lidar_name = '', vehicle_name = ''):
返回上次激光雷达更新中每个点碰撞对象的分段ID

绘图API

def simFlushPersistentMarkers(self):
清除所有持久性标记-以下API中设置为“is_persistent=True”的标记def simPlotPoints(self, points, color_rgba=[1.0, 0.0, 0.0, 1.0], size = 10.0, duration = -1.0, is_persistent = False):
在World NED帧中绘制3D点列表def simPlotLineStrip(self, points, color_rgba=[1.0, 0.0, 0.0, 1.0], thickness = 5.0, duration = -1.0, is_persistent = False):
绘制世界NED帧中的线条，从点[0]到点[1]，点[1]到点[2]，点[n-2]到点[n-1]def simPlotLineList(self, points, color_rgba=[1.0, 0.0, 0.0, 1.0], thickness = 5.0, duration = -1.0, is_persistent = False):
绘制世界NED帧中的线条，从点[0]到点[1]，点[2]到点[3]，点[n-2]到点[n-1]def simPlotArrows(self, points_start, points_end, color_rgba=[1.0, 0.0, 0.0, 1.0], thickness = 5.0, arrow_size = 2.0, duration = -1.0, is_persistent = False)
绘制世界NED帧中的箭头列表，从points_start[0]到points_end[0]，points_start[1]到points_end[1]，points_start[n-1]到points_end[n-1]def simPlotStrings(self, strings, positions, scale = 5, color_rgba=[1.0, 0.0, 0.0, 1.0], duration = -1.0):
在世界NED帧中的所需位置绘制字符串列表。def simPlotTransforms(self, poses, scale = 5.0, thickness = 5.0, duration = -1.0, is_persistent = False):
在“世界NED”帧中打印变换列表。def simPlotTransformsWithNames(self, poses, names, tf_scale = 5.0, tf_thickness = 5.0, text_scale = 10.0, text_color_rgba = [1.0, 0.0, 0.0, 1.0], duration = -1.0):
在“世界NED”帧中打印变换列表及其名称。def cancelLastTask(self, vehicle_name = ''):
取消上一个异步任务

录制API

def startRecording(self):
开始录制def stopRecording(self):
停止录制def isRecording(self):
录制是否正在运行def simSetWind(self, wind):
设置模拟风，世界帧，NED方向，m/sdef simCreateVoxelGrid(self, position, x, y, z, res, of):
构造并保存binvox格式的环境体素网格#通过RPC添加新车
def simAddVehicle(self, vehicle_name, vehicle_type, pose, pawn_path = ""):
在运行时创建车辆def listVehicles(self):def getSettingsString(self):
获取AirSim正在使用的设置文本