airsim--client

class VehicleClient:resetpinggetclientversiongetserverversion
基本飞行控制enableapicontrolisapicontrolenabledarmdisarmsimpausesimispausesimcontinuefortimesimContinueForFramesgetHomeGeoPoint#Get the Home location of the vehicleconfirmConnectionsimSetLightIntensitysimSwapTexturessimSetObjectMaterialsimSetObjectMaterialFromTexture
一天中的时间控制simSetTimeOfDay#控制太阳在环境中的位置
天气simEnableWeathersimSetWeatherParameter
相机控制simGetImagesimGetImages
ENDsimTestLineOfSightToPoint#返回目标点是否从输入车辆的角度可见simTestLineOfSightBetweenPoints#返回目标点是否从源点的角度可见simGetWorldExtents#返回表示世界最小范围和最大范围的地质点列表simRunConsoleCommand
获取虚拟场景中的静态网格simGetMeshPositionVertexBuffers#返回组成场景的静态网格simGetCollisionInfosimSetVehiclePose#设置车辆的姿势simGetVehiclePose#simSetTraceLine#启用跟踪时修改线条的颜色和厚度simGetObjectPose#simSetObjectPose#在环境中设置对象actor的姿势simGetObjectScale获取世界上某个对象的比例simSetObjectScalesimListSceneObjects列出环境中存在的对象simLoadLevelsimListAssetssimSpawnObject在世界上生成选定对象simDestroyObject从世界中移除选定对象simSetSegmentationObjectID为特定对象设置分段IDsimGetSegmentationObjectIDsimAddDetectionFilterMeshName在通配符格式中添加要检测的网格名称simSetDetectionFilterRadius设置所有摄像头的检测半径ClearsimDetectionMeshNames清除检测过滤器中的所有网格名称simGetDetections获取当前检测结果simPrintLogMessage在模拟器的窗口中打印指定的消息。SimgetCameranfo获取相机的详细信息SimGetTransformParams获取摄像机畸变参数simSetDistortionParamssimSetDistortionParamsimSetCameraPosesimSetCameraFovsimGetGroundTruthKinematics获取车辆的地面运动simSetKinematicsSimGetGroundTruthenVironment获取地面真实环境状态
传感器APIgetImuDatagetBarometerDatagetMagnetometerDatagetGpsDatagetDistanceSensorDatagetLidarDatasimGetLidarSegmentation
绘制APIsimFlushPersistentMarkerssimPlotPoints在世界坐标系中绘制3D点列表simPlotLineStrip在World NED frame中绘制一条直线，从点[0]到点[1]，点[1]到点[2]，点[n-2]到点[n-1]simPlotLineListsimPlotArrows在世界坐标系中绘制箭头列表simPlotStrings在世界坐标系中的所需位置绘制字符串列表。simPlotTransforms在世界坐标系中绘制变换列表。simPlotTransformsWithNames在世界坐标系中绘制变换列表及其名称。cancelLastTask取消上一个异步任务
录制APIstartRecordingstopRecordingisRecordingsimSetWindsimCreateVoxelGrid构建并保存环境的binvox格式体素网格
通过RPC添加新车辆simAddVehiclelistVehiclesgetSettingsString

class MultirotorClient(VehicleClient, object)takeoffAsync将飞行器起飞至离地3米处landAsyncgoHomeAsync
用于控制的APImoveByVelocityBodyFrameAsync(self, vx, vy, vz, duration, drivetrain = DrivetrainType.MaxDegreeOfFreedom, yaw_mode = YawMode(), vehicle_name = ''):"""Args:vx (float): desired velocity in the X axis of the vehicle's local NED frame.vy (float): desired velocity in the Y axis of the vehicle's local NED frame.vz (float): desired velocity in the Z axis of the vehicle's local NED frame.duration (float): Desired amount of time (seconds), to send this command fordrivetrain (DrivetrainType, optional):yaw_mode (YawMode, optional):vehicle_name (str, optional): Name of the multirotor to send this command to"""moveByAngleZAsync(self, pitch, roll, z, yaw, duration, vehicle_name = ''):                moveByAngleThrottleAsync(self, pitch, roll, throttle, yaw_rate, duration, vehicle_name = ''):moveByVelocityAsync(self, vx, vy, vz, duration, drivetrain = DrivetrainType.MaxDegreeOfFreedom, yaw_mode = YawMode(), vehicle_name = ''):moveByVelocityZAsync(self, vx, vy, z, duration, drivetrain = DrivetrainType.MaxDegreeOfFreedom, yaw_mode = YawMode(), vehicle_name = ''):moveOnPathAsync(self, path, velocity, timeout_sec = 3e+38, drivetrain = DrivetrainType.MaxDegreeOfFreedom, yaw_mode = YawMode(),lookahead = -1, adaptive_lookahead = 1, vehicle_name = ''):moveToPositionAsync(self, x, y, z, velocity, timeout_sec = 3e+38, drivetrain = DrivetrainType.MaxDegreeOfFreedom, yaw_mode = YawMode(),lookahead = -1, adaptive_lookahead = 1, vehicle_name = ''):moveToGPSAsync(self, latitude, longitude, altitude, velocity, timeout_sec = 3e+38, drivetrain = DrivetrainType.MaxDegreeOfFreedom, yaw_mode = YawMode(),lookahead = -1, adaptive_lookahead = 1, vehicle_name = ''):moveToZAsync(self, z, velocity, timeout_sec = 3e+38, yaw_mode = YawMode(), lookahead = -1, adaptive_lookahead = 1, vehicle_name = ''):moveByManualAsync(self, vx_max, vy_max, z_min, duration, drivetrain = DrivetrainType.MaxDegreeOfFreedom, yaw_mode = YawMode(), vehicle_name = ''):读取当前RC状态并使用它控制车辆。rotateToYawAsync(self, yaw, timeout_sec = 3e+38, margin = 5, vehicle_name = ''):rotateByYawRateAsync(self, yaw_rate, duration, vehicle_name = ''):hoverAsync(self, vehicle_name = ''):moveByRC(self, rcdata = RCData(), vehicle_name = ''):
低级控制API
moveByMotorPWMsAsync(self, front_right_pwm, rear_left_pwm, front_left_pwm, rear_right_pwm, duration, vehicle_name = ''):使用PWM值直接控制电机
moveByRollPitchYawZAsync(self, roll, pitch, yaw, z, duration, vehicle_name = ''):
moveByRollPitchYawThrottleAsync(self, roll, pitch, yaw, throttle, duration, vehicle_name = ''):
moveByRollPitchYawrateThrottleAsync(self, roll, pitch, yaw_rate, throttle, duration, vehicle_name = ''):
moveByRollPitchYawrateZAsync(self, roll, pitch, yaw_rate, z, duration, vehicle_name = ''):
moveByAngleRatesZAsync(self, roll_rate, pitch_rate, yaw_rate, z, duration, vehicle_name = ''):
moveByAngleRatesThrottleAsync(self, roll_rate, pitch_rate, yaw_rate, throttle, duration, vehicle_name = ''):
setAngleRateControllerGains(self, angle_rate_gains=AngleRateControllerGains(), vehicle_name = ''):
setAngleLevelControllerGains(self, angle_level_gains=AngleLevelControllerGains(), vehicle_name = ''):
setVelocityControllerGains(self, velocity_gains=VelocityControllerGains(), vehicle_name = ''):
setPositionControllerGains(self, position_gains=PositionControllerGains(), vehicle_name = ''):
查询车辆状态
getMultirotorState(self, vehicle_name = ''):
查询转子状态
getRotorStates(self, vehicle_name = ''):

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