Data Types

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AngleLevelControllerGains

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Class Signature

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

​

Description

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Attributes

• 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

​

Methods

• to_lists() Converts gains to list format.

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AngleRateControllerGains

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Class Signature

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

​

Description

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Attributes

• 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

​

Methods

• to_lists() Converts gains to list format.

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BarometerData

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Class Signature

class airgen.types.BarometerData

​

Description

​

Default Settings

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

​

Usage Example

barometer_data = airgen_client.getBarometerData("BarometerSensorName")

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Attributes

• altitude: Altitude of the barometer.
  • Type: Quaternionr
• pressure: Pressure of the barometer.
  • Type: Vector3r
• qnh: QNH of the barometer.
  • Type: Vector3r
• time_stamp: Timestamp of the barometer data.
  • Type: uint64

​

Box2D

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Class Signature

class airgen.types.Box2D

​

Description

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Attributes

• max: Maximum coordinates.
  • Type: Vector2r
• min: Minimum coordinates.
  • Type: Vector2r

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Box3D

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Class Signature

class airgen.types.Box3D

​

Description

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Attributes

• max: Maximum coordinates.
  • Type: Vector3r
• min: Minimum coordinates.
  • Type: Vector3r

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CameraInfo

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Class Signature

class airgen.types.CameraInfo

​

Description

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Attributes

• fov: Field of view of the camera.
  • Type: float
• pose: The pose of the camera in the simulation.
  • Type: Pose
• proj_mat: Projection matrix for the camera.
  • Type: ProjectionMatrix

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CarControls

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Class Signature

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

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Description

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Attributes

• throttle: Amount of throttle applied.
  • Type: float
• steering: Steering angle.
  • Type: float
• brake: Amount of braking applied.
  • Type: float
• handbrake: Whether the handbrake is engaged.
  • Type: bool
• is_manual_gear: Whether manual gear is enabled.
  • Type: bool
• manual_gear: Current gear in manual mode.
  • Type: int
• gear_immediate: Whether gear changes take immediate effect.
  • Type: bool

​

Methods

• set_throttle(throttle_val, forward) Sets the throttle value and direction.

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CarState

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Class Signature

class airgen.types.CarState

​

Description

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Attributes

• collision: Information about collisions.
  • Type: CollisionInfo
• gear: Current gear.
  • Type: int
• handbrake: Whether the handbrake is engaged.
  • Type: bool
• kinematics_estimated: Estimated kinematics of the car.
  • Type: KinematicsState
• maxrpm: Maximum revolutions per minute.
  • Type: float
• rpm: Current revolutions per minute.
  • Type: float
• speed: Current speed of the car.
  • Type: float
• timestamp: Timestamp of the car state.
  • Type: int

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CollisionInfo

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Class Signature

class airgen.types.CollisionInfo

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Description

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Attributes

• has_collided: Whether a collision occurred.
  • Type: bool
• impact_point: Location of the collision impact.
  • Type: Vector3r
• impact_time: Time of the collision.
  • Type: float
• impact_velocity: Velocity during impact.
  • Type: Vector3r

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DetectionInfo

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Class Signature

class airgen.types.DetectionInfo

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Description

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Attributes

• bounding_box: The bounding box of the detected object.
  • Type: Box2D
• confidence: Confidence score of the detection.
  • Type: float
• label: Label of the detected object.
  • Type: str

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DistanceSensorData

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Class Signature

class airgen.types.DistanceSensorData

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Description

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Attributes

• distance: Measured distance.
  • Type: float
• time_stamp: Timestamp of the data.
  • Type: uint64

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DrivetrainType

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Class Signature

class airgen.types.DrivetrainType

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Description

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Attributes

• value: Specifies the drivetrain type (e.g., ForwardOnly or MaxDegreeOfFreedom).
  • Type: str

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EnvironmentState

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Class Signature

class airgen.types.EnvironmentState

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Description

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Attributes

• temperature: Temperature in the environment.
  • Type: float
• pressure: Atmospheric pressure.
  • Type: float
• humidity: Humidity level.
  • Type: float

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GeoPoint

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Class Signature

class airgen.types.GeoPoint

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Description

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Attributes

• latitude: Latitude in degrees.
  • Type: float
• longitude: Longitude in degrees.
  • Type: float
• altitude: Altitude in meters.
  • Type: float

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GeoPose

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Class Signature

class airgen.types.GeoPose

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Description

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Attributes

• position: Position of the object in geographic coordinates.
  • Type: GeoPoint
• orientation: Orientation of the object.
  • Type: Quaternionr

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GnssFixType

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Class Signature

class airgen.types.GnssFixType

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Description

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Attributes

• fix_type: Type of GNSS fix (e.g., NoFix, TimeOnly, or PositionFix).
  • Type: str

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GnssReport

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Class Signature

class airgen.types.GnssReport

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Description

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Attributes

• geo_point: Geographic point of the GNSS report.
  • Type: GeoPoint
• gnss_fix_type: Type of GNSS fix.
  • Type: GnssFixType
• time_stamp: Timestamp of the GNSS data.
  • Type: uint64

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GpsData

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Class Signature

class airgen.types.GpsData

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Description

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Attributes

• latitude: Latitude in degrees.
  • Type: float
• longitude: Longitude in degrees.
  • Type: float
• altitude: Altitude in meters.
  • Type: float
• time_stamp: Time when the data was recorded.
  • Type: uint64

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ImageRequest

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Class Signature

class airgen.types.ImageRequest

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Description

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Attributes

• camera_name: Name of the camera to capture the image.
  • Type: str
• image_type: Type of image to capture (e.g., Scene, Depth, or Segmentation).
  • Type: ImageType
• pixels_as_float: Whether the image pixels should be returned as floats.
  • Type: bool
• compress: Whether the image should be compressed.
  • Type: bool

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GPSData

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Class Signature

class airgen.types.GPSData

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Description

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Attributes

• latitude: Latitude in degrees.
  • Type: float
• longitude: Longitude in degrees.
  • Type: float
• altitude: Altitude in meters.
  • Type: float
• time_stamp: Time when the data was recorded.
  • Type: uint64

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IMUData

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Class Signature

class airgen.types.IMUData

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Description

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Attributes

• linear_acceleration: Linear acceleration vector.
  • Type: Vector3r
• angular_velocity: Angular velocity vector.
  • Type: Vector3r
• time_stamp: Timestamp of the IMU data.
  • Type: uint64

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MagnetometerData

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Class Signature

class airgen.types.MagnetometerData

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Description

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Attributes

• magnetic_field_body: Magnetic field vector in the body frame.
  • Type: Vector3r
• time_stamp: Timestamp of the magnetometer data.
  • Type: uint64

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LidarData

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Class Signature

class airgen.types.LidarData

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Description

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Attributes

• point_cloud: The point cloud data captured by the LiDAR.
  • Type: list[float]
• time_stamp: Timestamp of the LiDAR data.
  • Type: uint64
• pose: Pose of the LiDAR in the simulation.
  • Type: Pose

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CameraCaptureInfo

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Class Signature

class airgen.types.CameraCaptureInfo

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Description

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Attributes

• time_stamp: Time when the image was captured.
  • Type: uint64
• pose: Pose of the camera at the time of capture.
  • Type: Pose
• projection_matrix: Projection matrix of the camera.
  • Type: ProjectionMatrix

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ImageResponse

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Class Signature

class airgen.types.ImageResponse

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Description

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Attributes

• image_data_uint8: Image data in uint8 format.
  • Type: list[uint8]
• image_data_float: Image data in float format.
  • Type: list[float]
• time_stamp: Timestamp of the captured image.
  • Type: uint64
• width: Width of the image in pixels.
  • Type: int
• height: Height of the image in pixels.
  • Type: int
• image_type: Type of the captured image.
  • Type: ImageType

​

ImageType

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Class Signature

class airgen.types.ImageType

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Description

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Attributes

• type: The image type (e.g., Scene, Depth, or Segmentation).
  • Type: str

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ImuData

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Class Signature

class airgen.types.ImuData

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Description

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Attributes

• linear_acceleration: Linear acceleration vector.
  • Type: Vector3r
• angular_velocity: Angular velocity vector.
  • Type: Vector3r
• time_stamp: Timestamp of the IMU data.
  • Type: uint64

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KinematicsState

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Class Signature

class airgen.types.KinematicsState

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Description

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Attributes

• position: Position vector.
  • Type: Vector3r
• orientation: Orientation quaternion.
  • Type: Quaternionr
• linear_velocity: Linear velocity vector.
  • Type: Vector3r
• angular_velocity: Angular velocity vector.
  • Type: Vector3r
• linear_acceleration: Linear acceleration vector.
  • Type: Vector3r
• angular_acceleration: Angular acceleration vector.
  • Type: Vector3r

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LandedState

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Class Signature

class airgen.types.LandedState

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Description

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Attributes

• state: The landed state (e.g., Landed, Flying, or Unknown).
  • Type: str

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LidarData

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Class Signature

class airgen.types.LidarData

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Description

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Attributes

• point_cloud: The point cloud data captured by the LiDAR.
  • Type: list[float]
• time_stamp: Timestamp of the LiDAR data.
  • Type: uint64
• pose: Pose of the LiDAR in the simulation.
  • Type: Pose

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MagnetometerData

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Class Signature

class airgen.types.MagnetometerData

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Description

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Attributes

• magnetic_field_body: Magnetic field vector in the body frame.
  • Type: Vector3r
• time_stamp: Timestamp of the magnetometer data.
  • Type: uint64

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MeshPositionVertexBuffers

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Class Signature

class airgen.types.MeshPositionVertexBuffers

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Description

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Attributes

• vertex_positions: List of vertex positions.
  • Type: list[[Vector3r](/simulation/airgen/reference/datatypes#vector3r)]
• vertex_normals: List of vertex normals.
  • Type: list[[Vector3r](/simulation/airgen/reference/datatypes#vector3r)]
• indices: List of indices for the mesh.
  • Type: list[int]

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MsgackMixin

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Class Signature

class airgen.types.MsgackMixin

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Description

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Methods

• to_msgpack(): Serializes the object to msgpack format.
• from_msgpack(): Deserializes the object from msgpack format.

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MultirotorState

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Class Signature

class airgen.types.MultirotorState

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Description

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Attributes

• kinematics_estimated: Estimated kinematic state of the multirotor.
  • Type: KinematicsState
• gps_data: GPS data of the multirotor.
  • Type: GpsData
• imu_data: IMU data of the multirotor.
  • Type: ImuData
• magnetometer_data: Magnetometer data of the multirotor.
  • Type: MagnetometerData
• lidar_data: LiDAR data of the multirotor.
  • Type: LidarData
• landed_state: Landed state of the multirotor.
  • Type: `LandedState

  ​

  PIDGains

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Class Signature

class airgen.types.PIDGains

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Description

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Attributes

• kP: Proportional gain.
  • Type: float
• kI: Integral gain.
  • Type: float
• kD: Derivative gain.
  • Type: float

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Pose

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Class Signature

class airgen.types.Pose

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Description

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Attributes

• position: Position vector.
  • Type: Vector3r
• orientation: Orientation quaternion.
  • Type: Quaternionr

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PositionControllerGains

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Class Signature

class airgen.types.PositionControllerGains

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Description

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Attributes

• x_gains: PID gains for the x-axis.
  • Type: PIDGains
• y_gains: PID gains for the y-axis.
  • Type: PIDGains
• z_gains: PID gains for the z-axis.
  • Type: PIDGains

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ProjectionMatrix

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Class Signature

class airgen.types.ProjectionMatrix

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Description

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Attributes

• matrix: 4x4 matrix values stored in row-major order.
  • Type: list[float]

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Quaternionr

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Class Signature

class airgen.types.Quaternionr

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Description

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Attributes

• x: x component of the quaternion.
  • Type: float
• y: y component of the quaternion.
  • Type: float
• z: z component of the quaternion.
  • Type: float
• w: w component (scalar) of the quaternion.
  • Type: float

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RCData

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Class Signature

class airgen.types.RCData

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Description

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Attributes

• is_valid: Whether the RC data is valid.
  • Type: bool
• throttle: Throttle value from the RC.
  • Type: float
• yaw: Yaw value from the RC.
  • Type: float
• roll: Roll value from the RC.
  • Type: float
• pitch: Pitch value from the RC.
  • Type: float

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RotorStates

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Class Signature

class airgen.types.RotorStates

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Description

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Attributes

• rotor_speeds: List of rotor speeds.
  • Type: list[float]
• rotor_thrusts: List of rotor thrusts.
  • Type: list[float]
• rotor_controls: List of rotor controls.
  • Type: list[float]

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Vector2r

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Class Signature

class airgen.types.Vector2r

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Description

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Attributes

• x: x component of the vector.
  • Type: float
• y: y component of the vector.
  • Type: float

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Vector3r

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Class Signature

class airgen.types.Vector3r

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Description

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Attributes

• x: x component of the vector.
  • Type: float
• y: y component of the vector.
  • Type: float
• z: z component of the vector.
  • Type: float

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VelocityControllerGains

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Class Signature

class airgen.types.VelocityControllerGains

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Description

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Attributes

• linear_gains: PID gains for linear velocity.
  • Type: PIDGains
• angular_gains: PID gains for angular velocity.
  • Type: PIDGains

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WeatherParameter

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Class Signature

class airgen.types.WeatherParameter

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Description

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Attributes

• parameter_name: Name of the weather parameter (e.g., “Rain”, “WindSpeed”).
  • Type: str
• value: Value of the parameter.
  • Type: float

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YawMode

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Class Signature

class airgen.types.YawMode

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Description

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Attributes

• is_rate: Indicates whether yaw represents a rate (degrees/second) or an absolute angle.
  • Type: bool
• yaw_or_rate: Yaw value, which can be either a rate or an angle depending on is_rate.
  • Type: float