> ## Documentation Index
> Fetch the complete documentation index at: https://docs.generalrobotics.dev/llms.txt
> Use this file to discover all available pages before exploring further.

# Data Types

## AngleLevelControllerGains

### Class Signature

```python theme={null}
class airgen.types.AngleLevelControllerGains(
    roll_gains=<airgen.types.PIDGains object>,
    pitch_gains=<airgen.types.PIDGains object>,
    yaw_gains=<airgen.types.PIDGains object>
)
```

### Description

Struct to contain controller gains used by angle level PID controller.

### 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.

## AngleRateControllerGains

### Class Signature

```python theme={null}
class airgen.types.AngleRateControllerGains(
    roll_gains=<airgen.types.PIDGains object>,
    pitch_gains=<airgen.types.PIDGains object>,
    yaw_gains=<airgen.types.PIDGains object>
)
```

### Description

Struct to contain controller gains used by angle rate PID controller.

### 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.

## BarometerData

### Class Signature

```python theme={null}
class airgen.types.BarometerData
```

### Description

Barometer data for multirotor and cars in AirGen.

#### Default Settings

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

#### Usage Example

```python theme={null}
barometer_data = airgen_client.getBarometerData("BarometerSensorName")
```

### Attributes

* **`altitude`**: Altitude of the barometer.
  * **Type**: [Quaternionr](/simulation/airgen/reference/datatypes#quaternionr)

* **`pressure`**: Pressure of the barometer.
  * **Type**: [Vector3r](/simulation/airgen/reference/datatypes#vector3r)

* **`qnh`**: QNH of the barometer.
  * **Type**: [Vector3r](/simulation/airgen/reference/datatypes#vector3r)

* **`time_stamp`**: Timestamp of the barometer data.
  * **Type**: `uint64`

## Box2D

### Class Signature

```python theme={null}
class airgen.types.Box2D
```

### Description

Defines a 2D bounding box.

### Attributes

* **`max`**: Maximum coordinates.
  * **Type**: [Vector2r](/simulation/airgen/reference/datatypes#vector2r)

* **`min`**: Minimum coordinates.
  * **Type**: [Vector2r](/simulation/airgen/reference/datatypes#vector2r)

## Box3D

### Class Signature

```python theme={null}
class airgen.types.Box3D
```

### Description

Defines a 3D bounding box.

### Attributes

* **`max`**: Maximum coordinates.
  * **Type**: [Vector3r](/simulation/airgen/reference/datatypes#vector3r)

* **`min`**: Minimum coordinates.
  * **Type**: [Vector3r](/simulation/airgen/reference/datatypes#vector3r)

## CameraInfo

### Class Signature

```python theme={null}
class airgen.types.CameraInfo
```

### Description

Information about the camera.

### Attributes

* **`fov`**: Field of view of the camera.
  * **Type**: `float`

* **`pose`**: The pose of the camera in the simulation.
  * **Type**: [Pose](/simulation/airgen/reference/datatypes#pose)

* **`proj_mat`**: Projection matrix for the camera.
  * **Type**: [ProjectionMatrix](/simulation/airgen/reference/datatypes#projectionmatrix)

## CarControls

### Class Signature

```python theme={null}
class airgen.types.CarControls(
    throttle=0,
    steering=0,
    brake=0,
    handbrake=False,
    is_manual_gear=False,
    manual_gear=0,
    gear_immediate=True
)
```

### Description

Controls for a car in the simulation.

### 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.

## CarState

### Class Signature

```python theme={null}
class airgen.types.CarState
```

### Description

State information for a car in the simulation.

### Attributes

* **`collision`**: Information about collisions.
  * **Type**: [CollisionInfo](/simulation/airgen/reference/datatypes#collisioninfo)

* **`gear`**: Current gear.
  * **Type**: `int`

* **`handbrake`**: Whether the handbrake is engaged.
  * **Type**: `bool`

* **`kinematics_estimated`**: Estimated kinematics of the car.
  * **Type**: [KinematicsState](/simulation/airgen/reference/datatypes#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`

## LeggedState

### Class Signature

```python theme={null}
class airgen.types.LeggedState
```

### Description

State feedback reported by a legged robot.

### Attributes

* **`kinematics_estimated`**: Estimated kinematic state of the robot body.
  * **Type**: [KinematicsState](/simulation/airgen/reference/datatypes#kinematicsstate)

* **`timestamp`**: Simulation timestamp (nanoseconds) when the sample was generated.
  * **Type**: `np.uint64`

* **`gait_name`**: Name of the currently active gait.
  * **Type**: `str`

* **`max_speed`**: Maximum translational speed supported by the active gait, in meters per second.
  * **Type**: `float`

* **`max_yaw_rate`**: Maximum yaw rate supported by the active gait, in degrees per second.
  * **Type**: `float`

## CollisionInfo

### Class Signature

```python theme={null}
class airgen.types.CollisionInfo
```

### Description

Details about collisions in the simulation.

### Attributes

* **`has_collided`**: Whether a collision occurred.
  * **Type**: `bool`

* **`impact_point`**: Location of the collision impact.
  * **Type**: [Vector3r](/simulation/airgen/reference/datatypes#vector3r)

* **`impact_time`**: Time of the collision.
  * **Type**: `float`

* **`impact_velocity`**: Velocity during impact.
  * **Type**: [Vector3r](/simulation/airgen/reference/datatypes#vector3r)

## DetectionInfo

### Class Signature

```python theme={null}
class airgen.types.DetectionInfo
```

### Description

Provides information about detected objects in the simulation.

### Attributes

* **`bounding_box`**: The bounding box of the detected object.
  * **Type**: [Box2D](/simulation/airgen/reference/datatypes#box2d)

* **`confidence`**: Confidence score of the detection.
  * **Type**: `float`

* **`label`**: Label of the detected object.
  * **Type**: `str`

## DistanceSensorData

### Class Signature

```python theme={null}
class airgen.types.DistanceSensorData
```

### Description

Data from a distance sensor.

### Attributes

* **`distance`**: Measured distance.
  * **Type**: `float`

* **`time_stamp`**: Timestamp of the data.
  * **Type**: `uint64`

## DrivetrainType

### Class Signature

```python theme={null}
class airgen.types.DrivetrainType
```

### Description

Defines the type of drivetrain for robots.

### Attributes

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

## EnvironmentState

### Class Signature

```python theme={null}
class airgen.types.EnvironmentState
```

### Description

Represents the state of the simulation environment.

### Attributes

* **`temperature`**: Temperature in the environment.
  * **Type**: `float`

* **`pressure`**: Atmospheric pressure.
  * **Type**: `float`

* **`humidity`**: Humidity level.
  * **Type**: `float`

## GeoPoint

### Class Signature

```python theme={null}
class airgen.types.GeoPoint
```

### Description

Represents a geographic point with latitude, longitude, and altitude.

### Attributes

* **`latitude`**: Latitude in degrees.
  * **Type**: `float`

* **`longitude`**: Longitude in degrees.
  * **Type**: `float`

* **`altitude`**: Altitude in meters.
  * **Type**: `float`

## GeoPose

### Class Signature

```python theme={null}
class airgen.types.GeoPose
```

### Description

Represents a geographic pose including position and orientation.

### Attributes

* **`position`**: Position of the object in geographic coordinates.
  * **Type**: [GeoPoint](/simulation/airgen/reference/datatypes#geopoint)

* **`orientation`**: Orientation of the object.
  * **Type**: [Quaternionr](/simulation/airgen/reference/datatypes#quaternionr)

## GnssFixType

### Class Signature

```python theme={null}
class airgen.types.GnssFixType
```

### Description

Defines the type of GNSS (Global Navigation Satellite System) fix.

### Attributes

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

## GnssReport

### Class Signature

```python theme={null}
class airgen.types.GnssReport
```

### Description

Provides GNSS report data.

### Attributes

* **`geo_point`**: Geographic point of the GNSS report.
  * **Type**: [GeoPoint](/simulation/airgen/reference/datatypes#geopoint)

* **`gnss_fix_type`**: Type of GNSS fix.
  * **Type**: [GnssFixType](/simulation/airgen/reference/datatypes#gnssfixtype)

* **`time_stamp`**: Timestamp of the GNSS data.
  * **Type**: `uint64`

## GpsData

### Class Signature

```python theme={null}
class airgen.types.GpsData
```

### Description

Contains GPS information.

### 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`

## ImageRequest

### Class Signature

```python theme={null}
class airgen.types.ImageRequest
```

### Description

Represents a request for capturing an image in the simulation.

### 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](/simulation/airgen/reference/datatypes#imagetype)

* **`pixels_as_float`**: Whether the image pixels should be returned as floats.
  * **Type**: `bool`

* **`compress`**: Whether the image should be compressed.
  * **Type**: `bool`

## GPSData

### Class Signature

```python theme={null}
class airgen.types.GPSData
```

### Description

Contains GPS information.

### 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`

## IMUData

### Class Signature

```python theme={null}
class airgen.types.IMUData
```

### Description

IMU (Inertial Measurement Unit) data including accelerometer and gyroscope readings.

### Attributes

* **`linear_acceleration`**: Linear acceleration vector.
  * **Type**: [Vector3r](/simulation/airgen/reference/datatypes#vector3r)

* **`angular_velocity`**: Angular velocity vector.
  * **Type**: [Vector3r](/simulation/airgen/reference/datatypes#vector3r)

* **`time_stamp`**: Timestamp of the IMU data.
  * **Type**: `uint64`

## MagnetometerData

### Class Signature

```python theme={null}
class airgen.types.MagnetometerData
```

### Description

Provides data from a magnetometer sensor.

### Attributes

* **`magnetic_field_body`**: Magnetic field vector in the body frame.
  * **Type**: [Vector3r](/simulation/airgen/reference/datatypes#vector3r)

* **`time_stamp`**: Timestamp of the magnetometer data.
  * **Type**: `uint64`

## LidarData

### Class Signature

```python theme={null}
class airgen.types.LidarData
```

### Description

Contains data from a LiDAR sensor.

### 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](/simulation/airgen/reference/datatypes#pose)

## CameraCaptureInfo

### Class Signature

```python theme={null}
class airgen.types.CameraCaptureInfo
```

### Description

Provides metadata for a camera capture.

### Attributes

* **`time_stamp`**: Time when the image was captured.
  * **Type**: `uint64`

* **`pose`**: Pose of the camera at the time of capture.
  * **Type**: [Pose](/simulation/airgen/reference/datatypes#pose)

* **`projection_matrix`**: Projection matrix of the camera.
  * **Type**: [ProjectionMatrix](/simulation/airgen/reference/datatypes#projectionmatrix)

## ImageResponse

### Class Signature

```python theme={null}
class airgen.types.ImageResponse
```

### Description

Represents a response containing image data captured in the simulation.

### 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](/simulation/airgen/reference/datatypes#imagetype)

## ImageType

### Class Signature

```python theme={null}
class airgen.types.ImageType
```

### Description

Defines the type of images that can be captured in the simulation.

### Attributes

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

## ImuData

### Class Signature

```python theme={null}
class airgen.types.ImuData
```

### Description

Provides data from the Inertial Measurement Unit (IMU) sensor.

### Attributes

* **`linear_acceleration`**: Linear acceleration vector.
  * **Type**: [Vector3r](/simulation/airgen/reference/datatypes#vector3r)

* **`angular_velocity`**: Angular velocity vector.
  * **Type**: [Vector3r](/simulation/airgen/reference/datatypes#vector3r)

* **`time_stamp`**: Timestamp of the IMU data.
  * **Type**: `uint64`

## KinematicsState

### Class Signature

```python theme={null}
class airgen.types.KinematicsState
```

### Description

Represents the kinematic state of an object in the simulation.

### Attributes

* **`position`**: Position vector.
  * **Type**: [Vector3r](/simulation/airgen/reference/datatypes#vector3r)

* **`orientation`**: Orientation quaternion.
  * **Type**: [Quaternionr](/simulation/airgen/reference/datatypes#quaternionr)

* **`linear_velocity`**: Linear velocity vector.
  * **Type**: [Vector3r](/simulation/airgen/reference/datatypes#vector3r)

* **`angular_velocity`**: Angular velocity vector.
  * **Type**: [Vector3r](/simulation/airgen/reference/datatypes#vector3r)

* **`linear_acceleration`**: Linear acceleration vector.
  * **Type**: [Vector3r](/simulation/airgen/reference/datatypes#vector3r)

* **`angular_acceleration`**: Angular acceleration vector.
  * **Type**: [Vector3r](/simulation/airgen/reference/datatypes#vector3r)

## LandedState

### Class Signature

```python theme={null}
class airgen.types.LandedState
```

### Description

Defines the landing state of a multirotor robot.

### Attributes

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

## LidarData

### Class Signature

```python theme={null}
class airgen.types.LidarData
```

### Description

Contains data from a LiDAR sensor.

### 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](/simulation/airgen/reference/datatypes#pose)

## MagnetometerData

### Class Signature

```python theme={null}
class airgen.types.MagnetometerData
```

### Description

Provides data from a magnetometer sensor.

### Attributes

* **`magnetic_field_body`**: Magnetic field vector in the body frame.
  * **Type**: [Vector3r](/simulation/airgen/reference/datatypes#vector3r)

* **`time_stamp`**: Timestamp of the magnetometer data.
  * **Type**: `uint64`

## MeshPositionVertexBuffers

### Class Signature

```python theme={null}
class airgen.types.MeshPositionVertexBuffers
```

### Description

Represents vertex buffers for mesh positions.

### 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]`

## MsgackMixin

### Class Signature

```python theme={null}
class airgen.types.MsgackMixin
```

### Description

Mixin class for enabling message serialization and deserialization.

### Methods

* **`to_msgpack()`**: Serializes the object to msgpack format.

* **`from_msgpack()`**: Deserializes the object from msgpack format.

## MultirotorState

### Class Signature

```python theme={null}
class airgen.types.MultirotorState
```

### Description

Defines the state of a multirotor robot.

### Attributes

* **`kinematics_estimated`**: Estimated kinematic state of the multirotor.
  * **Type**: [KinematicsState](/simulation/airgen/reference/datatypes#kinematicsstate)

* **`gps_data`**: GPS data of the multirotor.
  * **Type**: [GpsData](/simulation/airgen/reference/datatypes#gpsdata)

* **`imu_data`**: IMU data of the multirotor.
  * **Type**: [ImuData](/simulation/airgen/reference/datatypes#imudata)

* **`magnetometer_data`**: Magnetometer data of the multirotor.
  * **Type**: [MagnetometerData](/simulation/airgen/reference/datatypes#magnetometerdata)

* **`lidar_data`**: LiDAR data of the multirotor.
  * **Type**: [LidarData](/simulation/airgen/reference/datatypes#lidardata)

* **`landed_state`**: Landed state of the multirotor.

  * **Type**: \`LandedState

  ## PIDGains

### Class Signature

```python theme={null}
class airgen.types.PIDGains
```

### Description

Defines the PID controller gains.

### Attributes

* **`kP`**: Proportional gain.
  * **Type**: `float`

* **`kI`**: Integral gain.
  * **Type**: `float`

* **`kD`**: Derivative gain.
  * **Type**: `float`

## Pose

### Class Signature

```python theme={null}
class airgen.types.Pose
```

### Description

Represents the pose of an object, including position and orientation.

### Attributes

* **`position`**: Position vector.
  * **Type**: [Vector3r](/simulation/airgen/reference/datatypes#vector3r)

* **`orientation`**: Orientation quaternion.
  * **Type**: [Quaternionr](/simulation/airgen/reference/datatypes#quaternionr)

## PositionControllerGains

### Class Signature

```python theme={null}
class airgen.types.PositionControllerGains
```

### Description

Defines the gains for position control.

### 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`

## ProjectionMatrix

### Class Signature

```python theme={null}
class airgen.types.ProjectionMatrix
```

### Description

Represents a 4x4 projection matrix for 3D graphics.

### Attributes

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

## Quaternionr

### Class Signature

```python theme={null}
class airgen.types.Quaternionr
```

### Description

Represents a quaternion for 3D rotations.

### 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`

## RCData

### Class Signature

```python theme={null}
class airgen.types.RCData
```

### Description

Represents data from a remote control (RC) device.

### 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`

## RotorStates

### Class Signature

```python theme={null}
class airgen.types.RotorStates
```

### Description

Represents the state of all rotors in a multirotor robot.

### 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]`

## Vector2r

### Class Signature

```python theme={null}
class airgen.types.Vector2r
```

### Description

Represents a 2D vector.

### Attributes

* **`x`**: x component of the vector.
  * **Type**: `float`

* **`y`**: y component of the vector.
  * **Type**: `float`

## Vector3r

### Class Signature

```python theme={null}
class airgen.types.Vector3r
```

### Description

Represents a 3D vector.

### 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`

## VelocityControllerGains

### Class Signature

```python theme={null}
class airgen.types.VelocityControllerGains
```

### Description

Defines the gains for velocity control.

### Attributes

* **`linear_gains`**: PID gains for linear velocity.
  * **Type**: `PIDGains`

* **`angular_gains`**: PID gains for angular velocity.
  * **Type**: `PIDGains`

## WeatherParameter

### Class Signature

```python theme={null}
class airgen.types.WeatherParameter
```

### Description

Represents a parameter for weather simulation.

### Attributes

* **`parameter_name`**: Name of the weather parameter (e.g., "Rain", "WindSpeed").
  * **Type**: `str`

* **`value`**: Value of the parameter.
  * **Type**: `float`

## YawMode

### Class Signature

```python theme={null}
class airgen.types.YawMode
```

### Description

Defines the yaw control mode.

### 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`