AirGen Drone

AirGenDrone

Inherits from: AerialRobot

AirGenDrone

AirGenDrone()

Set up client and connect to airgen

Args: None

Returns: None

record_state

AirGenDrone.record_state()

undo

AirGenDrone.undo()

reset

AirGenDrone.reset()

try_cancel_robot_last_task

AirGenDrone.try_cancel_robot_last_task()

setVelocity

AirGenDrone.setVelocity(velocity: float)

Set the velocity of the drone for moving instructions

Arguments

velocity (float) · required

velocity in meters per second

Returns

moveByVelocity

AirGenDrone.moveByVelocity(velocity: Velocity, duration: int, frame: str, blocking: bool)

Fly the drone with velocity for the specified duration of seconds with respect to chosen frame (NED or Nav).

Arguments

velocity (Velocity) · required

Velocity

Velocity type containing the three axis (X, Y, Z) velocity with respect to selected frame

duration (int) · required

number of seconds that the drone should be moving

frame (str), optional

the frame of reference for the velocity vector, one of (default: “ned”)

blocking (bool), optional

whether the function should block until the drone finishes moving (default: True)

Returns

takeoff

AirGenDrone.takeoff()

Takeoff the aerial robot

land

AirGenDrone.land()

Land the aerial robot

getPosition

AirGenDrone.getPosition()

Get the current position of the drone with respect to the world coordinate.

moveToPosition

AirGenDrone.moveToPosition(position: Position, blocking: bool)

Move the drone to absolute position: (x_val, y_val, z_val) with respect to world coordinate frame.

Arguments

position (Position) · required

Position

target position of type Position(x, y, z) in meters with respect to the world coordinate

blocking (bool), optional

whether the function should block until the drone finishes moving (default: True)

Returns

Examples

    >>> # move the drone to coordinate (20.0, 100.0, 30.0), no need to flip the sign of z when a complete position (x_val, y_val, z_val) is specified
    >>> drone.moveToPosition(Position(20.0, 100.0, 30.0))

moveToPositionDelta

AirGenDrone.moveToPositionDelta(position_delta: Position, frame: str, blocking: bool)

Move the drone by position_delta: (x_val, y_val, z_val) relative to the current location with respect to selected frame.

Arguments

position_delta (Position) · required

Position

delta position of type Position(x, y, z) in meters with respect to the world coordinate

frame (str) · required

the frame of reference for the position vector, one of (default: “ned”)

blocking (bool), optional

whether the function should block until the drone finishes moving (default: True)

Returns

moveToGPS

AirGenDrone.moveToGPS(lat: float, lng: float, alt: float, blocking: bool)

Move the drone to gps coordinate: (lat, lng, alt)

Arguments

lat (float) · required

latitude

lng (float) · required

longitude

alt (float) · required

altitude

blocking (bool), optional

whether the function should block until the drone finishes moving (default: True)

Returns

setYaw

AirGenDrone.setYaw(yaw: float, blocking: bool)

Set the yaw (in radians) of the drone to the specified degrees. Yaw measures the rotation of the drone around the z-axis (downwards)

Arguments

yaw (float) · required

the target yaw (radians) for the drone

blocking (bool), optional

whether the function should block until the drone finishes moving (default: True)

Returns

setYawDelta

AirGenDrone.setYawDelta(yaw_delta: float, blocking: bool)

Set a yaw delta (in radians) for the drone to rotate to. Yaw measures the rotation of the drone around the z-axis (downwards).

Arguments

yaw_delta (float) · required

the change in yaw (radians) for the drone

blocking (bool), optional

whether the function should block until the drone finishes moving (default: True)

Returns

getYaw

AirGenDrone.getYaw()

Return the current yaw of the drone in radians. Yaw measures the rotation of the drone

getOrientation

AirGenDrone.getOrientation()

Return the current orientation of the drone in radians

Returns

Orientation

Current orientation of the drone in Orientation type with pitch, roll, and yaw in radians

getImage

AirGenDrone.getImage(camera_name: str, image_type: str)

return the image of camera(camera_name) with the drone’s current position and pose

Arguments

camera_name (str) · required

name of the camera, one of front_center or bottom_center

image_type (str) · required

supported image types,

Returns

Image

Image type containing the requested image and the camera parameters of capture.