Data Types

AngleLevelControllerGains

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

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

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

class airgen.types.BarometerData

Description

Barometer data for multirotor and cars in AirGen.

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")

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

Class Signature

class airgen.types.Box2D

Description

Defines a 2D bounding box.

Attributes

• max: Maximum coordinates.

  • Type: Vector2r

• min: Minimum coordinates.

  • Type: Vector2r

Box3D

Class Signature

class airgen.types.Box3D

Description

Defines a 3D bounding box.

Attributes

• max: Maximum coordinates.

  • Type: Vector3r

• min: Minimum coordinates.

  • Type: Vector3r

CameraInfo

Class Signature

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

• proj_mat: Projection matrix for the camera.

  • Type: ProjectionMatrix

CarControls

Class Signature

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

class airgen.types.CarState

Description

State information for a car in the simulation.

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

CollisionInfo

Class Signature

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

• impact_time: Time of the collision.

  • Type: float

• impact_velocity: Velocity during impact.

  • Type: Vector3r

DetectionInfo

Class Signature

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

• confidence: Confidence score of the detection.

  • Type: float

• label: Label of the detected object.

  • Type: str

DistanceSensorData

Class Signature

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

class airgen.types.DrivetrainType

Description

Defines the type of drivetrain for vehicles.

Attributes

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

EnvironmentState

Class Signature

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

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

class airgen.types.GeoPose

Description

Represents a geographic pose including position and orientation.

Attributes

• position: Position of the object in geographic coordinates.

  • Type: GeoPoint

• orientation: Orientation of the object.

  • Type: Quaternionr

GnssFixType

Class Signature

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

class airgen.types.GnssReport

Description

Provides GNSS report data.

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

GpsData

Class Signature

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

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

• 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

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

class airgen.types.IMUData

Description

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

Attributes

• linear_acceleration: Linear acceleration vector.

  • Type: Vector3r

• angular_velocity: Angular velocity vector.

  • Type: Vector3r

• time_stamp: Timestamp of the IMU data.

  • Type: uint64

MagnetometerData

Class Signature

class airgen.types.MagnetometerData

Description

Provides data from a magnetometer sensor.

Attributes

• magnetic_field_body: Magnetic field vector in the body frame.

  • Type: Vector3r

• time_stamp: Timestamp of the magnetometer data.

  • Type: uint64

LidarData

Class Signature

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

CameraCaptureInfo

Class Signature

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

• projection_matrix: Projection matrix of the camera.

  • Type: ProjectionMatrix

ImageResponse

Class Signature

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

ImageType

Class Signature

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

class airgen.types.ImuData

Description

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

Attributes

• linear_acceleration: Linear acceleration vector.

  • Type: Vector3r

• angular_velocity: Angular velocity vector.

  • Type: Vector3r

• time_stamp: Timestamp of the IMU data.

  • Type: uint64

KinematicsState

Class Signature

class airgen.types.KinematicsState

Description

Represents the kinematic state of an object in the simulation.

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

LandedState

Class Signature

class airgen.types.LandedState

Description

Defines the landing state of a multirotor vehicle.

Attributes

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

LidarData

Class Signature

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

MagnetometerData

Class Signature

class airgen.types.MagnetometerData

Description

Provides data from a magnetometer sensor.

Attributes

• magnetic_field_body: Magnetic field vector in the body frame.

  • Type: Vector3r

• time_stamp: Timestamp of the magnetometer data.

  • Type: uint64

MeshPositionVertexBuffers

Class Signature

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

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

class airgen.types.MultirotorState

Description

Defines the state of a multirotor vehicle.

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

Class Signature

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

class airgen.types.Pose

Description

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

Attributes

• position: Position vector.

  • Type: Vector3r

• orientation: Orientation quaternion.

  • Type: Quaternionr

PositionControllerGains

Class Signature

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

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

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

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

class airgen.types.RotorStates

Description

Represents the state of all rotors in a multirotor vehicle.

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

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

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

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

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

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