[variable_renames] see full commit msg for details (#2538)

multirotor->multirotorphysicsbody, rotor->rotoractuator
rotor_info -> rotor actuator info, phys_vehicle->multirotor_physics_body_

AirLib/AirLib.vcxproj

@@ -165,10 +165,10 @@
     <ClInclude Include="include\sensors\SensorCollection.hpp" />
     <ClInclude Include="include\vehicles\multirotor\firmwares\mavlink\Px4MultiRotorParams.hpp" />
     <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\SimpleFlightQuadXParams.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\MultiRotor.hpp" />
+    <ClInclude Include="include\vehicles\multirotor\MultiRotorPhysicsBody.hpp" />
     <ClInclude Include="include\vehicles\multirotor\MultiRotorParams.hpp" />
     <ClInclude Include="include\vehicles\multirotor\MultiRotorParamsFactory.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\Rotor.hpp" />
+    <ClInclude Include="include\vehicles\multirotor\RotorActuator.hpp" />
     <ClInclude Include="include\vehicles\multirotor\RotorParams.hpp" />
   </ItemGroup>
   <ItemGroup>

AirLib/AirLib.vcxproj.filters

@@ -213,7 +213,7 @@
     <ClInclude Include="include\common\common_utils\MinWinDefines.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\MultiRotor.hpp">
+    <ClInclude Include="include\vehicles\multirotor\MultiRotorPhysicsBody.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
     <ClInclude Include="include\vehicles\multirotor\MultiRotorParams.hpp">
@@ -222,7 +222,7 @@
     <ClInclude Include="include\vehicles\multirotor\MultiRotorParamsFactory.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\Rotor.hpp">
+    <ClInclude Include="include\vehicles\multirotor\RotorActuator.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
     <ClInclude Include="include\vehicles\multirotor\RotorParams.hpp">

AirLib/include/vehicles/multirotor/MultiRotor.hpp → AirLib/include/vehicles/multirotor/MultiRotorPhysicsBody.hpp

@@ -1,12 +1,12 @@
 // Copyright (c) Microsoft Corporation. All rights reserved.
 // Licensed under the MIT License.
 
-#ifndef msr_airlib_multirotor_hpp
-#define msr_airlib_multirotor_hpp
+#ifndef msr_airlib_multirotorphysicsbody_hpp
+#define msr_airlib_multirotorphysicsbody_hpp
 
 #include "common/Common.hpp"
 #include "common/CommonStructs.hpp"
-#include "Rotor.hpp"
+#include "RotorActuator.hpp"
 #include "api/VehicleApiBase.hpp"
 #include "api/VehicleSimApiBase.hpp"
 #include "MultiRotorParams.hpp"
@@ -16,9 +16,9 @@
 
 namespace msr { namespace airlib {
 
-class MultiRotor : public PhysicsBody {
+class MultiRotorPhysicsBody : public PhysicsBody {
 public:
-    MultiRotor(MultiRotorParams* params, VehicleApiBase* vehicle_api, 
+    MultiRotorPhysicsBody(MultiRotorParams* params, VehicleApiBase* vehicle_api, 
         Kinematics* kinematics, Environment* environment)
         : params_(params), vehicle_api_(vehicle_api)
     {
@@ -101,15 +101,15 @@ class MultiRotor : public PhysicsBody {
 
     virtual uint dragVertexCount() const override
     {
-        return static_cast<uint>(drag_vertices_.size());
+        return static_cast<uint>(drag_faces_.size());
     }
     virtual PhysicsBodyVertex& getDragVertex(uint index)  override
     {
-        return drag_vertices_.at(index);
+        return drag_faces_.at(index);
     }
     virtual const PhysicsBodyVertex& getDragVertex(uint index) const override
     {
-        return drag_vertices_.at(index);
+        return drag_faces_.at(index);
     }
 
     virtual real_T getRestitution() const override
@@ -121,12 +121,12 @@ class MultiRotor : public PhysicsBody {
         return params_->getParams().friction;
     }
 
-    Rotor::Output getRotorOutput(uint rotor_index) const
+    RotorActuator::Output getRotorOutput(uint rotor_index) const
     {
         return rotors_.at(rotor_index).getOutput();
     }
 
-    virtual ~MultiRotor() = default;
+    virtual ~MultiRotorPhysicsBody() = default;
 
 private: //methods
     void initialize(Kinematics* kinematics, Environment* environment)
@@ -139,7 +139,7 @@ class MultiRotor : public PhysicsBody {
         initSensors(*params_, getKinematics(), getEnvironment());
     }
 
-    static void createRotors(const MultiRotorParams& params, vector<Rotor>& rotors, const Environment* environment)
+    static void createRotors(const MultiRotorParams& params, vector<RotorActuator>& rotors, const Environment* environment)
     {
         rotors.clear();
         //for each rotor pose
@@ -191,22 +191,22 @@ class MultiRotor : public PhysicsBody {
             * params.linear_drag_coefficient / 2; 
 
         //add six drag vertices representing 6 sides
-        drag_vertices_.clear();
-        drag_vertices_.emplace_back(Vector3r(0, 0, -params.body_box.z()), Vector3r(0, 0, -1), drag_factor_unit.z());
-        drag_vertices_.emplace_back(Vector3r(0, 0,  params.body_box.z()), Vector3r(0, 0,  1), drag_factor_unit.z());
-        drag_vertices_.emplace_back(Vector3r(0, -params.body_box.y(), 0), Vector3r(0, -1, 0), drag_factor_unit.y());
-        drag_vertices_.emplace_back(Vector3r(0,  params.body_box.y(), 0), Vector3r(0,  1, 0), drag_factor_unit.y());
-        drag_vertices_.emplace_back(Vector3r(-params.body_box.x(), 0, 0), Vector3r(-1, 0, 0), drag_factor_unit.x());
-        drag_vertices_.emplace_back(Vector3r( params.body_box.x(), 0, 0), Vector3r( 1, 0, 0), drag_factor_unit.x());
+        drag_faces_.clear();
+        drag_faces_.emplace_back(Vector3r(0, 0, -params.body_box.z()), Vector3r(0, 0, -1), drag_factor_unit.z());
+        drag_faces_.emplace_back(Vector3r(0, 0,  params.body_box.z()), Vector3r(0, 0,  1), drag_factor_unit.z());
+        drag_faces_.emplace_back(Vector3r(0, -params.body_box.y(), 0), Vector3r(0, -1, 0), drag_factor_unit.y());
+        drag_faces_.emplace_back(Vector3r(0,  params.body_box.y(), 0), Vector3r(0,  1, 0), drag_factor_unit.y());
+        drag_faces_.emplace_back(Vector3r(-params.body_box.x(), 0, 0), Vector3r(-1, 0, 0), drag_factor_unit.x());
+        drag_faces_.emplace_back(Vector3r( params.body_box.x(), 0, 0), Vector3r( 1, 0, 0), drag_factor_unit.x());
 
     }
 
 private: //fields
     MultiRotorParams* params_;
 
     //let us be the owner of rotors object
-    vector<Rotor> rotors_;
-    vector<PhysicsBodyVertex> drag_vertices_;
+    vector<RotorActuator> rotors_;
+    vector<PhysicsBodyVertex> drag_faces_;
 
     std::unique_ptr<Environment> environment_;
     VehicleApiBase* vehicle_api_;

AirLib/include/vehicles/multirotor/Rotor.hpp → AirLib/include/vehicles/multirotor/RotorActuator.hpp

@@ -3,8 +3,8 @@
 
 
 
-#ifndef airsimcore_motor_hpp
-#define airsimcore_motor_hpp
+#ifndef rotor_actuator_hpp
+#define rotor_actuator_hpp
 
 #include <limits>
 #include "common/Common.hpp"
@@ -18,7 +18,7 @@ namespace msr { namespace airlib {
 //Rotor gets control signal as input (PWM or voltage represented from 0 to 1) which causes 
 //change in rotation speed and turning direction and ultimately produces force and thrust as
 //output
-class Rotor : public PhysicsBodyVertex {
+class RotorActuator : public PhysicsBodyVertex {
 public: //types
     struct Output {
         real_T thrust;
@@ -30,11 +30,11 @@ class Rotor : public PhysicsBodyVertex {
     };
 
 public: //methods
-    Rotor()
+    RotorActuator()
     {
         //allow default constructor with later call for initialize
     }
-    Rotor(const Vector3r& position, const Vector3r& normal, RotorTurningDirection turning_direction, 
+    RotorActuator(const Vector3r& position, const Vector3r& normal, RotorTurningDirection turning_direction, 
         const RotorParams& params, const Environment* environment, uint id = -1)
     {
         initialize(position, normal, turning_direction, params, environment, id);

AirLib/include/vehicles/multirotor/RotorParams.hpp

@@ -4,7 +4,6 @@
 #ifndef msr_airlib_RotorParams_hpp
 #define msr_airlib_RotorParams_hpp
 
-
 #include "common/Common.hpp"
 
 namespace msr {

AirLib/include/vehicles/multirotor/firmwares/mavlink/ArduCopterSoloApi.hpp

@@ -2,7 +2,7 @@
 #define msr_airlib_ArduCopterSoloApi_h
 
 #include "AdHocConnection.hpp"
-#include "vehicles/multirotor/MultiRotor.hpp"
+#include "vehicles/multirotor/MultiRotorPhysicsBody.hpp"
 #include "vehicles/multirotor/firmwares/mavlink/MavLinkMultirotorApi.hpp"
 
 namespace msr { namespace airlib {

AirLibUnitTests/SimpleFlightTest.hpp

@@ -8,7 +8,7 @@
 #include "physics/FastPhysicsEngine.hpp"
 #include "vehicles/multirotor/api/MultirotorApiBase.hpp"
 #include "common/SteppableClock.hpp"
-#include "vehicles/multirotor/MultiRotor.hpp"
+#include "vehicles/multirotor/MultiRotorPhysicsBody.hpp"
 
 namespace msr { namespace airlib {
 
@@ -39,7 +39,7 @@ class SimpleFlightTest : public TestBase
         initial_environment.geo_point = GeoPoint();
         environment.reset(new Environment(initial_environment));
 
-        MultiRotor vehicle(params.get(), api.get(), kinematics.get(), environment.get());
+        MultiRotorPhysicsBody vehicle(params.get(), api.get(), kinematics.get(), environment.get());
 
         std::vector<UpdatableObject*> vehicles = { &vehicle };
         std::unique_ptr<PhysicsEngineBase> physics_engine(new FastPhysicsEngine());

Unreal/Plugins/AirSim/Source/Vehicles/Multirotor/FlyingPawn.cpp

@@ -79,7 +79,7 @@ void AFlyingPawn::NotifyHit(class UPrimitiveComponent* MyComp, class AActor* Oth
         HitNormal, NormalImpulse, Hit);
 }
 
-void AFlyingPawn::setRotorSpeed(const std::vector<MultirotorPawnEvents::RotorInfo>& rotor_infos)
+void AFlyingPawn::setRotorSpeed(const std::vector<MultirotorPawnEvents::RotorActuatorInfo>& rotor_infos)
 {
     for (auto rotor_index = 0; rotor_index < rotor_infos.size(); ++rotor_index) {
         auto comp = rotating_movements_[rotor_index];

Unreal/Plugins/AirSim/Source/Vehicles/Multirotor/FlyingPawn.h

@@ -34,7 +34,7 @@ class AIRSIM_API AFlyingPawn : public APawn
         return &pawn_events_;
     }
     //called by API to set rotor speed
-    void setRotorSpeed(const std::vector<MultirotorPawnEvents::RotorInfo>& rotor_infos);
+    void setRotorSpeed(const std::vector<MultirotorPawnEvents::RotorActuatorInfo>& rotor_infos);
 
 
 private: //variables

Unreal/Plugins/AirSim/Source/Vehicles/Multirotor/MultirotorPawnEvents.h

@@ -11,14 +11,14 @@
 class MultirotorPawnEvents : public PawnEvents {
 public: //types
     typedef msr::airlib::real_T real_T;
-    struct RotorInfo {
+    struct RotorActuatorInfo {
         real_T rotor_speed = 0;
         int rotor_direction = 0;
         real_T rotor_thrust = 0;
         real_T rotor_control_filtered = 0;
     };
 
-    typedef common_utils::Signal<const std::vector<RotorInfo>&> ActuatorsSignal;
+    typedef common_utils::Signal<const std::vector<RotorActuatorInfo>&> ActuatorsSignal;
 
 public:
     ActuatorsSignal& getActuatorSignal();

Unreal/Plugins/AirSim/Source/Vehicles/Multirotor/MultirotorPawnSimApi.cpp

@@ -27,10 +27,10 @@ void MultirotorPawnSimApi::initialize()
     vehicle_params_ = MultiRotorParamsFactory::createConfig(getVehicleSetting(), sensor_factory);
     vehicle_api_ = vehicle_params_->createMultirotorApi();
     //setup physics vehicle
-    phys_vehicle_ = std::unique_ptr<MultiRotor>(new MultiRotor(vehicle_params_.get(), vehicle_api_.get(),
+    multirotor_physics_body_ = std::unique_ptr<MultiRotor>(new MultiRotorPhysicsBody(vehicle_params_.get(), vehicle_api_.get(),
         getKinematics(), getEnvironment()));
-    rotor_count_ = phys_vehicle_->wrenchVertexCount();
-    rotor_info_.assign(rotor_count_, RotorInfo());
+    rotor_count_ = multirotor_physics_body_->wrenchVertexCount();
+    rotor_actuator_info_.assign(rotor_count_, RotorActuatorInfo());
 
     vehicle_api_->setSimulatedGroundTruth(getGroundTruthKinematics(), getGroundTruthEnvironment());
 
@@ -60,21 +60,21 @@ void MultirotorPawnSimApi::updateRenderedState(float dt)
 
     //move collision info from rendering engine to vehicle
     const CollisionInfo& collision_info = getCollisionInfo();
-    phys_vehicle_->setCollisionInfo(collision_info);
+    multirotor_physics_body_->setCollisionInfo(collision_info);
 
     if (pending_pose_status_ == PendingPoseStatus::RenderStatePending) {
-        phys_vehicle_->setPose(pending_phys_pose_);
+        multirotor_physics_body_->setPose(pending_phys_pose_);
         pending_pose_status_ = PendingPoseStatus::RenderPending;
     }
 
-    last_phys_pose_ = phys_vehicle_->getPose();
+    last_phys_pose_ = multirotor_physics_body_->getPose();
 
-    collision_response = phys_vehicle_->getCollisionResponseInfo();
+    collision_response = multirotor_physics_body_->getCollisionResponseInfo();
 
     //update rotor poses
     for (unsigned int i = 0; i < rotor_count_; ++i) {
-        const auto& rotor_output = phys_vehicle_->getRotorOutput(i);
-        RotorInfo* info = &rotor_info_[i];
+        const auto& rotor_output = multirotor_physics_body_->getRotorOutput(i);
+        RotorActuatorInfo* info = &rotor_actuator_info_[i];
         info->rotor_speed = rotor_output.speed;
         info->rotor_direction = static_cast<int>(rotor_output.turning_direction);
         info->rotor_thrust = rotor_output.thrust;
@@ -126,7 +126,7 @@ void MultirotorPawnSimApi::updateRendering(float dt)
         UAirBlueprintLib::LogMessage(FString(e.what()), TEXT(""), LogDebugLevel::Failure, 30);
     }
 
-    pawn_events_->getActuatorSignal().emit(rotor_info_);
+    pawn_events_->getActuatorSignal().emit(rotor_actuator_info_);
 }
 
 void MultirotorPawnSimApi::setPose(const Pose& pose, bool ignore_collision)
@@ -142,7 +142,7 @@ void MultirotorPawnSimApi::resetImplementation()
     PawnSimApi::resetImplementation();
 
     vehicle_api_->reset();
-    phys_vehicle_->reset();
+    multirotor_physics_body_->reset();
     vehicle_api_messages_.clear();
 }
 
@@ -153,7 +153,7 @@ void MultirotorPawnSimApi::update()
     PawnSimApi::update();
 
     //update forces on vertices
-    phys_vehicle_->update();
+    multirotor_physics_body_->update();
 
     //update to controller must be done after kinematics have been updated by physics engine
 }
@@ -162,12 +162,12 @@ void MultirotorPawnSimApi::reportState(StateReporter& reporter)
 {
     PawnSimApi::reportState(reporter);
 
-    phys_vehicle_->reportState(reporter);
+    multirotor_physics_body_->reportState(reporter);
 }
 
 MultirotorPawnSimApi::UpdatableObject* MultirotorPawnSimApi::getPhysicsBody()
 {
-    return phys_vehicle_->getPhysicsBody();
+    return multirotor_physics_body_->getPhysicsBody();
 }
 //*** End: UpdatableState implementation ***//
 

Unreal/Plugins/AirSim/Source/Vehicles/Multirotor/MultirotorPawnSimApi.h

@@ -3,7 +3,7 @@
 #include "CoreMinimal.h"
 
 #include "PawnSimApi.h"
-#include "vehicles/multirotor/MultiRotor.hpp"
+#include "vehicles/multirotor/MultiRotorPhysicsBody.hpp"
 #include "vehicles/multirotor/MultiRotorParams.hpp"
 #include "physics//Kinematics.hpp"
 #include "common/Common.hpp"
@@ -18,12 +18,12 @@ class MultirotorPawnSimApi : public PawnSimApi
 public:
     typedef msr::airlib::real_T real_T;
     typedef msr::airlib::Utils Utils;
-    typedef msr::airlib::MultiRotor MultiRotor;
+    typedef msr::airlib::MultiRotorPhysicsBody MultiRotor;
     typedef msr::airlib::StateReporter StateReporter;
     typedef msr::airlib::UpdatableObject UpdatableObject;
     typedef msr::airlib::Pose Pose;
 
-    typedef MultirotorPawnEvents::RotorInfo RotorInfo;
+    typedef MultirotorPawnEvents::RotorActuatorInfo RotorActuatorInfo;
 
 public:
     virtual void initialize() override;
@@ -60,9 +60,9 @@ class MultirotorPawnSimApi : public PawnSimApi
     std::unique_ptr<msr::airlib::MultirotorApiBase> vehicle_api_;
     std::unique_ptr<msr::airlib::MultiRotorParams> vehicle_params_;
 
-    std::unique_ptr<MultiRotor> phys_vehicle_;
+    std::unique_ptr<MultiRotor> multirotor_physics_body_;
     unsigned int rotor_count_;
-    std::vector<RotorInfo> rotor_info_;
+    std::vector<RotorActuatorInfo> rotor_actuator_info_;
 
     //show info on collision response from physics engine
     CollisionResponse collision_response;