Added computervisionstate to python and matlab API clients

Matlab/AirSimClient.m

@@ -1126,6 +1126,32 @@ function simSetKinematics(obj, position, orientation, linear_velocity, angular_v
             CarState.handbrake = vehicleStateAirSim{"handbrake"};
         end
 
+        function [ComputerVisionState] = getComputerVisionState(obj)
+            % GETCOMPUTERVISIONSTATE Get the current state of a computerVision vehicle
+            %
+            % Description:
+            %   Retrieves and parses the current state of a computer vision vehicle from the AirSim API.
+            %
+            % Outputs:
+            %   ComputerVisionState - Struct containing various state information:
+            %     - kinematics_estimated: Estimated kinematic state including position, orientation, velocities,
+            %                             and accelerations.
+            %     - timestamp: Timestamp of the state.
+
+            vehicleStateAirSim = obj.rpc_client.call("getComputerVisionState", obj.vehicle_name);
+
+            kinematicData = vehicleStateAirSim{"kinematics_estimated"};
+            kinematicsState.position = obj.nedToRightHandCoordinates(struct2array(struct(kinematicData{"position"})));
+            kinematicsState.orientation = quatinv(struct2array(struct(kinematicData{"orientation"})));
+            kinematicsState.linear_velocity = obj.nedToRightHandCoordinates(struct2array(struct(kinematicData{"linear_velocity"})));
+            kinematicsState.angular_velocity = obj.nedToRightHandCoordinates(struct2array(struct(kinematicData{"angular_velocity"})));
+            kinematicsState.linear_acceleration = obj.nedToRightHandCoordinates(struct2array(struct(kinematicData{"linear_acceleration"})));
+            kinematicsState.angular_acceleration = obj.nedToRightHandCoordinates(struct2array(struct(kinematicData{"angular_acceleration"})));
+            ComputerVisionState.kinematics_estimated = kinematicsState;
+
+            ComputerVisionState.timestamp = double(double(vehicleStateAirSim{"timestamp"}))/1e9;
+        end
+
 
         function reset(obj)
             % RESET Reset the simulation environment

Matlab/Cosys-AirSim Matlab API Client.prj

@@ -8,7 +8,7 @@
     <param.description>This a client implementation of the RPC API for Matlab for the Cosys-AirSim simulation framework. A main class AirSimClient is available which implements all API calls.
 Do note that at this point not all functions have been tested and most function documentation was auto-generated. This is still a WIP client.</param.description>
     <param.screenshot />
-    <param.version>3.0.0.2</param.version>
+    <param.version>3.0.1.0</param.version>
     <param.output>${PROJECT_ROOT}\Cosys-AirSim Matlab API Client.mltbx</param.output>
     <param.products.name>
       <item>Aerospace Toolbox</item>
@@ -105,7 +105,6 @@ Do note that at this point not all functions have been tested and most function
     </fileset.rootdir>
     <fileset.rootfiles>
       <file>${PROJECT_ROOT}\AirSimCameraTypes.m</file>
-      <file>${PROJECT_ROOT}\AirSimClient.asv</file>
       <file>${PROJECT_ROOT}\AirSimClient.m</file>
       <file>${PROJECT_ROOT}\AirSimDrivetrainTypes.m</file>
       <file>${PROJECT_ROOT}\AirSimGenerateColorMap.m</file>

PythonClient/cosysairsim/__init__.py

@@ -2,4 +2,4 @@
 from .utils import *
 from .types import *
 
-__version__ = "3.0.0"
+__version__ = "3.0.1"

PythonClient/cosysairsim/client.py

@@ -2268,7 +2268,7 @@ def getMultirotorState(self, vehicle_name=''):
             vehicle_name (str, optional): Vehicle to get the state of
 
         Returns:
-            MultirotorState:
+            MultirotorState: Struct containing multirotor state values
         """
         return MultirotorState.from_msgpack(self.client.call('getMultirotorState', vehicle_name))
 
@@ -2313,7 +2313,7 @@ def getCarState(self, vehicle_name=''):
             vehicle_name (str, optional): Name of vehicle
 
         Returns:
-            CarState:
+            CarState: Struct containing car state values
         """
         state_raw = self.client.call('getCarState', vehicle_name)
         return CarState.from_msgpack(state_raw)
@@ -2324,7 +2324,26 @@ def getCarControls(self, vehicle_name=''):
             vehicle_name (str, optional): Name of vehicle
 
         Returns:
-            CarControls:
+            CarControls: Struct containing control values
         """
         controls_raw = self.client.call('getCarControls', vehicle_name)
         return CarControls.from_msgpack(controls_raw)
+
+
+#------------------------------ ComputerVision APIs ---------------------------------------
+class ComputerVisionClient(VehicleClient, object):
+    def __init__(self, ip="", port=41451, timeout_value=3600):
+        super(ComputerVisionClient, self).__init__(ip, port, timeout_value)
+
+    def getComputerVisionState(self, vehicle_name=''):
+        """
+        The position inside the returned ComputerVisionState is in the frame of the vehicle's starting point
+
+        Args:
+            vehicle_name (str, optional): Name of vehicle
+
+        Returns:
+            ComputerVisionState: Struct containing computer vision state values
+        """
+        state_raw = self.client.call('getComputerVisionState', vehicle_name)
+        return ComputerVisionState.from_msgpack(state_raw)

PythonClient/cosysairsim/types.py

@@ -407,6 +407,10 @@ class EnvironmentState(MsgpackMixin):
     temperature = 0.0
     air_density = 0.0
 
+class ComputerVisionState(MsgpackMixin):
+    kinematics_estimated = KinematicsState()
+    timestamp = np.uint64(0)
+
 class CarState(MsgpackMixin):
     speed = 0.0
     gear = 0

PythonClient/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "cosysairsim"
-version = "3.0.0"
+version = "3.0.1"
 description = "This package contains simple Python client for Cosys-AirSim. This integrates most API functions over RPC."
 readme = {file = "README.md", content-type = "text/markdown"}
 authors = [{ name = "Shital Shah", email = "[email protected]" },