def takeoff_with_moveOnSpline(self, takeoff_height=2.0):
if self.level_name == "ZhangJiaJie_Medium":
takeoff_height = 1.0
# time.sleep(1)
start_position = self.airsim_client.simGetVehiclePose(
vehicle_name=self.drone_name).position
start_position.x_val += randf(0, 1)
start_position.y_val += randf(-1, 0)
# start_position.z_val += randf(0, 1)
# start_position.x_val += -2
# start_position.y_val += 2
# start_position.z_val += -1
takeoff_waypoint = airsim.Vector3r(
start_position.x_val, start_position.y_val,
start_position.z_val - takeoff_height)
if (self.plot_transform):
self.airsim_client.plot_transform(
[airsim.Pose(takeoff_waypoint, airsim.Quaternionr())],
vehicle_name=self.drone_name)
self.airsim_client.moveToPositionAsync(takeoff_waypoint.x_val,
takeoff_waypoint.y_val,
takeoff_waypoint.z_val,
1).join()
def takeoff_with_moveOnSpline(self, takeoff_height=0.1):
if self.level_name == "ZhangJiaJie_Medium":
takeoff_height = -3
# time.sleep(1)
start_position = self.airsim_client.simGetVehiclePose(
vehicle_name=self.drone_name).position
takeoff_waypoint = airsim.Vector3r(start_position.x_val,
start_position.y_val,
-takeoff_height)
if (self.plot_transform):
self.airsim_client.plot_transform(
[airsim.Pose(takeoff_waypoint, airsim.Quaternionr())],
vehicle_name=self.drone_name)
self.airsim_client.moveOnSplineAsync(
[takeoff_waypoint],
vel_max=15.0,
acc_max=5.0,
add_position_constraint=True,
add_velocity_constraint=False,
viz_traj=self.viz_traj,
vehicle_name=self.drone_name).join()
def takeoff_with_moveOnSpline(self, takeoff_height = 0.1):
if self.level_name == "ZhangJiaJie_Medium":
takeoff_height = 0.3
takeoff_waypoint = airsim.Vector3r(0, 0, -takeoff_height)
if(self.plot_transform):
self.airsim_client.plot_transform([airsim.Pose(takeoff_waypoint, airsim.Quaternionr())], vehicle_name=self.drone_name)
self.airsim_client.moveOnSplineAsync([takeoff_waypoint], vel_max=15.0, acc_max=5.0, add_curr_odom_position_constraint=True,
add_curr_odom_velocity_constraint=False, viz_traj=self.viz_traj, vehicle_name=self.drone_name).join()