Use Pose instead of NED values, fix missing override

AirLib/include/api/RpcLibClientBase.hpp

@@ -97,7 +97,7 @@ class RpcLibClientBase {
     vector<uint8_t> simGetImage(const std::string& camera_name, ImageCaptureBase::ImageType type, const std::string& vehicle_name = "");
 
     vector<MeshPositionVertexBuffersResponse> simGetMeshPositionVertexBuffers();
-    bool simAddVehicle(const std::string& vehicle_name, const std::string& vehicle_type, const std::string& pawn_path, float north, float east, float down);
+    bool simAddVehicle(const std::string& vehicle_name, const std::string& vehicle_type, const Pose& pose, const std::string& pawn_path = "");
 
     CollisionInfo simGetCollisionInfo(const std::string& vehicle_name = "") const;
 

AirLib/include/api/WorldSimApiBase.hpp

@@ -47,7 +47,7 @@ class WorldSimApiBase {
     virtual bool setSegmentationObjectID(const std::string& mesh_name, int object_id, bool is_name_regex = false) = 0;
     virtual int getSegmentationObjectID(const std::string& mesh_name) const = 0;
 
-    virtual bool createVehicleAtRuntime(AirSimSettings::VehicleSetting& vehicle_setting) = 0;
+    virtual bool createVehicleAtRuntime(const std::string& vehicle_name, const std::string& vehicle_type, const Pose& pose, const std::string& pawn_path = "") = 0;
 
     virtual void printLogMessage(const std::string& message,
         const std::string& message_param = "", unsigned char severity = 0) = 0;

AirLib/src/api/RpcLibClientBase.cpp

@@ -243,9 +243,9 @@ vector<MeshPositionVertexBuffersResponse> RpcLibClientBase::simGetMeshPositionVe
     return RpcLibAdapatorsBase::MeshPositionVertexBuffersResponse::to(response_adaptor);
 }
 
-bool RpcLibClientBase::simAddVehicle(const std::string& vehicle_name, const std::string& vehicle_type, const std::string& pawn_path, float north, float east, float down)
+bool RpcLibClientBase::simAddVehicle(const std::string& vehicle_name, const std::string& vehicle_type, const Pose& pose, const std::string& pawn_path)
 {
-    return pimpl_->client.call("simAddVehicle", vehicle_name, vehicle_type, pawn_path, north, east, down).as<bool>();
+    return pimpl_->client.call("simAddVehicle", vehicle_name, vehicle_type, RpcLibAdapatorsBase::Pose(pose), pawn_path).as<bool>();
 }
 
 void RpcLibClientBase::simPrintLogMessage(const std::string& message, std::string message_param, unsigned char  severity)

AirLib/src/api/RpcLibServerBase.cpp

@@ -153,24 +153,9 @@ RpcLibServerBase::RpcLibServerBase(ApiProvider* api_provider, const std::string&
         return RpcLibAdapatorsBase::MeshPositionVertexBuffersResponse::from(response);
     });
 
-    pimpl_->server.bind("simAddVehicle", [&](const std::string& vehicle_name, const std::string& vehicle_type, const std::string& pawn_path, float north, float east, float down) -> bool {
-
-        AirSimSettings::VehicleSetting vehicle_setting;
-
-        // TODO expose other VehicleSettings fields
-        vehicle_setting.vehicle_name = vehicle_name;
-        vehicle_setting.vehicle_type = vehicle_type;
-        vehicle_setting.pawn_path = pawn_path;
-
-        vehicle_setting.position[0] = north;
-        vehicle_setting.position[1] = east;
-        vehicle_setting.position[2] = down;
-
-        vehicle_setting.rotation.yaw = 0;
-        vehicle_setting.rotation.pitch = 0;
-        vehicle_setting.rotation.roll = 0;
-
-        return getWorldSimApi()->createVehicleAtRuntime(vehicle_setting);
+    pimpl_->server.bind("simAddVehicle", [&](const std::string& vehicle_name, const std::string& vehicle_type, 
+        const RpcLibAdapatorsBase::Pose& pose, const std::string& pawn_path) -> bool {
+        return getWorldSimApi()->createVehicleAtRuntime(vehicle_name, vehicle_type, pose.to(), pawn_path);
     });
 
     pimpl_->server.bind("simSetVehiclePose", [&](const RpcLibAdapatorsBase::Pose &pose, bool ignore_collision, const std::string& vehicle_name) -> void {

PythonClient/airsim/client.py

@@ -857,22 +857,20 @@ def simCreateVoxelGrid(self, position, x, y, z, res, of):
         return self.client.call('simCreateVoxelGrid', position, x, y, z, res, of)
 
     # Add new vehicle via RPC
-    def simAddVehicle(self, vehicle_name, vehicle_type, pawn_path, north, east, down):
+    def simAddVehicle(self, vehicle_name, vehicle_type, pose, pawn_path = ""):
         """
         Create vehicle at runtime
 
         Args:
             vehicle_name (str): Name of the vehicle being created
             vehicle_type (str): Type of vehicle, e.g. "simpleflight"
-            pawn_path (str): Vehicle blueprint path
-            north (float): Metres in North direction to spawn at vehicle at
-            east (float): Meters in East direction to spawn vehicle at
-            down (float): Metres below to spawn the vehicle at
+            pose (Pose): Initial pose of the vehicle
+            pawn_path (str): Vehicle blueprint path, default empty wbich uses the default blueprint for the vehicle type
 
         Returns:
             bool: Whether vehicle was created
         """
-        return self.client.call('simAddVehicle', vehicle_name, vehicle_type, pawn_path, north, east, down)
+        return self.client.call('simAddVehicle', vehicle_name, vehicle_type, pose, pawn_path)
 
 # -----------------------------------  Multirotor APIs ---------------------------------------------
 class MultirotorClient(VehicleClient, object):

Unreal/Plugins/AirSim/Source/WorldSimApi.cpp

@@ -268,8 +268,17 @@ void WorldSimApi::setTimeOfDay(bool is_enabled, const std::string& start_datetim
         celestial_clock_speed, update_interval_secs, move_sun);
 }
 
-bool WorldSimApi::createVehicleAtRuntime(AirSimSettings::VehicleSetting& vehicle_setting)
+bool WorldSimApi::createVehicleAtRuntime(const std::string& vehicle_name, const std::string& vehicle_type, const Pose& pose, const std::string& pawn_path)
 {
+    // Create settings object
+    AirSimSettings::VehicleSetting vehicle_setting;
+
+    vehicle_setting.vehicle_name = vehicle_name;
+    vehicle_setting.vehicle_type = vehicle_type;
+    vehicle_setting.pawn_path = pawn_path;
+    vehicle_setting.position = pose.position;
+    VectorMath::toEulerianAngle(pose.orientation, vehicle_setting.rotation.pitch, vehicle_setting.rotation.roll, vehicle_setting.rotation.yaw);
+
     bool result;
 
     // We need to run this code on the main game thread, since it iterates over actors

Unreal/Plugins/AirSim/Source/WorldSimApi.h

@@ -38,7 +38,7 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase {
     virtual bool setSegmentationObjectID(const std::string& mesh_name, int object_id, bool is_name_regex = false) override;
     virtual int getSegmentationObjectID(const std::string& mesh_name) const override;
 
-    virtual bool createVehicleAtRuntime(msr::airlib::AirSimSettings::VehicleSetting& vehicle_setting);
+    virtual bool createVehicleAtRuntime(const std::string& vehicle_name, const std::string& vehicle_type, const Pose& pose, const std::string& pawn_path = "") override;
 
     virtual void printLogMessage(const std::string& message,
         const std::string& message_param = "", unsigned char severity = 0) override;