Add backwards-compatibility layer for simSetCameraPose

Earlier was called simSetCameraOrientation
microsoft · Aug 19, 2020 · aabba87 · aabba87
1 parent bd8ee6b
commit aabba87
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diff --git a/AirLib/include/api/RpcLibClientBase.hpp b/AirLib/include/api/RpcLibClientBase.hpp
@@ -103,6 +103,8 @@ class RpcLibClientBase {
     CameraInfo simGetCameraInfo(const std::string& camera_name, const std::string& vehicle_name = "") const;
     void simSetCameraPose(const std::string& camera_name, const Pose& pose, const std::string& vehicle_name = "");
     void simSetCameraFov(const std::string& camera_name, float fov_degrees, const std::string& vehicle_name = "");
+    // This is a backwards-compatibility wrapper over simSetCameraPose, and can be removed in future major releases
+    void simSetCameraOrientation(const std::string& camera_name, const Quaternionr& orientation, const std::string& vehicle_name = "");
 
     msr::airlib::Kinematics::State simGetGroundTruthKinematics(const std::string& vehicle_name = "") const;
     msr::airlib::Environment::State simGetGroundTruthEnvironment(const std::string& vehicle_name = "") const;

diff --git a/AirLib/src/api/RpcLibClientBase.cpp b/AirLib/src/api/RpcLibClientBase.cpp
@@ -386,6 +386,13 @@ void RpcLibClientBase::simSetCameraPose(const std::string& camera_name, const Po
     pimpl_->client.call("simSetCameraPose", camera_name, RpcLibAdapatorsBase::Pose(pose), vehicle_name);
 }
 
+void RpcLibClientBase::simSetCameraOrientation(const std::string& camera_name, const Quaternionr& orientation, const std::string& vehicle_name)
+{
+    std::cout << "`simSetCameraOrientation` API has been upgraded to `simSetCameraPose`. Please update your code." << std::endl;
+    Pose pose{Vector3r::Zero(), orientation};
+    RpcLibClientBase::simSetCameraPose(camera_name, pose, vehicle_name);
+}
+
 void RpcLibClientBase::simSetCameraFov(const std::string& camera_name, float fov_degrees, const std::string& vehicle_name)
 {
     pimpl_->client.call("simSetCameraFov", camera_name, fov_degrees, vehicle_name);

diff --git a/PythonClient/airsim/client.py b/PythonClient/airsim/client.py
@@ -480,6 +480,23 @@ def simSetCameraPose(self, camera_name, pose, vehicle_name = ''):
         # TODO: below str() conversion is only needed for legacy reason and should be removed in future
         self.client.call('simSetCameraPose', str(camera_name), pose, vehicle_name)
 
+    def simSetCameraOrientation(self, camera_name, orientation, vehicle_name = ''):
+        """
+        .. note::
+
+            This API has been upgraded to `simSetCameraPose`
+
+        - Control the Orientation of a selected camera
+
+        Args:
+            camera_name (str): Name of the camera to be controlled
+            orientation (Quaternionr): Quaternion representing the desired orientation of the camera
+            vehicle_name (str, optional): Name of vehicle which the camera corresponds to
+        """
+        logging.warning("`simSetCameraOrientation` API has been upgraded to `simSetCameraPose`. Please update your code.")
+        pose = Pose(orientation_val=orientation)
+        self.simSetCameraPose(camera_name, pose, vehicle_name)
+
     def simSetCameraFov(self, camera_name, fov_degrees, vehicle_name = ''):
         """
         - Control the field of view of a selected camera