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Using the C++ APIs#

Please read the general API documentation first if you haven't already. This document describes C++ API examples and other C++ specific details.

Quick Start#

The fastest way to get started is to open AutonomySim.sln in Visual Studio 2022. You will see Hello Car and Hello Drone examples in the solution. These examples will show you the include paths and lib paths you will need to setup in your VC++ projects. If you are using Linux then you will specify these paths either in your cmake file or on compiler command line.

Include and Lib Folders#

  • Include folders: $(ProjectDir)..\AutonomyLib\deps\rpclib\include;include;$(ProjectDir)..\AutonomyLib\deps\eigen3;$(ProjectDir)..\AutonomyLib\include
  • Dependencies: rpc.lib
  • Lib folders: $(ProjectDir)\..\AutonomyLib\deps\MavLinkCom\lib\$(Platform)\$(Configuration);$(ProjectDir)\..\AutonomyLib\deps\rpclib\lib\$(Platform)\$(Configuration);$(ProjectDir)\..\AutonomyLib\lib\$(Platform)\$(Configuration)
  • References: Reference AutonomyLib and MavLinkCom to the project references. (Right click your project then go to References, Add reference..., and then select AutonomyLib and MavLinkCom)

Hello Car#

Here's how to use AutonomySim APIs using C++ to control simulated car (see also Python example):

// ready to run example: https://github.com/nervosys/AutonomySim/blob/master/HelloCar/main.cpp

#include <iostream>
#include "vehicles/car/api/CarRpcLibClient.hpp"

int main() {

    nervosys::autonomylib::CarRpcLibClient client;
    client.enableApiControl(true); //this disables manual control
    CarControllerBase::CarControls controls;

    std::cout << "Press enter to drive forward" << std::endl; std::cin.get();
    controls.throttle = 1;
    client.setCarControls(controls);

    std::cout << "Press Enter to activate handbrake" << std::endl; std::cin.get();
    controls.handbrake = true;
    client.setCarControls(controls);

    std::cout << "Press Enter to take turn and drive backward" << std::endl; std::cin.get();
    controls.handbrake = false;
    controls.throttle = -1;
    controls.steering = 1;
    client.setCarControls(controls);

    std::cout << "Press Enter to stop" << std::endl; std::cin.get();
    client.setCarControls(CarControllerBase::CarControls());

    return 0;
}

Hello Drone#

Here's how to use AutonomySim APIs using C++ to control simulated quadrotor (see also Python example):

// ready to run example: https://github.com/nervosys/AutonomySim/blob/master/HelloDrone/main.cpp

#include <iostream>
#include "vehicles/multirotor/api/MultirotorRpcLibClient.hpp"

int main() {

    nervosys::autonomylib::MultirotorRpcLibClient client;

    std::cout << "Press Enter to enable API control\n"; std::cin.get();
    client.enableApiControl(true);

    std::cout << "Press Enter to arm the drone\n"; std::cin.get();
    client.armDisarm(true);

    std::cout << "Press Enter to takeoff\n"; std::cin.get();
    client.takeoffAsync(5)->waitOnLastTask();

    std::cout << "Press Enter to move 5 meters in x direction with 1 m/s velocity\n"; std::cin.get();
    auto position = client.getMultirotorState().getPosition(); // from current location
    client.moveToPositionAsync(position.x() + 5, position.y(), position.z(), 1)->waitOnLastTask();

    std::cout << "Press Enter to land\n"; std::cin.get();
    client.landAsync()->waitOnLastTask();

    return 0;
}

See Also#

  • Examples of how to use internal infrastructure in AutonomySim in your other projects
  • DroneShell app shows how to make simple interface using C++ APIs to control drones
  • HelloSpawnedDrones app shows how to make additional vehicles on the fly
  • Python APIs