[Unity] Add listVehicles API

microsoft · Apr 21, 2021 · 00d9737 · 00d9737
1 parent 3026bb2
commit 00d9737
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Showing 2 changed files with 12 additions and 1 deletion.
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp
@@ -193,7 +193,17 @@ bool WorldSimApi::isRecording() const
 void WorldSimApi::setWind(const Vector3r& wind) const
 {
     simmode_->setWind(wind);
-};
+}
+
+std::vector<std::string> WorldSimApi::listVehicles() const
+{
+    auto vehicle_names = (simmode_->getApiProvider()->getVehicleSimApis()).keys();
+    // Remove '' from the list, representing default vehicle
+    auto position = std::find(vehicle_names.begin(), vehicle_names.end(), "");
+    if (position != vehicle_names.end())
+        vehicle_names.erase(position);
+    return vehicle_names;
+}
 
 bool WorldSimApi::addVehicle(const std::string& vehicle_name, const std::string& vehicle_type, const WorldSimApi::Pose& pose, const std::string& pawn_path)
 {

diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h
@@ -65,6 +65,7 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase
     virtual void setWind(const Vector3r& wind) const override;
     virtual bool createVoxelGrid(const Vector3r& position, const int& x_size, const int& y_size, const int& z_size, const float& res, const std::string& output_file) override;
     virtual bool addVehicle(const std::string& vehicle_name, const std::string& vehicle_type, const Pose& pose, const std::string& pawn_path = "") override;
+    virtual std::vector<std::string> listVehicles() const override;
 
     virtual std::string getSettingsString() const override;