{"action":"created","issue":{"url":"https://api.github.com/repos/Microsoft/AirSim/issues/985","repository_url":"https://api.github.com/repos/Microsoft/AirSim","labels_url":"https://api.github.com/repos/Microsoft/AirSim/issues/985/labels{/name}","comments_url":"https://api.github.com/repos/Microsoft/AirSim/issues/985/comments","events_url":"https://api.github.com/repos/Microsoft/AirSim/issues/985/events","html_url":"https://github.com/Microsoft/AirSim/issues/985","id":315383459,"number":985,"title":"Yaw and move continuously","user":{"login":"guillem74","id":25775763,"avatar_url":"https://avatars2.githubusercontent.com/u/25775763?v=4","gravatar_id":"","url":"https://api.github.com/users/guillem74","html_url":"https://github.com/guillem74","followers_url":"https://api.github.com/users/guillem74/followers","following_url":"https://api.github.com/users/guillem74/following{/other_user}","gists_url":"https://api.github.com/users/guillem74/gists{/gist_id}","starred_url":"https://api.github.com/users/guillem74/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/guillem74/subscriptions","organizations_url":"https://api.github.com/users/guillem74/orgs","repos_url":"https://api.github.com/users/guillem74/repos","events_url":"https://api.github.com/users/guillem74/events{/privacy}","received_events_url":"https://api.github.com/users/guillem74/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":2,"created_at":"2018-04-18T08:38:51Z","updated_at":"2018-04-19T07:25:05Z","closed_at":null,"author_association":"NONE","body":"I am selecting three actions for my reinforcement learning project, one is going ahead, and the other ones are yaw left and right with different angles. Here you have the code:\r\n\r\n```\r\ndef straight(self, duration, speed):\r\n        pitch, roll, yaw  = self.getPitchRollYaw()\r\n        vx = math.cos(yaw) * speed\r\n        vy = math.sin(yaw) * speed\r\n        self.moveByVelocityZ(vx, vy, self.z, duration, DrivetrainType.ForwardOnly)\r\n        start = time.time()\r\n        return start, duration\r\n    \r\n    def yaw_right(self, duration):\r\n        self.rotateByYawRate(30, duration)\r\n        start = time.time()\r\n        return start, duration\r\n    \r\n    def yaw_left(self, duration):\r\n        self.rotateByYawRate(-30, duration)\r\n        start = time.time()\r\n        return start, duration\r\n```\r\n\r\nUsing this I go ahead, then rotate, then go ahead after the rotation, and so on ....\r\nBut what I want is the ability to rotate and go ahead without stopping, like continuous movements (so as when you are driving a car and you turn right or left).\r\n\r\nmoveByVelocity() or moveByVelocityZ() do not suit for me because I need to get front images, and when using them, I am moving basically North, West, South, East but the front camera is not facing the direction of the drone."},"comment":{"url":"https://api.github.com/repos/Microsoft/AirSim/issues/comments/382637360","html_url":"https://github.com/Microsoft/AirSim/issues/985#issuecomment-382637360","issue_url":"https://api.github.com/repos/Microsoft/AirSim/issues/985","id":382637360,"user":{"login":"lovettchris","id":18707114,"avatar_url":"https://avatars3.githubusercontent.com/u/18707114?v=4","gravatar_id":"","url":"https://api.github.com/users/lovettchris","html_url":"https://github.com/lovettchris","followers_url":"https://api.github.com/users/lovettchris/followers","following_url":"https://api.github.com/users/lovettchris/following{/other_user}","gists_url":"https://api.github.com/users/lovettchris/gists{/gist_id}","starred_url":"https://api.github.com/users/lovettchris/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/lovettchris/subscriptions","organizations_url":"https://api.github.com/users/lovettchris/orgs","repos_url":"https://api.github.com/users/lovettchris/repos","events_url":"https://api.github.com/users/lovettchris/events{/privacy}","received_events_url":"https://api.github.com/users/lovettchris/received_events","type":"User","site_admin":false},"created_at":"2018-04-19T07:25:05Z","updated_at":"2018-04-19T07:25:05Z","author_association":"MEMBER","body":"If you want to fly someplace with the front of the drone pointing elsewhere then take a look at PythonClient\\Orbit.py - this script contains an example of flying in a circle with the front of the drone facing the center of the circle, using DrivetrainType.MaxDegreeOfFreedom, YawMode(False, camera_heading)."}}
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