Warthog simulation feature for AirSim

[akhil22]

Fixes: #

About

This fork adds warthog simulation feature to AirSim

How Has This Been Tested?

I have tested the build on Linux and Windows. I have implemented an LQR controller for controlling the linear and angular velocities of Warthog similar to the real platform. State reports the kinematics, current linear and angular velocities. I have also added GPS, Camera and IMU sensors and tested them on both Linux and Windows machines. I would like to know more about what else needs to be tested.

Screenshots (if appropriate):

Video of warthog in AirSim: https://www.youtube.com/watch?v=vDzQvWTwmo4 Simple Dynamics used for LQR controller: https://drive.google.com/file/d/1xUc0-XfjgKZ9gfnNCg-f8MUYjp6Mdx2W/view?usp=sharing python code used for solving dynamics (input left and right torque to linear and angular acceleration): https://drive.google.com/file/d/1HF3zj5fVHGSblILoWhxdF8fmkBT8AF-L/view?usp=sharing matlab code used to get lqr gains based on the state space model above: https://drive.google.com/file/d/1AqzvGMRKqa68v3cs89iybHY7jMyIZwKv/view?usp=sharing

If you want to use Warthog for RL and if you need to speed up the simulation use this matlab script to calculate gains for LQR (This is the discrete version and works better when step size is big) https://drive.google.com/file/d/1zGl1sf25q-HaZZM4sRZLCJJhT4aoAjeg/view?usp=sharing

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