carla/PythonAPI/docs/blueprint.yml

---
- module_name: carla

  # - CLASSES ------------------------------
  classes:
  - class_name: ActorAttributeType
    # - DESCRIPTION ------------------------
    doc: >
      CARLA provides a library of blueprints for actors in carla.BlueprintLibrary with different attributes each. This class defines the types those at carla.ActorAttribute can be as a series of enum. All this information is managed internally and listed here for a better comprehension of how CARLA works.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: Bool
    - var_name: Int
    - var_name: Float
    - var_name: String
    - var_name: RGBColor

  - class_name: Color
    # - DESCRIPTION ------------------------
    doc: >
      Class that defines a 32-bit RGBA color.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: r
      type: int
      doc: >
        Red color (0-255).
    - var_name: g
      type: int
      doc: >
        Green color (0-255).
    - var_name: b
      type: int
      doc: >
        Blue color (0-255).
    - var_name: a
      type: int
      doc: >
        Alpha channel (0-255).
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: r
        type: int
        default: 0
      - param_name: g
        type: int
        default: 0
      - param_name: b
        type: int
        default: 0
      - param_name: a
        type: int
        default: 255
      doc: >
        Initializes a color, black by default.
    # --------------------------------------
    - def_name: __eq__
      params:
      - param_name: other
        type: carla.Color
    # --------------------------------------
    - def_name: __ne__
      params:
      - param_name: other
        type: carla.Color
    # --------------------------------------
    - def_name: __str__
    # --------------------------------------

  - class_name: FloatColor
    # - DESCRIPTION ------------------------
    doc: >
      Class that defines a float RGBA color.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: r
      type: float
      doc: >
        Red color.
    - var_name: g
      type: float
      doc: >
        Green color.
    - var_name: b
      type: float
      doc: >
        Blue color.
    - var_name: a
      type: float
      doc: >
        Alpha channel.
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: r
        type: float
        default: 0
      - param_name: g
        type: float
        default: 0
      - param_name: b
        type: float
        default: 0
      - param_name: a
        type: float
        default: 1.0
      doc: >
        Initializes a color, black by default.
    # --------------------------------------
    - def_name: __eq__
      params:
      - param_name: other
        type: carla.FloatColor
    # --------------------------------------
    - def_name: __ne__
      params:
      - param_name: other
        type: carla.FloatColor
    # --------------------------------------

  - class_name: OpticalFlowPixel
    # - DESCRIPTION ------------------------
    doc: >
      Class that defines a 2 dimensional vector representing an optical flow pixel.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: x
      type: float
      doc: >
        Optical flow in the x component.
    - var_name: y
      type: float
      doc: >
        Optical flow in the y component.
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: x
        type: float
        default: 0
      - param_name: y
        type: float
        default: 0
      doc: >
        Initializes the Optical Flow Pixel. Zero by default.
    # --------------------------------------
    - def_name: __eq__
      params:
      - param_name: other
        type: carla.OpticalFlowPixel
    # --------------------------------------
    - def_name: __ne__
      params:
      - param_name: other
        type: carla.OpticalFlowPixel
    # --------------------------------------
    - def_name: __str__
    # --------------------------------------

  - class_name: ActorAttribute
    # - DESCRIPTION ------------------------
    doc: >
      CARLA provides a library of blueprints for actors that can be accessed as carla.BlueprintLibrary. Each of these blueprints has a series of attributes defined internally. Some of these are modifiable, others are not. A list of recommended values is provided for those that can be set.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: id
      type: str
      doc: >
        The attribute's name and identifier in the library.
    - var_name: is_modifiable
      type: bool
      doc: >
        It is <b>True</b> if the attribute's value can be modified.
    - var_name: recommended_values
      type: list(str)
      doc: >
        A list of values suggested by those who designed the blueprint.
    - var_name: type
      type: carla.ActorAttributeType
      doc: >
        The attribute's parameter type.
    # - METHODS ----------------------------
    methods:
    - def_name: as_bool
      doc: >
        Reads the attribute as boolean value.
    # --------------------------------------
    - def_name: as_color
      doc: >
        Reads the attribute as carla.Color.
    # --------------------------------------
    - def_name: as_float
      doc: >
        Reads the attribute as float.
    # --------------------------------------
    - def_name: as_int
      doc: >
        Reads the attribute as int.
    # --------------------------------------
    - def_name: as_str
      doc: >
        Reads the attribute as string.
    # --------------------------------------
    - def_name: __bool__
    # --------------------------------------
    - def_name: __float__
    # --------------------------------------
    - def_name: __int__
    # --------------------------------------
    - def_name: __str__
    # --------------------------------------
    - def_name: __eq__
      return: bool
      params:
      - param_name: other
        type: bool / int / float / str / carla.Color / carla.ActorAttribute
      doc: >
        Returns true if this actor's attribute and `other` are the same.
    # --------------------------------------
    - def_name: __ne__
      return: bool
      params:
      - param_name: other
        type: bool / int / float / str / carla.Color / carla.ActorAttribute
      doc: >
        Returns true if this actor's attribute and `other` are different.
    # --------------------------------------
    - def_name: __nonzero__
      return: bool
      doc: >
        Returns true if this actor's attribute is not zero or null.
    # --------------------------------------

  - class_name: ActorBlueprint
    # - DESCRIPTION ------------------------
    doc: >
      CARLA provides a blueprint library for actors that can be consulted through carla.BlueprintLibrary. Each of these consists of an identifier for the blueprint and a series of attributes that may be modifiable or not. This class is the intermediate step between the library and the actor creation. Actors need an actor blueprint to be spawned. These store the information for said blueprint in an object with its attributes and some tags to categorize them. The user can then customize some attributes and eventually spawn the actors through carla.World.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: id
      type: str
      doc: >
        The identifier of said blueprint inside the library. E.g. `walker.pedestrian.0001`.
    - var_name: tags
      type: list(str)
      doc: >
        A list of tags each blueprint has that helps describing them. E.g. `['0001', 'pedestrian', 'walker']`.
    # - METHODS ----------------------------
    methods:
    - def_name: has_attribute
      return: bool
      params:
      - param_name: id
        type: str
        doc: >
          e.g. `gender` would return **True** for pedestrians' blueprints.
      doc: >
        Returns <b>True</b> if the blueprint contains the attribute `id`.
    # --------------------------------------
    - def_name: has_tag
      return: bool
      params:
      - param_name: tag
        type: str
        doc: >
          e.g. 'walker'
      doc: >
        Returns <b>True</b> if the blueprint has the specified `tag` listed.
    # --------------------------------------
    - def_name: match_tags
      return: bool
      params:
      - param_name: wildcard_pattern
        type: str
      doc: >
        Returns <b>True</b> if any of the tags listed for this blueprint matches `wildcard_pattern`. Matching follows [fnmatch](https://docs.python.org/2/library/fnmatch.html) standard.
    # --------------------------------------
    - def_name: get_attribute
      return: carla.ActorAttribute
      params:
      - param_name: id
        type: str
      doc: >
        Returns the actor's attribute with `id` as identifier if existing.
      Return: carla.ActorAttribute
    # --------------------------------------
    - def_name: set_attribute
      params:
      - param_name: id
        type: str
        doc: >
          The identifier for the attribute that is intended to be changed.
      - param_name: value
        type: str
        doc: >
          The new value for said attribute.
      doc: >
        If the `id` attribute is modifiable, changes its value to `value`.
    # --------------------------------------
    - def_name: __iter__
      doc: >
        Iterate over the carla.ActorAttribute that this blueprint has.
    # --------------------------------------
    - def_name: __len__
      doc: >
        Returns the amount of attributes for this blueprint.
    # --------------------------------------
    - def_name: __str__
    # --------------------------------------

  - class_name: BlueprintLibrary
    # - DESCRIPTION ------------------------
    doc: >
      A class that contains the blueprints provided for actor spawning. Its main application is to return carla.ActorBlueprint objects needed to spawn actors. Each blueprint has an identifier and attributes that may or may not be modifiable. The library is automatically created by the server and can be accessed through carla.World.

        [Here](bp_library.md) is a reference containing every available blueprint and its specifics.
    # - METHODS ----------------------------
    methods:
    - def_name: filter
      params:
      - param_name: wildcard_pattern
        type: str
      doc: >
        Filters a list of blueprints matching the `wildcard_pattern` against the id and tags of every blueprint contained in this library and returns the result as a new one. Matching follows [fnmatch](https://docs.python.org/2/library/fnmatch.html) standard.
      return: carla.BlueprintLibrary
    - def_name: filter_by_attribute
      params:
      - param_name: name
        type: str
      - param_name: value
        type: str
      doc: >
        Filters a list of blueprints with a given attribute matching the `value` against every blueprint contained in this library and returns the result as a new one. Matching follows [fnmatch](https://docs.python.org/2/library/fnmatch.html) standard.
      return: carla.BlueprintLibrary
    # --------------------------------------
    - def_name: find
      params:
      - param_name: id
        type: str
      return: carla.ActorBlueprint
      doc: >
        Returns the blueprint corresponding to that identifier.
    # --------------------------------------
    - def_name: __getitem__
      params:
      - param_name: pos
        type: int
      return: carla.ActorBlueprint
      doc: >
        Returns the blueprint stored in `pos` position inside the data structure containing them.
    # --------------------------------------
    - def_name: __iter__
      doc: >
        Iterate over the carla.ActorBlueprint stored in the library.
    # --------------------------------------
    - def_name: __len__
      return: int
      doc: >
        Returns the amount of blueprints comprising the library.
    # --------------------------------------
    - def_name: __str__
      return: string
      doc: >
        Parses the identifiers for every blueprint to string.
    # --------------------------------------
...