carla/PythonAPI/docs/control.yml

---
- module_name: carla
  doc: >
  # - CLASSES ------------------------------
  classes:
  - class_name: VehicleControl
    # - DESCRIPTION ------------------------
    doc: >
      VehicleControl is used for controlling the basic movement of a vehicle.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: throttle
      type: float
      doc: >
        A scalar value to control the vehicle throttle.
    # --------------------------------------
    - var_name: steer
      type: float
      doc: >
        A scalar value to control the vehicle steering.
    # --------------------------------------
    - var_name: brake
      type: float    
      doc: >
        A scalar value to control the vehicle brake.
    # --------------------------------------
    - var_name: hand_brake
      type: bool
      doc: >
        If true, hand brake will be used.
    # --------------------------------------
    - var_name: reverse
      type: bool
      doc: >
        If true, the vehicle will move reverse.
    # --------------------------------------
    - var_name: manual_gear_shift
      type: bool
      doc: >
        If true, the vehicle will be controlled by changing gears manually.
    # --------------------------------------
    - var_name: gear
      type: int
      doc: >
        Controls the gear value of the vehicle.

    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: throttle
        type: float
        default: 0.0
      - param_name: steer
        type: float
        default: 0.0
      - param_name: brake
        type: float
        default: 0.0
      - param_name: hand_brake
        type: bool
        default: True
      - param_name: reverse
        type: bool
        default: True
      - param_name: manual_gear_shift
        type: bool
        default: True
      - param_name: gear
        type: int
        default: 0
      doc: >
        VehicleControl constructor
    # --------------------------------------
    - def_name: __eq__
      params:
      - param_name: other
        type: carla.VehicleControl
    - def_name: __ne__
      params:
      - param_name: other
        type: carla.VehicleControl
      doc: >
    # --------------------------------------
    - def_name: __str__
      doc: >
    # --------------------------------------

  - class_name: WalkerControl
    doc: >
      WalkerControl is used for controlling the basic movement of a walker.

    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: direction
      type: carla.Vector3D
      doc: >
        Vector that controls the direction of the walker.
    # --------------------------------------
    - var_name: speed
      type: float
      doc: >
        A scalar value to control the walker speed.
    # --------------------------------------
    - var_name: jump
      type: bool
      doc: >
        If true, the walker will perform a jump.

    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: direction
        default: [1.0, 0.0, 0.0]
      - param_name: speed
        default: 0.0
      - param_name: jump
        default: False
      doc: >
        VehicleControl constructor
    # --------------------------------------
    - def_name: __eq__
      params:
      - param_name: other
        type: carla.WalkerControl
    # --------------------------------------
    - def_name: __ne__
      params:
      - param_name: other
        type: carla.WalkerControl
    # --------------------------------------
    - def_name: __str__
      doc: >
    # --------------------------------------

  - class_name: WalkerBoneControl
    # - DESCRIPTION ------------------------
    doc: >
       Class used for controlling the skeleton of a walker.
       See [walker bone control](walker_bone_control.md)
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: bone_transforms
      type: list([name,transform])
      doc: >
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: 'list(name,transform)'
        type: tuple
      doc: >
    # --------------------------------------
    - def_name: __str__
      doc: >
    # --------------------------------------

  - class_name: VehiclePhysicsControl
    doc: >
      VehiclePhysicsControl is used for controlling the physics parameters of a vehicle.

    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: torque_curve
      type: list(carla.Vector2D)
      doc: >
        Curve that indicates the torque measured in Nm for a specific RPM of the vehicle's engine.
    # --------------------------------------
    - var_name: max_rpm
      type: float
      doc: >
        The maximum RPM of the vehicle's engine.
    # --------------------------------------
    - var_name: moi
      type: float
      doc: >
        The moment of inertia of the vehicle's engine.
    # --------------------------------------
    - var_name: damping_rate_full_throttle
      type: float
      doc: >
        Damping rate when the throttle is maximum.
    # --------------------------------------
    - var_name: damping_rate_zero_throttle_clutch_engaged
      type: float
      doc: >
        Damping rate when the throttle is zero with clutch engaged.
    # --------------------------------------
    - var_name: damping_rate_zero_throttle_clutch_disengaged
      type: float
      doc: >
        Damping rate when the throttle is zero with clutch disengaged.
    # --------------------------------------
    - var_name: use_gear_autobox
      type: bool
      doc: >
        If true, the vehicle will have an automatic transmission.
    # --------------------------------------
    - var_name: gear_switch_time
      type: float
      doc: >
        Switching time between gears.
    # --------------------------------------
    - var_name: clutch_strength
      type: float
      doc: >
        The clutch strength of the vehicle. Measured in Kgm^2/s.
    # --------------------------------------
    - var_name: mass
      type: float
      doc: >
        The mass of the vehicle measured in Kg.
    # --------------------------------------
    - var_name: drag_coefficient
      type: float
      doc: >
        Drag coefficient of the vehicle's chassis.
    # --------------------------------------
    - var_name: center_of_mass
      type: carla.Vector3D
      doc: >
        The center of mass of the vehicle.
    # --------------------------------------
    - var_name: steering_curve
      type: list(carla.Vector2D)
      doc: >
        Curve that indicates the maximum steering for a specific forward speed.
    # --------------------------------------
    - var_name: wheels
      type: list(carla.WheelPhysicsControl)
      doc: >
        List of carla.WheelPhysicsControl objects. This list should have 4 elements, where index 0 corresponds to the front left wheel, index 1 corresponds to the front right wheel, index 2 corresponds to the back left wheel and index 3 corresponds to the back right wheel. For 2 wheeled vehicles, set the same values for both front and back wheels.

    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: torque_curve
        default: [[0.0,500.0], [5000.0, 500.0]]
      - param_name: max_rpm
        default: 5000.0
      - param_name: moi
        default: 1.0
      - param_name: damping_rate_full_throttle
        default: 0.15
      - param_name: damping_rate_zero_throttle_clutch_engaged
        default: 2.0
      - param_name: damping_rate_zero_throttle_clutch_disengaged
        default: 0.35
      - param_name: use_gear_autobox
        default: True
      - param_name: gear_switch_time
        default: 0.5
      - param_name: clutch_strength
        default: 10.0
      - param_name: mass
        default: 1000.0
      - param_name: drag_coefficient
        default: 0.3
      - param_name: center_of_mass
        default: [0.0, 0.0, 0.0]
      - param_name: steering_curve
        default: [0.0, 0.0, 0.0]
      - param_name: wheels
        default: list()
      doc: >
        VehiclePhysicsControl constructor
    # --------------------------------------
    - def_name: __eq__
      params:
      - param_name: other
        type: carla.VehiclePhysicsControl
    # --------------------------------------
    - def_name: __ne__
      params:
      - param_name: other
        type: carla.VehiclePhysicsControl
    # --------------------------------------
    - def_name: __str__
      doc: >
    # --------------------------------------

  - class_name: WheelPhysicsControl
    doc: >
      WheelPhysicsControl is used for controlling the physics parameters of a vehicle's wheel.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: tire_friction
      type: float
      doc: >
        A scalar value that indicates the friction of the wheel.
    # --------------------------------------
    - var_name: damping_rate
      type: float
      doc: >
        The damping rate of the wheel.
    # --------------------------------------
    - var_name: max_steer_angle
      type: float
      doc: >
        The maximum angle in degrees that the wheel can steer.
    # --------------------------------------
    - var_name: radius
      type: float
      doc: >
        The radius of the wheel in centimeters.
    # --------------------------------------
    - var_name: position
      type: carla.Vector3D
      doc: >
        World position of the wheel. Note that it is a read-only parameter.
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: tire_friction
        default: 2.0
      - param_name: damping_rate
        default: 0.25
      - param_name: max_steer_angle
        default: 70.0
      - param_name: radius
        default: 30.0
      - param_name: position
        default: (0.0,0.0,0.0)
      doc: >
        WheelPhysicsControl constructor
    # --------------------------------------
    - def_name: __eq__
      params:
      - param_name: other
        type: carla.WheelPhysicsControl
    # --------------------------------------
    - def_name: __ne__
      params:
      - param_name: other
        type: carla.WheelPhysicsControl
    # --------------------------------------
    - def_name: __str__
      doc: >
    # --------------------------------------
...