carla/PythonAPI/docs/world.yml

---
- module_name: carla
  doc: >
  # - CLASSES ------------------------------
  classes:
  - class_name: Timestamp
    # - DESCRIPTION ------------------------
    doc: >
      Class that contains Timestamp simulated data.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: frame
      type: int
      doc: >
        The number of frames elapsed since the simulator was launched.
    - var_name: elapsed_seconds
      type: float
      doc: >
        Simulated seconds elapsed since the beginning of the current episode.
    - var_name: delta_seconds
      type: float
      doc: >
        Simulated seconds elapsed since the previous frame.
    - var_name: platform_timestamp
      type: float
      doc: >
        Time-stamp of the frame at which this measurement was taken, in seconds
        as given by the OS.
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: frame
        type: int
      - param_name: elapsed_seconds
        type: float
      - param_name: delta_seconds
        type: float
      - param_name: platform_timestamp
        type: float
      doc: >
    # --------------------------------------
    - def_name: __eq__
      params:
      - param_name: other
        type: carla.Timestamp
      doc: >
    # --------------------------------------
    - def_name: __ne__
      params:
      - param_name: other
        type: carla.Timestamp
      doc: >
    # --------------------------------------
    - def_name: __str__
      doc: >
    # --------------------------------------

  - class_name: ActorList
    # - DESCRIPTION ------------------------
    doc: >
      Class that provides access to actors.
    # - METHODS ----------------------------
    methods:
    - def_name: find
      params:
      - param_name: actor_id
        type: int
      doc: >
        Find an actor by ID.
    # --------------------------------------
    - def_name: filter
      params:
      - param_name: wildcard_pattern
        type: str
      doc: >
        Filters a list of Actors with type_id matching wildcard_pattern.
      note: >
         The wildcard_pattern follows Unix shell-style wildcards (fnmatch). 
    # --------------------------------------
    - def_name: __getitem__
      params:
      - param_name: pos
        type: int
      doc: >
    # --------------------------------------
    - def_name: __len__
      doc: >
    # --------------------------------------
    - def_name: __iter__
      doc: >
    # --------------------------------------
    - def_name: __str__
      doc: >
    # --------------------------------------

  - class_name: WorldSettings
    # - DESCRIPTION ------------------------
    doc: >
      Class that provides access to modifiable world settings.
      Check it out in our [section](../configuring_the_simulation/)
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: synchronous_mode
      type: bool
      doc: >
    - var_name: no_rendering_mode
      type: bool
      doc: >
    - var_name: fixed_delta_seconds
      type: float
      doc: >
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: synchronous_mode
        type: bool
        default: false
        doc: >
      - param_name: no_rendering_mode
        type: bool
        default: false
        doc: >
      - param_name: fixed_delta_seconds
        type: float
        default: 0.0
        doc: >
      doc: >
    # --------------------------------------
    - def_name: __eq__
      params:
      - param_name: other
        type: carla.Timestamp
      doc: >
    # --------------------------------------
    - def_name: __ne__
      params:
      - param_name: other
        type: carla.Timestamp
      doc: >
    # --------------------------------------
    - def_name: __str__
      doc: > 
    # --------------------------------------

  - class_name: AttachmentType
    # - DESCRIPTION ------------------------
    doc: >
      Class that defines the attachment options. See carla.World.spawn_actor.<br>
      Check out this [`recipe`](../python_cookbook/#attach-sensors-recipe)!
      
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: Rigid
      doc: >
        Standard fixed attachment.
    - var_name: SpringArm
      doc: >
        Attachment that expands or retracts based on camera situation.
    # --------------------------------------

  - class_name: World
    # - DESCRIPTION ------------------------
    doc: >
      Class that contains the current loaded map.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: id
      type: int
      doc: >
        The id of the episode associated with this world.
    - var_name: debug
      type: carla.DebugHelper
      doc: >
    # - METHODS ----------------------------
    methods:
    - def_name: get_blueprint_library
      return: carla.BlueprintLibrary
      doc: >
        Return the list of blueprints available in this world. These blueprints
        can be used to spawn actors into the world.
    # --------------------------------------
    - def_name: get_map
      return: carla.Map
      doc: >
        Return the map that describes this world.
    # --------------------------------------
    - def_name: get_spectator
      return: carla.Actor
      doc: >
        Return the spectator actor. The spectator controls the view in the
        simulator window.
    # --------------------------------------
    - def_name: get_settings
      return: carla.WorldSettings
      doc: >
    # --------------------------------------
    - def_name: apply_settings
      return: int
      params:
      - param_name: world_settings
        type: carla.WorldSettings
      doc: >
        Returns the id of the frame when the settings took effect.
    # --------------------------------------
    - def_name: get_weather
      return: carla.WeatherParameters
      doc: >
        Retrieve the weather parameters currently active in the world.
    # --------------------------------------
    - def_name: set_weather
      params: 
      - param_name: weather
        type: carla.WeatherParameters
      doc: >
        Change the weather in the simulation.
    # --------------------------------------
    - def_name: get_snapshot
      return: carla.WorldSnapshot
      doc: >
        Return a snapshot of the world at this moment.
    # --------------------------------------
    - def_name: get_actor
      return: carla.Actor
      params:
      - param_name: actor_id
        type: int
      doc: >
        Find actor by id, return None if not found.
    # --------------------------------------
    - def_name: get_actors
      return: carla.ActorList
      doc: >
        By default it returns a list with every actor present in the world.
        _A list of ids can be used as a parameter_
    # --------------------------------------
    - def_name: spawn_actor
      return: carla.Actor
      params:
      - param_name: blueprint
        type: carla.BlueprintLibrary
        doc: >
      - param_name: transform
        type: carla.Transform
        doc: >
          If attached to parent, transform acts like a relative_transform to the parent actor.
      - param_name: attach_to 
        type: carla.Actor
        default: None
        doc: > 
      - param_name: attachment 
        type: carla.AttachmentType
        default: Rigid
        doc: > 
      doc: >
        Spawn an actor into the world based on the blueprint provided at
        transform. If a parent is provided, the actor is attached to
        parent.
    # --------------------------------------
    - def_name: try_spawn_actor
      return: carla.Actor
      params:
      - param_name: blueprint
        type: carla.BlueprintLibrary
        doc: >
      - param_name: transform
        type: carla.Transform
        doc: >
          If attached to parent, transform acts like a relative_transform to the parent actor.
      - param_name: attach_to 
        type: carla.Actor
        default: None
        doc: > 
      - param_name: attachment 
        type: carla.AttachmentType
        default: Rigid
        doc: >
      doc: >
        Same as SpawnActor but return none on failure instead of throwing an
        exception.
    # --------------------------------------
    - def_name: wait_for_tick
      return: carla.WorldSnapshot
      params:
      - param_name: seconds
        type: float
        default: 10.0
      doc: >
        Block calling thread until a world tick is received.
    # --------------------------------------
    - def_name: on_tick
      return: int
      params:
      - param_name: callback
        type: carla.WorldSnapshot
      doc: >
        Returns the ID of the callback so it can be removed with `remove_on_tick`.
    # --------------------------------------
    - def_name: remove_on_tick
      params:
      - param_name: callback_id
      doc: >
        Removes on tick callbacks.
    # --------------------------------------
    - def_name: tick
      return: int
      doc: >
        Synchronizes with the simulator and returns the id of the newly started frame (only has effect on
        synchronous mode).
    # --------------------------------------
    - def_name: __str__
      doc: >
    # --------------------------------------

  - class_name: DebugHelper
    # - DESCRIPTION ------------------------
    doc: >
      Class that provides drawing debug shapes.
      Check out this [`example`](https://github.com/carla-simulator/carla/blob/master/PythonAPI/util/lane_explorer.py)
    # - METHODS ----------------------------
    methods:
    - def_name: draw_point
      params: 
      - param_name: location
        type: carla.Location
      - param_name: size
        type: float
        default: 0.1f
      - param_name: color
        type: carla.Color
        default: (255,0,0)
      - param_name: life_time
        type: float
        default: -1.0f
      - param_name: persistent_lines
        type: bool
        default: True
        doc: >
          _Deprecated, use `life_time = 0` instead_
      doc: >
        Draws a point in the given location.
    # --------------------------------------
    - def_name: draw_line
      params:
      - param_name: begin
        type: carla.Location
      - param_name: end
        type: carla.Location
      - param_name: thickness
        type: float
        default: 0.1f
      - param_name: color
        type: carla.Color
        default: (255,0,0)
      - param_name: life_time
        type: float
        default: -1.0f
      - param_name: persistent_lines
        type: bool
        default: True
        doc: >
          _Deprecated, use `life_time = 0` instead_
      doc: >
        Draws a line between two given locations.
    # --------------------------------------
    - def_name: draw_arrow
      params:
      - param_name: begin
        type: carla.Location
      - param_name: end
        type: carla.Location
      - param_name: thickness
        type: float
        default: 0.1f
      - param_name: arrow_size
        type: float
        default: 0.1f
      - param_name: color
        type: carla.Color
        default: (255,0,0)
      - param_name: life_time
        type: float
        default: -1.0f
      - param_name: persistent_lines
        type: bool
        default: True
        doc: >
          _Deprecated, use `life_time = 0` instead_
      doc: >
        Draws an arrow between two given locations.

    # --------------------------------------
    - def_name: draw_box
      params:
      - param_name: box
        type: carla.BoundingBox
      - param_name: rotation
        type: carla.Rotation
      - param_name: thickness
        type: float
        default: 0.1f
      - param_name: color
        type: carla.Color
        default: (255,0,0)
      - param_name: life_time
        type: float
        default: -1.0f
      - param_name: persistent_lines
        type: bool
        default: True
        doc: >
          _Deprecated, use `life_time = 0` instead_
      doc: >
        Draws the carla.BoundingBox of a given bounding_box.<br>
        Check out this [`recipe`](../python_cookbook/#debug-bounding-box-recipe)!
        
    # --------------------------------------
    - def_name: draw_string
      params: 
      - param_name: location
        type: carla.Location
      - param_name: text
        type: str
      - param_name: draw_shadow
        type: bool
        default: False
      - param_name: color
        type: carla.Color
        default: (255,0,0)
      - param_name: life_time
        type: float
        default: -1.0f
      - param_name: persistent_lines
        type: bool
        default: true
        doc: >
          _Deprecated, set a high `life_time` instead_
      doc: >
        Draws a string in a given location.
      note: >
        Strings can only be seen on the server-side.
    # --------------------------------------
...