carla/PythonAPI/docs/control.yml

---
- module_name: control
  doc: >

  # - CLASSES ------------------------------
  classes:

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

    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: torque_curve
      doc: >
        Curve that indicates the torque measured in Nm for a specific RPM of the vehicle's engine.
    # --------------------------------------
    - var_name: max_rpm
      doc: >
        The maximum RPM of the vehicle's engine.
    # --------------------------------------
    - var_name: moi
      doc: >
        The moment of inertia of the vehicle's engine.
    # --------------------------------------
    - var_name: damping_rate_full_throttle
      doc: >
        Damping rate when the throttle is maximum.
    # --------------------------------------
    - var_name: damping_rate_zero_throttle_clutch_engaged
      doc: >
        Damping rate when the thottle is zero with clutch engaged.
    # --------------------------------------
    - var_name: damping_rate_zero_throttle_clutch_disengaged
      doc: >
        Damping rate when the throttle is zero with clutch disengaged.
    # --------------------------------------
    - var_name: use_gear_autobox
      doc: >
        If true, the vehicle will have automatic transmission.
    # --------------------------------------
    - var_name: gear_switch_time
      doc: >
        Switching time between gears.
    # --------------------------------------
    - var_name: clutch_strength
      doc: >
        The clutch strength of the vehicle. Measured in Kgm^2/s.
    # --------------------------------------
    - var_name: mass
      doc: >
        The mass of the vehicle measured in Kg.
    # --------------------------------------
    - var_name: drag_coefficient
      doc: >
        Drag coefficient of the vehicle's chassis.
    # --------------------------------------
    - var_name: center_of_mass
      doc: >
        The center of mass of the vehicle.
    # --------------------------------------
    - var_name: steering_curve
      doc: >
        Curve that indicates the maximum steering for a specific forward speed.
    # --------------------------------------
    - var_name: wheels
      doc: >
        List of `carla.WheelPhysicsControl` objects.

    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: self
      - param_name: torque_curve
        type: List of carla.Vector2D
        default: [[0.0,500.0], [5000.0, 500.0]]
      - param_name: max_rpm
        type: float
        default: 5000.0
      - param_name: moi
        type: float
        default: 1.0
      - param_name: damping_rate_full_throttle
        type: float
        default: 0.15
      - param_name: damping_rate_zero_throttle_clutch_engaged
        type: float
        default: 2.0
      - param_name: damping_rate_zero_throttle_clutch_disengaged
        type: float
        default: 0.35
      - param_name: use_gear_autobox
        type: bool
        default: True
      - param_name: gear_switch_time
        type: float
        default: 0.5
      - param_name: clutch_strength
        type: float
        default: 10.0
      - param_name: mass
        type: float
        default: 1000.0
      - param_name: drag_coefficient
        type: float
        default: 0.3
      - param_name: center_of_mass
        type: carla.Vector3D
        default: [0.0, 0.0, 0.0]
      - param_name: steering_curve
        type: carla.Vector3D
        default: [0.0, 0.0, 0.0]
      - param_name: wheels
        type: List of carla.WheelPhysicsControl
      doc: >
        VehiclePhysicsControl constructor
    # --------------------------------------
    - def_name: __eq__
      params:
      - param_name: self
      - param_name: other
      return: bool
      doc: >
        Returns True if `self` and `other` are equal
    - def_name: __ne__
      params:
      - param_name: self
      - param_name: other
      return: bool
      doc: >
        Returns True if `self` and `other` are not equal

  - class_name: WheelPhysicsControl
    doc: >
      WheelPhysicsControl is used for controlling the physics parameters of a vehicle's wheel.

    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: tire_friction
      doc: >
        Scalar value that indicates the friction of the wheel.
    # --------------------------------------
    - var_name: damping_rate
      doc: >
        The damping rate of the wheel.
    # --------------------------------------
    - var_name: max_steer_angle
      doc: >
        The maximum angle in degrees that the wheel can steer.
    # --------------------------------------
    - var_name: is_steerable
      doc: >
        If true, the wheel will steer.
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: self
      - param_name: tire_friction
        type: float
        default: 2.0
      - param_name: damping_rate
        type: float
        default: 0.25
      - param_name: max_steer_angle
        type: float
        default: 70.0
      - param_name: is_steerable
        type: bool
        default: True
      doc: >
        WheelPhysicsControl constructor
    # --------------------------------------
    - def_name: __eq__
      params:
      - param_name: self
      - param_name: other
      return: bool
      doc: >
        Returns True if `self` and `other` are equal
    - def_name: __ne__
      params:
      - param_name: self
      - param_name: other
      return: bool
      doc: >
        Returns True if `self` and `other` are not equal
...