carla/PythonAPI/docs/geom.yml

---
- module_name: carla
  classes:
  - class_name: Vector2D
    # - DESCRIPTION ------------------------
    doc: >
      Helper class to perform 2D operations.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: x
      type: float
      doc: >
        X-axis value.
    - var_name: 'y'
      type: float
      doc: >
        Y-axis value.
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: x
        type: float
        default: 0.0
      - param_name: y
        type: float
        default: 0.0
    # --------------------------------------
    - def_name: length
      return: float
      params:
      doc: >
        Computes the length of the vector.
    # --------------------------------------
    - def_name: squared_length
      return: float
      params:
      doc: >
        Computes the squared length of the vector.
    # --------------------------------------
    - def_name: make_unit_vector
      return: carla.Vector3D
      params:
      doc: >
        Returns a vector with the same direction and unitary length.
    # --------------------------------------
    - def_name: __add__
      params:
      - param_name: other
        type: carla.Vector2D
    # --------------------------------------
    - def_name: __sub__
      params:
      - param_name: other
        type: carla.Vector2D
    # --------------------------------------
    - def_name: __mul__
      params:
      - param_name: other
        type: carla.Vector2D
    # --------------------------------------
    - def_name: __truediv__
      params:
      - param_name: other
        type: carla.Vector2D
    # --------------------------------------
    - def_name: __eq__
      return: bool
      params:
      - param_name: other
        type: carla.Vector2D
      doc: >
        Returns __True__ if values for every axis are equal.
    # --------------------------------------
    - def_name: __ne__
      return: bool
      params:
      - param_name: bool
        type: carla.Vector2D
      doc: >
        Returns __True__ if the value for any axis is different.
    # --------------------------------------
    - def_name: __str__
      return: str
      doc: >
        Returns the axis values for the vector parsed as string.
    # --------------------------------------

  - class_name: Vector3D
    # - DESCRIPTION ------------------------
    doc: >
      Helper class to perform 3D operations.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: x
      type: float
      doc: >
        X-axis value.
    - var_name: 'y'
      type: float
      doc: >
        Y-axis value.
    - var_name: z
      type: float
      doc: >
        Z-axis value.
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: x
        type: float
        default: 0.0
      - param_name: 'y'
        type: float
        default: 0.0
      - param_name: z
        type: float
        default: 0.0
    # --------------------------------------
    - def_name: length
      return: float
      params:
      doc: >
        Computes the length of the vector.
    # --------------------------------------
    - def_name: squared_length
      return: float
      params:
      doc: >
        Computes the squared length of the vector.
    # --------------------------------------
    - def_name: make_unit_vector
      return: carla.Vector3D
      params:
      doc: >
        Returns a vector with the same direction and unitary length.
    # --------------------------------------
    - def_name: cross
      return: carla.Vector3D
      params:
      - param_name: vector
        type: carla.Vector3D
      doc: >
        Computes the cross product between two vectors.
    # --------------------------------------
    - def_name: dot
      return: float
      params:
      - param_name: vector
        type: carla.Vector3D
      doc: >
        Computes the dot product between two vectors.
    # --------------------------------------
    - def_name: distance
      return: float
      params:
      - param_name: vector
        type: carla.Vector3D
      doc: >
        Computes the distance between two vectors.
    # --------------------------------------
    - def_name: distance_squared
      return: float
      params:
      - param_name: vector
        type: carla.Vector3D
      doc: >
        Computes the squared distance between two vectors.
    # --------------------------------------
    - def_name: dot_2d
      return: float
      params:
      - param_name: vector
        type: carla.Vector3D
      doc: >
        Computes the 2-dimensional dot product between two vectors.
    # --------------------------------------
    - def_name: distance_2d
      return: float
      params:
      - param_name: vector
        type: carla.Vector3D
      doc: >
        Computes the 2-dimensional distance between two vectors.
    # --------------------------------------
    - def_name: distance_squared_2d
      return: float
      params:
      - param_name: vector
        type: carla.Vector3D
      doc: >
        Computes the 2-dimensional squared distance between two vectors.
    # --------------------------------------
    - def_name: get_vector_angle
      return: float
      params:
      - param_name: vector
        type: carla.Vector3D
      doc: >
        Computes the angle between a pair of 3D vectors in radians.
    # --------------------------------------
    - def_name: __add__
      params:
      - param_name: other
        type: carla.Vector3D
    # --------------------------------------
    - def_name: __sub__
      params:
      - param_name: other
        type: carla.Vector3D
    # --------------------------------------
    - def_name: __mul__
      params:
      - param_name: other
        type: carla.Vector3D
    # --------------------------------------
    - def_name: __truediv__
      params:
      - param_name: other
        type: carla.Vector3D
    # --------------------------------------
    - def_name: __eq__
      params:
      - param_name: other
        type: carla.Vector3D
      return: bool
      doc: >
        Returns __True__ if values for every axis are equal.
    # --------------------------------------
    - def_name: __ne__
      params:
      - param_name: other
        type: carla.Vector3D
      return: bool
      doc: >
        Returns __True__ if the value for any axis is different.
    # --------------------------------------
    - def_name: __str__
      return: str
      doc: >
        Returns the axis values for the vector parsed as string.
    # --------------------------------------
    - def_name: __abs__
      return: carla.Vector3D
      doc: >
        Returns a Vector3D with the absolute value of the components x, y and z.
    # --------------------------------------

  - class_name: Location
    parent: carla.Vector3D
  # - DESCRIPTION ------------------------
    doc: >
      Represents a spot in the world.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: x
      type: float
      var_units: meters
      doc: >
        Distance from origin to spot on X axis.
    - var_name: 'y'
      type: float
      var_units: meters
      doc: >
        Distance from origin to spot on Y axis.
    - var_name: z
      type: float
      var_units: meters
      doc: >
        Distance from origin to spot on Z axis.
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: x
        type: float
        default: 0.0
      - param_name: 'y'
        type: float
        default: 0.0
      - param_name: z
        type: float
        default: 0.0
    # --------------------------------------
    - def_name: distance
      params:
      - param_name: location
        type: carla.Location
        doc: >
          The other point to compute the distance with.
      return: float
      return_units: meters
      doc: >
        Returns Euclidean distance from this location to another one.
    # --------------------------------------
    - def_name: __eq__
      return: bool
      params:
      - param_name: other
        type: carla.Location
      doc: >
        Returns __True__ if both locations are the same point in space.
    # --------------------------------------
    - def_name: __ne__
      return: bool
      params:
      - param_name: other
        type: carla.Location
      doc: >
        Returns __True__ if both locations are different points in space.
    # --------------------------------------
    - def_name: __str__
      return: str
      doc: >
        Parses the axis' values to string.
    # --------------------------------------
    - def_name: __abs__
      return: carla.Location
      doc: >
        Returns a Location with the absolute value of the components x, y and z.
    # --------------------------------------


  - class_name: Rotation
    # - DESCRIPTION ------------------------
    doc: >
      Class that represents a 3D rotation and therefore, an orientation in space. CARLA uses the Unreal Engine coordinates system. This is a Z-up left-handed system.  <br>

      <br>The constructor method follows a specific order of declaration: `(pitch, yaw, roll)`, which corresponds to `(Y-rotation,Z-rotation,X-rotation)`.  <br>
      <br>![UE4_Rotation](https://d26ilriwvtzlb.cloudfront.net/8/83/BRMC_9.jpg)
      *Unreal Engine's coordinates system*
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: pitch
      type: float
      var_units: degrees
      doc: >
        Y-axis rotation angle.
    - var_name: yaw
      type: float
      var_units: degrees
      doc: >
        Z-axis rotation angle.
    - var_name: roll
      type: float
      var_units: degrees
      doc: >
        X-axis rotation angle.
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: pitch
        type: float
        default: 0.0
        param_units: degrees
        doc: >
          Y-axis rotation angle.
      - param_name: yaw
        type: float
        default: 0.0
        param_units: degrees
        doc: >
          Z-axis rotation angle.
      - param_name: roll
        type: float
        default: 0.0
        param_units: degrees
        doc: >
          X-axis rotation angle.
      warning: The declaration order is different in CARLA <code>(pitch,yaw,roll)</code>, and in the Unreal Engine Editor <code>(roll,pitch,yaw)</code>. When working in a build from source, don't mix up the axes' rotations.
    # --------------------------------------
    - def_name: get_forward_vector
      params:
      return: carla.Vector3D
      doc: >
        Computes the vector pointing forward according to the rotation of the object.
    # --------------------------------------
    - def_name: get_right_vector
      params:
      return: carla.Vector3D
      doc: >
        Computes the vector pointing to the right according to the rotation of the object.
    # --------------------------------------
    - def_name: get_up_vector
      params:
      return: carla.Vector3D
      doc: >
        Computes the vector pointing upwards according to the rotation of the object.
    # --------------------------------------
    - def_name: __eq__
      return: bool
      params:
      - param_name: other
        type: carla.Rotation
      doc: >
        Returns __True__ if both rotations represent the same orientation for every axis.
    # --------------------------------------
    - def_name: __ne__
      params:
      - param_name: other
        type: carla.Rotation
      return: bool
      doc: >
        Returns __True__ if both rotations represent the same orientation for every axis.
    # --------------------------------------
    - def_name: __str__
      doc: >
        Parses the axis' orientations to string.
    # --------------------------------------

  - class_name: Transform
    # - DESCRIPTION ------------------------
    doc: >
      Class that defines a transformation, a combination of location and rotation, without scaling.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: location
      type: carla.Location
      doc: >
        Describes a point in the coordinate system.
    - var_name: rotation
      type: carla.Rotation
      var_units: degrees (pitch, yaw, roll)
      doc: >
        Describes a rotation for an object according to Unreal Engine's axis system.
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: location
        type: carla.Location
      - param_name: rotation
        type: carla.Rotation
        param_units: degrees (pitch, yaw, roll)
    # --------------------------------------
    - def_name: transform
      params:
      - param_name: in_point
        type: carla.Location
        doc: >
          Location in the space to which the transformation will be applied.
      doc: >
        Translates a 3D point from local to global coordinates using the current transformation as frame of reference.
    # --------------------------------------
    - def_name: transform_vector
      params:
      - param_name: in_vector
        type: carla.Vector3D
        doc: >
          Vector to which the transformation will be applied.
      doc: >
        Rotates a vector using the current transformation as frame of reference, without applying translation. Use this to transform, for example, a velocity.
    # --------------------------------------
    - def_name: get_forward_vector
      return: carla.Vector3D
      doc: >
        Computes a forward vector using the rotation of the object.
    # --------------------------------------
    - def_name: get_right_vector
      return: carla.Vector3D
      doc: >
        Computes a right vector using the rotation of the object.
    # --------------------------------------
    - def_name: get_up_vector
      return: carla.Vector3D
      doc: >
        Computes an up vector using the rotation of the object.
    # --------------------------------------
    - def_name: get_matrix
      return: list(list(float))
      doc: >
        Computes the 4-matrix representation of the transformation.
    # --------------------------------------
    - def_name: get_inverse_matrix
      return: list(list(float))
      doc: >
        Computes the 4-matrix representation of the inverse transformation.
    # --------------------------------------
    - def_name: __eq__
      return: bool
      params:
      - param_name: other
        type: carla.Transform
      doc: >
        Returns __True__ if both location and rotation are equal for this and `other`.
    # --------------------------------------
    - def_name: __ne__
      return: bool
      params:
      - param_name: other
        type: carla.Transform
      doc: >
        Returns __True__ if any location and rotation are not equal for this and `other`.
    # --------------------------------------
    - def_name: __str__
      return: str
      doc: >
        Parses both location and rotation to string.
    # --------------------------------------

  - class_name: BoundingBox
    # - DESCRIPTION ------------------------
    doc: >
      Bounding boxes contain the geometry of an actor or an element in the scene. They can be used by carla.DebugHelper or a carla.Client to draw their shapes for debugging. Check out the snipet in carla.DebugHelper.draw_box where a snapshot of the world is used to draw bounding boxes for traffic lights.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: extent
      type: carla.Vector3D
      var_units: meters
      doc: >
        Vector from the center of the box to one vertex. The value in each axis equals half the size of the box for that axis.

        `extent.x * 2` would return the size of the box in the X-axis.
    - var_name: location
      type: carla.Location
      var_units: meters
      doc: >
        The center of the bounding box.
    - var_name: rotation
      type: carla.Rotation
      doc: >
        The orientation of the bounding box.
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: location
        type: carla.Location
        var_units: meters
        doc: >
          Center of the box, relative to its parent.
      - param_name: extent
        type: carla.Vector3D
        param_units: meters
        doc: >
          Vector containing half the size of the box for every axis.
    # --------------------------------------
    - def_name: contains
      return: bool
      params:
      - param_name: world_point
        type: carla.Location
        param_units: meters
        doc: >
          The point in world space to be checked.
      - param_name: transform
        type: carla.Transform
        doc: >
          Contains location and rotation needed to convert this object's local space to world space.
      doc: >
        Returns **True** if a point passed in world space is inside this bounding box.
    # --------------------------------------
    - def_name: get_local_vertices
      return: list(carla.Location)
      doc: >
        Returns a list containing the locations of this object's vertices in local space.
    # --------------------------------------
    - def_name: get_world_vertices
      return: list(carla.Location)
      params:
      - param_name: transform
        type: carla.Transform
        doc: >
          Contains location and rotation needed to convert this object's local space to world space.
      doc: >
        Returns a list containing the locations of this object's vertices in world space.
    # --------------------------------------
    - def_name: __eq__
      return: bool
      params:
      - param_name: other
        type: carla.BoundingBox
      doc: >
        Returns true if both location and extent are equal for this and `other`.
    # --------------------------------------
    - def_name: __ne__
      return: bool
      params:
      - param_name: other
        type: carla.BoundingBox
      doc: >
        Returns true if either location or extent are different for this and `other`.
    # --------------------------------------
    - def_name: __str__
      return: str
      doc: >
        Parses the location and extent of the bounding box to string.
    # --------------------------------------

  - class_name: GeoLocation
    # - DESCRIPTION ------------------------
    doc: >
      Class that contains geographical coordinates simulated data. The carla.Map can convert simulation locations by using the <b><georeference></b> tag in the OpenDRIVE file.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: latitude
      type: float
      var_units: degrees
      doc: >
        North/South value of a point on the map.
    - var_name: longitude
      type: float
      var_units: degrees
      doc: >
        West/East value of a point on the map.
    - var_name: altitude
      type: float
      var_units: meters
      doc: >
        Height regarding ground level.
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: latitude
        type: float
        default: 0.0
        param_units: degrees
      - param_name: longitude
        type: float
        default: 0.0
        param_units: degrees
      - param_name: altitude
        type: float
        default: 0.0
        param_units: meters
    # --------------------------------------
    - def_name: __eq__
      params:
      - param_name: other
        type: carla.GeoLocation
    # --------------------------------------
    - def_name: __ne__
      params:
      - param_name: other
        type: carla.GeoLocation
    # --------------------------------------
    - def_name: __str__
    # --------------------------------------
...