update ue4 docs (#8253)
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MattRoweEAIF
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@ -139,4 +139,3 @@ TOOLCHAIN=$(CURDIR)/ToolChain.cmake
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@ -105,4 +105,3 @@ The generation step will take around 10 minutes for a 2x2 km<sup>2</sup> region,
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## Save the map
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If you are satisfied with the generated map then you can press *Save Map* button to save the map. __This step will take a significant amount of time__, it may take over an hour and could take several. You should prepare to leave your computer running for several hours while this step is completed. Once this step is completed, the map will be available through the Unreal Engine editor or through the CARLA API, the same as any other map.
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@ -1,7 +1,7 @@
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!!! warning
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This is a work in progress!! This version of CARLA is not considered a stable release. Over the following months many significant changes may be made to this branch which could break any modifications you make. We advise you to treat this branch as experimental.
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# Building CARLA in Windowswith Unreal Engine 5.3
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# Building CARLA in Windows with Unreal Engine 5.3
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## Set up the environment
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@ -1999,7 +1999,7 @@ Iterate over the [carla.RadarDetection](#carla.RadarDetection) retrieved as data
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## carla.Rotation<a name="carla.Rotation"></a>
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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>
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<br>The constructor method follows a specific order of declaration: `(pitch, yaw, roll)`, which corresponds to `(Y-rotation,Z-rotation,X-rotation)`. <br> <br> *Unreal Engine's coordinates system*.
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<br>The constructor method follows a specific order of declaration: `(pitch, yaw, roll)`, which corresponds to `(Y-rotation,Z-rotation,X-rotation)`. <br> <br> *Unreal Engine's coordinates system*.
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### Instance Variables
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- <a name="carla.Rotation.pitch"></a>**<font color="#f8805a">pitch</font>** (_float<small> - degrees</small>_)
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@ -940,21 +940,19 @@ While the visibility is simulated within CARLA, the scenario can be configured b
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* __Output:__ [carla.CAMData](python_api.md#carla.CAMData), triggered according to the ETSI CAM standard, unless configured otherwise
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Triggering conditions according to ETSI standard:
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- Heading angle change > $4$°
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- Position difference > $4$ m
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- Speed change > $5$ m/s
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- Heading angle change > 4°
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- Position difference > 4 m
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- Speed change > 5 m/s
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- Time elapsed > CAM Generation time (configurable)
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- Low Frequency Container Time Elapsed $> 500$ ms
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- Low Frequency Container Time Elapsed > 500 ms
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For the CAM V2X sensor, additional blueprint attributes apply:
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| Blueprint attribute | Type | Default | Description |
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|-------------------------|--------|-------------------------|------------------------------------|
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| <td colspan=4> Message generation |
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| gen\_cam\_min | float | $0.1$ | Minimum elapsed time between two successive CAMs in seconds (s) |
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| gen\_cam\_max | float | $1.0$ | Maximum elapsed time between two successive CAMs in seconds (s) |
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| gen\_cam\_min | float | 0.1 | Minimum elapsed time between two successive CAMs in seconds (s) |
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| gen\_cam\_max | float | 1.0 | Maximum elapsed time between two successive CAMs in seconds (s) |
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| fixed\_rate | bool | false [true] | Generate a CAM in every CARLA tick (only for debug purposes, will result in slowdown) |
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| <td colspan=4> Data generation |
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| `noise_vel_stddev_x` | float | 0\.0 | Standard deviation parameter in the noise model for velocity (X axis). |
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| `noise_accel_stddev_x` | float | 0\.0 | Standard deviation parameter in the noise model for acceleration (X axis). |
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| `noise_accel_stddev_y` | float | 0\.0 | Standard deviation parameter in the noise model for acceleration (Y axis). |
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@ -993,17 +991,16 @@ Example:
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| Blueprint attribute | Type | Default | Description |
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|-------------------------|--------|-------------------------|------------------------------------|
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| transmit\_power | float | $21.5$ | Sender transmission power in dBm |
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| receiver\_sensitivity | float | $-99$ | Receiver sensitivity in dBm |
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| frequency\_ghz | float | $5.9$ | Transmission frequency in GHz. 5.9 GHz is standard for several physical channels. |
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| noise\_seed | int | $0$ | Random parameter for initialization of noise |
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| filter\_distance | float | $500$ | Maximum transmission distance in meter, path loss calculations above are skipped for simulation speed |
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| <td colspan=4> __Path loss model parameters__ |
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| combined\_antenna\_gain | float | $10.0$ | Combined gain of sender and receiver antennas in dBi, parameter for radiation efficiency and directivity |
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| d\_ref | float | $ 1.0 $ | reference distance for Log-distance path loss model in meter |
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| transmit\_power | float | 21.5 | Sender transmission power in dBm |
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| receiver\_sensitivity | float | -99 | Receiver sensitivity in dBm |
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| frequency\_ghz | float | 5.9 | Transmission frequency in GHz. 5.9 GHz is standard for several physical channels. |
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| noise\_seed | int | 0 | Random parameter for initialization of noise |
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| filter\_distance | float | 500 | Maximum transmission distance in meter, path loss calculations above are skipped for simulation speed |
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| __Path loss model parameters__ | | | |
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| combined\_antenna\_gain | float | 10.0 | Combined gain of sender and receiver antennas in dBi, parameter for radiation efficiency and directivity |
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| d\_ref | float | 1.0 | reference distance for Log-distance path loss model in meter |
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| path\_loss\_exponent | float | 2.7 | Loss parameter for non-line of sight due to building obstruction |
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| scenario | string | urban | Options: [urban, rural, highway], defines the fading noise parameters |
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| path\_loss\_model | string | geometric | general path loss model to be used. Options: [geometric, winner] |
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| use\_etsi\_fading | bool | true | Use the fading params as mentioned in the ETSI publication (true), or use the custom fading standard deviation |
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| custom\_fading\_stddev | float | 0.0 | Custom value for fading standard deviation, only used if `use_etsi_fading` is set to `false` |
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@ -328,7 +328,7 @@
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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>
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<br>The constructor method follows a specific order of declaration: `(pitch, yaw, roll)`, which corresponds to `(Y-rotation,Z-rotation,X-rotation)`. <br>
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<br>
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<br>
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*Unreal Engine's coordinates system*
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# - PROPERTIES -------------------------
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instance_variables:
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