Add functions to get actor location and transform

LibCarla/source/carla/client/Actor.cpp

@@ -10,6 +10,14 @@
 namespace carla {
 namespace client {
 
+  Location Actor::GetLocation() {
+    return GetWorld()->GetClient().GetActorLocation(*this);
+  }
+
+  Transform Actor::GetTransform() {
+    return GetWorld()->GetClient().GetActorTransform(*this);
+  }
+
   bool Actor::SetLocation(const Location &location) {
     return GetWorld()->GetClient().SetActorLocation(*this, location);
   }

LibCarla/source/carla/client/Actor.h

@@ -39,6 +39,10 @@ namespace client {
       return _world;
     }
 
+    Location GetLocation();
+
+    Transform GetTransform();
+
     bool SetLocation(const Location &location);
 
     bool SetTransform(const Transform &transform);

LibCarla/source/carla/client/Client.cpp

@@ -47,6 +47,14 @@ namespace client {
     _client.call("destroy_actor", actor.Serialize());
   }
 
+  Location Client::GetActorLocation(Actor &actor) {
+    return Call<Location>("get_actor_location", actor.Serialize());
+  }
+
+  Transform Client::GetActorTransform(Actor &actor) {
+    return Call<Transform>("get_actor_transform", actor.Serialize());
+  }
+
   bool Client::SetActorLocation(Actor &actor, const Location &location) {
     return Call<bool>("set_actor_location", actor.Serialize(), location);
   }

LibCarla/source/carla/client/Client.h

@@ -80,6 +80,10 @@ namespace client {
 
     void DestroyActor(Actor &actor);
 
+    Location GetActorLocation(Actor &actor);
+
+    Transform GetActorTransform(Actor &actor);
+
     bool SetActorLocation(Actor &actor, const Location &location);
 
     bool SetActorTransform(Actor &actor, const Transform &transform);

LibCarla/source/carla/rpc/Transform.h

@@ -40,7 +40,27 @@ namespace rpc {
 
 #endif // LIBCARLA_INCLUDED_FROM_UE4
 
-    MSGPACK_DEFINE_ARRAY(x, y, z);
+    // =========================================================================
+    /// @todo The following is copy-pasted from MSGPACK_DEFINE_ARRAY.
+    /// This is a workaround for an issue in msgpack library. The
+    /// MSGPACK_DEFINE_ARRAY macro is shadowing our `z` variable.
+    /// https://github.com/msgpack/msgpack-c/issues/709
+    // =========================================================================
+    template <typename Packer>
+    void msgpack_pack(Packer& pk) const
+    {
+        clmdep_msgpack::type::make_define_array(x, y, z).msgpack_pack(pk);
+    }
+    void msgpack_unpack(clmdep_msgpack::object const& o)
+    {
+        clmdep_msgpack::type::make_define_array(x, y, z).msgpack_unpack(o);
+    }
+    template <typename MSGPACK_OBJECT>
+    void msgpack_object(MSGPACK_OBJECT* o, clmdep_msgpack::zone& sneaky_variable_that_shadows_z) const
+    {
+        clmdep_msgpack::type::make_define_array(x, y, z).msgpack_object(o, sneaky_variable_that_shadows_z);
+    }
+    // =========================================================================
   };
 
   class Rotation {

PythonAPI/source/libcarla/Actor.cpp

@@ -79,6 +79,8 @@ void export_actor() {
       return self.GetTypeId();
     })
     .def("get_world", &cc::Actor::GetWorld)
+    .def("get_location", &cc::Actor::GetLocation)
+    .def("get_transform", &cc::Actor::GetTransform)
     .def("set_location", &cc::Actor::SetLocation, (arg("location")))
     .def("set_transform", &cc::Actor::SetTransform, (arg("transform")))
     .def("destroy", &cc::Actor::Destroy)

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/TheNewCarlaServer.cpp

@@ -200,6 +200,24 @@ void FTheNewCarlaServer::FPimpl::BindActions()
     AttachActors(Registry.Find(Child.id), Registry.Find(Parent.id));
   });
 
+  Server.BindSync("get_actor_location", [this](cr::Actor Actor) -> cr::Location {
+    RequireEpisode();
+    auto ActorView = Episode->GetActorRegistry().Find(Actor.id);
+    if (!ActorView.IsValid() || ActorView.GetActor()->IsPendingKill()) {
+      RespondErrorStr("unable to get actor location: actor not found");
+    }
+    return {ActorView.GetActor()->GetActorLocation()};
+  });
+
+  Server.BindSync("get_actor_transform", [this](cr::Actor Actor) -> cr::Transform {
+    RequireEpisode();
+    auto ActorView = Episode->GetActorRegistry().Find(Actor.id);
+    if (!ActorView.IsValid() || ActorView.GetActor()->IsPendingKill()) {
+      RespondErrorStr("unable to get actor transform: actor not found");
+    }
+    return {ActorView.GetActor()->GetActorTransform()};
+  });
+
   Server.BindSync("set_actor_location", [this](
       cr::Actor Actor,
       cr::Location Location) -> bool {