diff --git a/Docs/python_api.md b/Docs/python_api.md index bce89d6f3..fc2f1d070 100644 --- a/Docs/python_api.md +++ b/Docs/python_api.md @@ -22,7 +22,7 @@ The identifier of the blueprint this actor was based on, e.g. "vehicle.ford.must - **add_impulse**(**self**, **impulse**) Adds an impulse to the actor. The parameter `impulse` determines magnitude and global axis where it is applied. - **Parameters:** - - `impulse` (_[carla.Vector3D](#carla.Vector3D) – N*s_) + - `impulse` (_[carla.Vector3D](#carla.Vector3D) – N_) - **add_angular_impulse**(**self**, **impulse**) Adds an angular impulse to the actor. The parameter `impulse` determines magnitude and global axis where it is applied. - **Parameters:** @@ -462,7 +462,7 @@ Sets the maxixum time a network call is allowed before blocking it and raising a The actor the sensor is attached to, the one that measured the collision. - **other_actor** (_[carla.Actor](#carla.Actor)_) The second actor involved in the collision. -- **normal_impulse** (_[carla.Vector3D](#carla.Vector3D) – N*s_) +- **normal_impulse** (_[carla.Vector3D](#carla.Vector3D) – N_) Normal impulse resulting of the collision. --- @@ -1483,8 +1483,8 @@ Retrieves the number of entries generated, same as **\__st --- ## carla.Rotation -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. However, the declaration order of the axis' rotation is different in CARLA than in Unreal Engine.
-
__CARLA:__ (pitch, yaw, roll) which correspond to (Y,Z,X) rotations.
__UE4:__ (roll, pitch, yaw) which correspond to (X,Y,Z) rotations.

![UE4_Rotation](https://d26ilriwvtzlb.cloudfront.net/8/83/BRMC_9.jpg) *Unreal Engine's coordinates system*. +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.
+
The constructor method follows a specific order of declaration: `(pitch, yaw, roll)`, which corresponds to `(Y-rotation,Z-rotation,X-rotation)`.

![UE4_Rotation](https://d26ilriwvtzlb.cloudfront.net/8/83/BRMC_9.jpg) *Unreal Engine's coordinates system*.

Instance Variables

- **pitch** (_float – degrees_) @@ -1500,7 +1500,7 @@ X-axis rotation angle. - `pitch` (_float – degrees_) – Y-axis rotation angle. - `yaw` (_float – degrees_) – Z-axis rotation angle. - `roll` (_float – degrees_) – X-axis rotation angle. - - **Warning:** _The declaration order is different in CARLA (pitch,yaw,roll) and in the Unreal Engine Editor (roll,pitch,yaw)._ + - **Warning:** _The declaration order is different in CARLA (pitch,yaw,roll), and in the Unreal Engine Editor (roll,pitch,yaw). When working in a build from source, don't mix up the axes' rotations._
Getters
- **get_forward_vector**(**self**) @@ -2819,14 +2819,14 @@ Command adaptation of **set_angular_velocity()** in

Instance Variables

- **actor_id** (_int_) Actor affected by the command. -- **angular_velocity** (_[carla.Vector3D](#carla.Vector3D) – rad/s_) +- **angular_velocity** (_[carla.Vector3D](#carla.Vector3D) – deg/s_) The 3D angular velocity that will be applied to the actor.

Methods

- **\__init__**(**self**, **actor**, **angular_velocity**) - **Parameters:** - `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to. - - `angular_velocity` (_[carla.Vector3D](#carla.Vector3D) – rad/s_) + - `angular_velocity` (_[carla.Vector3D](#carla.Vector3D) – deg/s_) --- @@ -2836,14 +2836,14 @@ Command adaptation of **add_impulse()** in [carla.A

Instance Variables

- **actor_id** (_int_) Actor affected by the command. -- **impulse** (_[carla.Vector3D](#carla.Vector3D) – N*s_) +- **impulse** (_[carla.Vector3D](#carla.Vector3D) – N_) Impulse applied to the actor.

Methods

- **\__init__**(**self**, **actor**, **impulse**) - **Parameters:** - `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to. - - `impulse` (_[carla.Vector3D](#carla.Vector3D) – N*s_) + - `impulse` (_[carla.Vector3D](#carla.Vector3D) – N_) --- diff --git a/PythonAPI/docs/actor.yml b/PythonAPI/docs/actor.yml index 3685bd6e8..2384f1276 100644 --- a/PythonAPI/docs/actor.yml +++ b/PythonAPI/docs/actor.yml @@ -39,7 +39,7 @@ params: - param_name: impulse type: carla.Vector3D - param_units: N*s + param_units: N doc: > Adds an impulse to the actor. The parameter `impulse` determines magnitude and global axis where it is applied. # -------------------------------------- diff --git a/PythonAPI/docs/commands.yml b/PythonAPI/docs/commands.yml index c0f894363..0b5bca5e4 100644 --- a/PythonAPI/docs/commands.yml +++ b/PythonAPI/docs/commands.yml @@ -242,7 +242,7 @@ Actor affected by the command. - var_name: angular_velocity type: carla.Vector3D - var_units: rad/s + var_units: deg/s doc: > The 3D angular velocity that will be applied to the actor. # - METHODS ---------------------------- @@ -255,7 +255,7 @@ Actor or its ID to whom the command will be applied to. - param_name: angular_velocity type: carla.Vector3D - param_units: rad/s + param_units: deg/s # -------------------------------------- - class_name: ApplyImpulse @@ -270,7 +270,7 @@ Actor affected by the command. - var_name: impulse type: carla.Vector3D - var_units: N*s + var_units: N doc: > Impulse applied to the actor. # - METHODS ---------------------------- @@ -283,7 +283,7 @@ Actor or its ID to whom the command will be applied to. - param_name: impulse type: carla.Vector3D - param_units: N*s + param_units: N # -------------------------------------- - class_name: ApplyAngularImpulse diff --git a/PythonAPI/docs/geom.yml b/PythonAPI/docs/geom.yml index 22f186f85..9ccc3f7da 100644 --- a/PythonAPI/docs/geom.yml +++ b/PythonAPI/docs/geom.yml @@ -214,12 +214,10 @@ - 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. However, the declaration order of the axis' rotation is different in CARLA than in Unreal Engine.
- -
__CARLA:__ (pitch, yaw, roll) which correspond to (Y,Z,X) rotations. -
__UE4:__ (roll, pitch, yaw) which correspond to (X,Y,Z) rotations. -

- ![UE4_Rotation](https://d26ilriwvtzlb.cloudfront.net/8/83/BRMC_9.jpg) + 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.
+ +
The constructor method follows a specific order of declaration: `(pitch, yaw, roll)`, which corresponds to `(Y-rotation,Z-rotation,X-rotation)`.
+
![UE4_Rotation](https://d26ilriwvtzlb.cloudfront.net/8/83/BRMC_9.jpg) *Unreal Engine's coordinates system* # - PROPERTIES ------------------------- instance_variables: @@ -260,7 +258,7 @@ param_units: degrees doc: > X-axis rotation angle. - warning: The declaration order is different in CARLA (pitch,yaw,roll) and in the Unreal Engine Editor (roll,pitch,yaw). + warning: The declaration order is different in CARLA (pitch,yaw,roll), and in the Unreal Engine Editor (roll,pitch,yaw). When working in a build from source, don't mix up the axes' rotations. # -------------------------------------- - def_name: get_forward_vector params: diff --git a/PythonAPI/docs/sensor_data.yml b/PythonAPI/docs/sensor_data.yml index 4ea1c3e86..4a03d86ab 100644 --- a/PythonAPI/docs/sensor_data.yml +++ b/PythonAPI/docs/sensor_data.yml @@ -295,7 +295,7 @@ The second actor involved in the collision. - var_name: normal_impulse type: carla.Vector3D - var_units: N*s + var_units: N doc: > Normal impulse resulting of the collision.