Merge branch 'dev' into benchmark_branch

Docs/CONTRIBUTING.md

@@ -0,0 +1,63 @@
+Contributing to CARLA
+=====================
+
+> _This document is a work in progress and might be incomplete._
+
+We are more than happy to accept contributions!
+
+How can I contribute?
+
+  * Reporting bugs
+  * Feature requests
+  * Code contributions
+
+Reporting bugs
+--------------
+
+Use our [issue section](issueslink) on GitHub. Please check before that the
+issue was not already added.
+
+[issueslink]: https://github.com/carla-simulator/carla/issues
+
+Feature requests
+----------------
+
+Please check first the list of [feature requests][frlink]. If it is not there
+and you think is a feature that might be interesting for users, please submit
+your request as a new issue.
+
+[frlink]: https://github.com/carla-simulator/carla/issues?q=is%3Aissue+is%3Aopen+label%3A%22feature+request%22
+
+Code contributions
+------------------
+
+Before starting hands-on on coding, please check out the
+[projects page][projectslink] to see if we are already working on that. In case
+of doubt or to discuss how to proceed, please contact one of us (or send an
+email to carla.simulator@gmail.com).
+
+[projectslink]: https://github.com/carla-simulator/carla/projects/1
+
+#### What should I know before I get started?
+
+Check out the ["CARLA Design"](carla_design.md) document to get an idea on the
+different modules that compose CARLA, and chose the most appropriate one to hold
+the new feature.
+
+#### Coding style
+
+Please follow the current coding style when submitting new code.
+
+  * Use spaces, not tabs.
+  * Comments should not exceed 80 columns, code may exceed this limit a bit in rare
+occasions if it results in clearer code.
+  * Python code follows [PEP8 style guide](https://www.python.org/dev/peps/pep-0008/) (use `autopep8` whenever possible).
+  * Unreal C++ code, CarlaUE4 and Carla plugin, follow the [Unreal Engine's Coding Standard](https://docs.unrealengine.com/latest/INT/Programming/Development/CodingStandard/) with the exception of using spaces instead of tabs.
+  * CarlaServer uses [Google's style guide](https://google.github.io/styleguide/cppguide.html).
+
+#### Pull request
+
+Once you think your contribution is ready to be added to CARLA, please submit a
+pull request and one of our team members will take a look at it.
+
+Try to be as descriptive as possible when filling the pull-request description.

Docs/carla_design.md

@@ -0,0 +1,43 @@
+CARLA Design
+============
+
+> _This document is a work in progress and might be incomplete._
+
+CARLA is composed by the following modules
+
+  * Client side
+    - Python client API: "PythonClient/carla"
+  * Server side
+    - CarlaUE4 Unreal Engine project: "Unreal/CarlaUE4"
+    - Carla plugin for Unreal Engine: "Unreal/CarlaUE4/Plugins/Carla"
+    - CarlaServer: "Util/CarlaServer"
+
+Python client API
+-----------------
+
+The client API provides a Python module for communicating with the CARLA server.
+In the folder "PythonClient", we provide several examples for scripting a CARLA
+client using the "carla" module.
+
+CarlaUE4 Unreal Engine project
+------------------------------
+
+The Unreal project "CarlaUE4" contains all the assets and scenes for generating
+the CARLA binary. It uses the tools provided by the Carla plugin to assemble the
+cities and behavior of the agents in the scene.
+
+Carla plugin for Unreal Engine
+------------------------------
+
+The Carla plugin contains all the functionality of CARLA. We tried to keep this
+functionality separated from the assets, so the functionality in this plugin can
+be used as much as possible in any Unreal project.
+
+It uses "CarlaServer" library for the networking communication.
+
+CarlaServer
+-----------
+
+External library for the networking communications.
+
+See ["CarlaServer"](carla_server.md) for implementation details.

Docs/index.md

@@ -7,7 +7,6 @@ CARLA Documentation
   * [CARLA settings](carla_settings.md)
   * [Measurements](measurements.md)
   * [Cameras and sensors](cameras_and_sensors.md)
-
   * [F.A.Q.](faq.md)
   * [Troubleshooting](troubleshooting.md)
 
@@ -17,8 +16,13 @@ CARLA Documentation
   * [How to build on Windows](how_to_build_on_windows.md)
   * [How to add Automotive Materials](how_to_add_automotive_materials.md)
 
+#### Contributing
+
+  * [Contribution guidelines](CONTRIBUTING.md)
+
 #### Development
 
   * [Map customization](map_customization.md)
   * [How to add assets](how_to_add_assets.md)
+  * [CARLA design](carla_design.md)
   * [CarlaServer documentation](carla_server.md)

Docs/measurements.md

@@ -116,10 +116,22 @@ If enabled, the server attaches a list of agents to the measurements package
 every frame. Each of these agents has an unique id that identifies it, and
 belongs to one of the following classes
 
-  * **Vehicle** Contains its transform, bounding-box, and forward speed.
+  * **Vehicle** Contains its transform, box-extent, and forward speed.
-  * **Pedestrian** Contains its transform, bounding-box, and forward speed. (*)
+  * **Pedestrian** Contains its transform, box-extent, and forward speed. (*)
   * **Traffic light** Contains its transform and state (green, yellow, red).
   * **Speed-limit sign** Contains its transform and speed-limit.
 
 (*) At this point every pedestrian is assumed to have the same bounding-box
 size.
+
+###### Transform and bounding box
+
+The transform defines the location and orientation of the agent. The bounding
+box is assumed to be centered at the agent's location. The box extent gives the
+radii dimensions of the bounding box of the agent.
+
+![Vehicle Bounding Box](img/vehicle_bounding_box.png)
+
+!!! important
+    As seen in the picture, the Z coordinate of the box is not fitted to
+    vehicle's height.

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/RoutePlanner.cpp

@@ -0,0 +1,141 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB), and the INTEL Visual Computing Lab.
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "Carla.h"
+#include "RoutePlanner.h"
+
+#include "CarlaWheeledVehicle.h"
+#include "Util/RandomEngine.h"
+#include "WheeledVehicleAIController.h"
+
+#include "Engine/CollisionProfile.h"
+
+static bool IsSplineValid(const USplineComponent *SplineComponent)
+{
+  return (SplineComponent != nullptr) &&
+         (SplineComponent->GetNumberOfSplinePoints() > 1);
+}
+
+static AWheeledVehicleAIController *GetVehicleController(AActor *Actor)
+{
+  auto *Vehicle = (Actor->IsPendingKill() ? nullptr : Cast<ACarlaWheeledVehicle>(Actor));
+  return (Vehicle != nullptr ?
+      Cast<AWheeledVehicleAIController>(Vehicle->GetController()) :
+      nullptr);
+}
+
+static const USplineComponent *PickARoute(
+    URandomEngine &RandomEngine,
+    const TArray<USplineComponent *> &Routes,
+    const TArray<float> &Probabilities)
+{
+  check(Routes.Num() > 0);
+
+  if (Routes.Num() == 1) {
+    return Routes[0];
+  }
+
+  auto Index = RandomEngine.GetIntWithWeight(Probabilities);
+  check((Index >= 0) && (Index < Routes.Num()));
+  return Routes[Index];
+}
+
+ARoutePlanner::ARoutePlanner(const FObjectInitializer& ObjectInitializer) :
+  Super(ObjectInitializer)
+{
+  RootComponent =
+      ObjectInitializer.CreateDefaultSubobject<USceneComponent>(this, TEXT("SceneRootComponent"));
+  RootComponent->SetMobility(EComponentMobility::Static);
+
+  TriggerVolume = CreateDefaultSubobject<UBoxComponent>(TEXT("TriggerVolume"));
+  TriggerVolume->SetupAttachment(RootComponent);
+  TriggerVolume->SetHiddenInGame(true);
+  TriggerVolume->SetMobility(EComponentMobility::Static);
+  TriggerVolume->SetCollisionProfileName(FName("OverlapAll"));
+  TriggerVolume->bGenerateOverlapEvents = true;
+}
+
+#if WITH_EDITOR
+void ARoutePlanner::PostEditChangeProperty(FPropertyChangedEvent& PropertyChangedEvent)
+{
+  Super::PostEditChangeProperty(PropertyChangedEvent);
+  const auto Size = Routes.Num();
+  if (PropertyChangedEvent.Property && (Size != Probabilities.Num())) {
+    Probabilities.Reset(Size);
+    for (auto i = 0; i < Size; ++i) {
+      Probabilities.Add(1.0f / static_cast<float>(Size));
+      if (Routes[i] == nullptr) {
+        Routes[i] = NewObject<USplineComponent>(this);
+        Routes[i]->SetupAttachment(RootComponent);
+        Routes[i]->SetHiddenInGame(true);
+        Routes[i]->SetMobility(EComponentMobility::Static);
+        Routes[i]->RegisterComponent();
+      }
+    }
+  }
+}
+#endif // WITH_EDITOR
+
+void ARoutePlanner::BeginPlay()
+{
+  Super::BeginPlay();
+
+  if (Routes.Num() < 1) {
+    UE_LOG(LogCarla, Warning, TEXT("ARoutePlanner has no route assigned."));
+    return;
+  }
+
+  for (auto &&Route : Routes) {
+    if (!IsSplineValid(Route)) {
+      UE_LOG(LogCarla, Error, TEXT("ARoutePlanner has a route with zero way-points."));
+      return;
+    }
+  }
+
+  // Register delegate on begin overlap.
+  if (!TriggerVolume->OnComponentBeginOverlap.IsAlreadyBound(this, &ARoutePlanner::OnTriggerBeginOverlap))
+  {
+    TriggerVolume->OnComponentBeginOverlap.AddDynamic(this, &ARoutePlanner::OnTriggerBeginOverlap);
+  }
+}
+
+void ARoutePlanner::EndPlay(const EEndPlayReason::Type EndPlayReason)
+{
+  // Deregister the delegate.
+  if (TriggerVolume->OnComponentBeginOverlap.IsAlreadyBound(this, &ARoutePlanner::OnTriggerBeginOverlap))
+  {
+    TriggerVolume->OnComponentBeginOverlap.RemoveDynamic(this, &ARoutePlanner::OnTriggerBeginOverlap);
+  }
+
+  Super::EndPlay(EndPlayReason);
+}
+
+void ARoutePlanner::OnTriggerBeginOverlap(
+    UPrimitiveComponent * /*OverlappedComp*/,
+    AActor *OtherActor,
+    UPrimitiveComponent * /*OtherComp*/,
+    int32 /*OtherBodyIndex*/,
+    bool /*bFromSweep*/,
+    const FHitResult & /*SweepResult*/)
+{
+  auto *Controller = GetVehicleController(OtherActor);
+  auto *RandomEngine = (Controller != nullptr ? Controller->GetRandomEngine() : nullptr);
+  if (RandomEngine != nullptr)
+  {
+    auto *Route = PickARoute(*RandomEngine, Routes, Probabilities);
+
+    TArray<FVector> WayPoints;
+    const auto Size = Route->GetNumberOfSplinePoints();
+    check(Size > 1);
+    WayPoints.Reserve(Size);
+    for (auto i = 1; i < Size; ++i)
+    {
+      WayPoints.Add(Route->GetLocationAtSplinePoint(i, ESplineCoordinateSpace::World));
+    }
+
+    Controller->SetFixedRoute(WayPoints);
+  }
+}

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/RoutePlanner.h

@@ -0,0 +1,56 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB), and the INTEL Visual Computing Lab.
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "GameFramework/Actor.h"
+#include "Components/BoxComponent.h"
+#include "Components/SplineComponent.h"
+#include "RoutePlanner.generated.h"
+
+/// Assign a random route to every ACarlaWheeledVehicle entering the trigger
+/// volume. Routes must be added in editor after placing this actor into the
+/// world. Spline tangents are ignored, only locations are taken into account
+/// for making the route.
+UCLASS()
+class CARLA_API ARoutePlanner : public AActor
+{
+  GENERATED_BODY()
+
+public:
+
+  ARoutePlanner(const FObjectInitializer& ObjectInitializer);
+
+protected:
+
+#if WITH_EDITOR
+  virtual void PostEditChangeProperty(FPropertyChangedEvent& PropertyChangedEvent) override;
+#endif // WITH_EDITOR
+
+  virtual void BeginPlay() override;
+
+  virtual void EndPlay(EEndPlayReason::Type EndPlayReason) override;
+
+  UFUNCTION()
+  void OnTriggerBeginOverlap(
+      UPrimitiveComponent* OverlappedComp,
+      AActor *OtherActor,
+      UPrimitiveComponent *OtherComp,
+      int32 OtherBodyIndex,
+      bool bFromSweep,
+      const FHitResult &SweepResult);
+
+public:
+
+  UPROPERTY(EditAnywhere)
+  UBoxComponent *TriggerVolume;
+
+  UPROPERTY(BlueprintReadWrite, Category="Traffic Routes", EditAnywhere)
+  TArray<USplineComponent *> Routes;
+
+  UPROPERTY(BlueprintReadWrite, Category="Traffic Routes", EditAnywhere, EditFixedSize)
+  TArray<float> Probabilities;
+};

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.cpp

@@ -59,6 +59,13 @@ static bool IsThereAnObstacleAhead(
       RayTrace(Vehicle, StartLeft, EndLeft);
 }
 
+template <typename T>
+static void ClearQueue(std::queue<T> &Queue)
+{
+  std::queue<T> EmptyQueue;
+  Queue.swap(EmptyQueue);
+}
+
 // =============================================================================
 // -- Constructor and destructor -----------------------------------------------
 // =============================================================================
@@ -118,8 +125,7 @@ void AWheeledVehicleAIController::ConfigureAutopilot(const bool Enable)
   Vehicle->SetReverse(false);
   Vehicle->SetHandbrakeInput(false);
   TrafficLightState = ETrafficLightState::Green;
-  decltype(TargetLocations) EmptyQueue;
+  ClearQueue(TargetLocations);
-  TargetLocations.swap(EmptyQueue);
   Vehicle->SetAIVehicleState(
       bAutopilotEnabled ?
           ECarlaWheeledVehicleState::FreeDriving :
@@ -130,8 +136,13 @@ void AWheeledVehicleAIController::ConfigureAutopilot(const bool Enable)
 // -- Traffic ------------------------------------------------------------------
 // =============================================================================
 
-void AWheeledVehicleAIController::SetFixedRoute(const TArray<FVector> &Locations)
+void AWheeledVehicleAIController::SetFixedRoute(
+    const TArray<FVector> &Locations,
+    const bool bOverwriteCurrent)
 {
+  if (bOverwriteCurrent) {
+    ClearQueue(TargetLocations);
+  }
   for (auto &Location : Locations) {
     TargetLocations.emplace(Location);
   }

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.h

@@ -177,7 +177,7 @@ public:
 
   /// Set a fixed route to follow if autopilot is enabled.
   UFUNCTION(Category = "Wheeled Vehicle Controller", BlueprintCallable)
-  void SetFixedRoute(const TArray<FVector> &Locations);
+  void SetFixedRoute(const TArray<FVector> &Locations, bool bOverwriteCurrent=true);
 
   /// @}
   // ===========================================================================

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/IntersectionEntrance.cpp

@@ -1,77 +0,0 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
-// de Barcelona (UAB), and the INTEL Visual Computing Lab.
-//
-// This work is licensed under the terms of the MIT license.
-// For a copy, see <https://opensource.org/licenses/MIT>.
-
-#include "Carla.h"
-#include "IntersectionEntrance.h"
-
-
-// Sets default values
-AIntersectionEntrance::AIntersectionEntrance(const FObjectInitializer& ObjectInitializer) : Super(ObjectInitializer)
-{
-  // Set this actor to call Tick() every frame.  You can turn this off to improve performance if you don't need it.
-  PrimaryActorTick.bCanEverTick = true;
-}
-
-// Called when the game starts or when spawned
-void AIntersectionEntrance::BeginPlay()
-{
-  Super::BeginPlay();
-
-}
-
-// Called every frame
-void AIntersectionEntrance::Tick(float DeltaTime)
-{
-  Super::Tick(DeltaTime);
-
-}
-
-TArray<FVector> AIntersectionEntrance::GetRoute(int it)
-{
-  TArray<AActor*> points = Routes[it].points;
-  TArray<FVector> route;
-
-  for (int i = 0; i < points.Num(); ++i){
-    route.Add(points[i]->GetActorLocation());
-  }
-
-  return route;
-}
-
-float AIntersectionEntrance::GetProbability(int it)
-{
-  return Routes[it].probability;
-}
-
-/*
-#if WITH_EDITOR
-
-void AIntersectionEntrance::PostEditChangeProperty(FPropertyChangedEvent& PropertyChangedEvent)
-{
-  Super::PostEditChangeProperty(PropertyChangedEvent);
-  if (PropertyChangedEvent.Property) {
-    if (bCreateRoutes && (GetWorld() != nullptr)) {
-      //ClearRoutes();
-      for (int i = 0; i < Routes.Num(); ++i){
-          for(int e = 0; e < Routes[i].points.Num(); ++e){
-            AActor* actor= GetWorld()->SpawnActor<AActor>();//USphereComponent* createdComp = NewObject<USphereComponent>(this);//CreateDefaultSubobject<USphereComponent>(TEXT("Sphere"));
-        USceneComponent* SphereMesh = NewObject<USceneComponent>(actor);
-          SphereMesh->AttachToComponent(RootComponent,FAttachmentTransformRules::KeepWorldTransform);
-          if(actor)
-          {
-             actor->RegisterAllComponents();
-             Routes[i].points[e] = actor;
-             //Routes[i].points[e].position = createdComp->GetRelativeTransform().GetLocation();
-          }
-          }
-      }
-    }
-  }
-  bCreateRoutes = false;
-}
-#endif // WITH_EDITOR
-*/
-

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/IntersectionEntrance.h

@@ -1,63 +0,0 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
-// de Barcelona (UAB), and the INTEL Visual Computing Lab.
-//
-// This work is licensed under the terms of the MIT license.
-// For a copy, see <https://opensource.org/licenses/MIT>.
-
-#pragma once
-
-#include "GameFramework/Actor.h"
-#include "IntersectionEntrance.generated.h"
-
-USTRUCT(BlueprintType)
-struct FRoute {
-
-  GENERATED_BODY()
-
-  UPROPERTY(BlueprintReadWrite, Category=TrafficRoutes, EditAnywhere)
-  TArray < AActor *> points;
-
-  UPROPERTY(BlueprintReadWrite, Category=TrafficRoutes, EditAnywhere)
-  float probability = 0.0f;
-};
-
-
-UCLASS(BlueprintType)
-class CARLA_API AIntersectionEntrance : public AActor
-{
-  GENERATED_BODY()
-
-public:
-  // Sets default values for this actor's properties
-  AIntersectionEntrance(const FObjectInitializer& ObjectInitializer);
-
-protected:
-  // Called when the game starts or when spawned
-  virtual void BeginPlay() override;
-
-public:
-  // Called every frame
-  virtual void Tick(float DeltaTime) override;
-
-protected:
-
-UFUNCTION(BlueprintCallable, Category="Trigger")
-    TArray<FVector> GetRoute(int route);
-
-UFUNCTION(BlueprintCallable, Category="Trigger")
-    float GetProbability(int route);
-/*
-#if WITH_EDITOR
-  virtual void PostEditChangeProperty(FPropertyChangedEvent& PropertyChangedEvent) override;
-#endif // WITH_EDITOR
-*/
-public:
-
-  UPROPERTY(Category = "Routes", EditAnywhere)
-    bool bCreateRoutes = false;
-
-
-  UPROPERTY(BlueprintReadWrite, Category=TrafficRoutes, EditAnywhere)
-  TArray< FRoute > Routes;
-
-};

mkdocs.yml

@@ -15,9 +15,12 @@ pages:
   - 'How to build on Linux': 'how_to_build_on_linux.md'
   - 'How to build on Windows': 'how_to_build_on_windows.md'
   - 'How to add Automotive Materials': 'how_to_add_automotive_materials.md'
+- Contributing:
+  - 'Contribution guidelines': 'CONTRIBUTING.md'
 - Development:
   - 'Map customization': 'map_customization.md'
   - 'How to add assets': 'how_to_add_assets.md'
+  - 'CARLA design': 'carla_design.md'
   - 'CarlaServer documentation': 'carla_server.md'
 
 markdown_extensions: