Updated Waypoint docs

Docs/python_api.md

@@ -229,6 +229,7 @@
 
 
 ## `carla.WheelsPhysicsControl`
+
 - `tire_friction`
 - `damping_rate`
 - `steer_angle`
@@ -259,31 +260,93 @@
 
 - `name`
 - `get_spawn_points()`
-- `get_waypoint(location, project_to_road=True)`
+- `get_waypoint(location, project_to_road=True, lane_type=carla.LaneType.Driving)`
 - `get_topology()`
 - `generate_waypoints(distance)`
 - `transform_to_geolocation(location)`
 - `to_opendrive()`
 - `save_to_disk(path=self.name)`
 
+## `carla.LaneChange`
+
+- `NONE`
+- `Right`
+- `Left`
+- `Both`
+
+## `carla.LaneType`
+
+- `NONE`
+- `Driving`
+- `Stop`
+- `Shoulder`
+- `Biking`
+- `Sidewalk`
+- `Border`
+- `Restricted`
+- `Parking`
+- `Bidirectional`
+- `Median`
+- `Special1`
+- `Special2`
+- `Special3`
+- `RoadWorks`
+- `Tram`
+- `Rail`
+- `Entry`
+- `Exit`
+- `OffRamp`
+- `OnRamp`
+- `Any`
+
+## `carla.RoadMarkColor`
+
+- `Standard`
+- `Blue`
+- `Green`
+- `Red`
+- `White`
+- `Yellow`
+- `Other`
+
+## `carla.LaneMarking`
+
+- `NONE`
+- `Other`
+- `Broken`
+- `Solid`
+- `SolidSolid`
+- `SolidBroken`
+- `BrokenSolid`
+- `BrokenBroken`
+- `BottsDots`
+- `Grass`
+- `Curb`
+
+## `carla.WaypointInfoRoadMark`
+
+- `type -> carla.LaneMarking`
+- `color -> carla.RoadMarkColor`
+- `lane_change -> carla.LaneChange`
+- `width`
+
 ## `carla.Waypoint`
 
+- `id`
 - `transform`
 - `is_intersection`
 - `lane_width`
 - `road_id`
+- `section_id`
 - `lane_id`
-- `lane_change`
-- `lane_type`
-- `next(distance)`
-- `get_right_lane()`
-- `get_left_lane()`
-
-## `carla.LaneChange`
-- `None`
-- `Right`
-- `Left`
-- `Both`
+- `s`
+- `lane_change -> carla.LaneChange`
+- `lane_type -> carla.LaneType`
+- `right_road_mark -> carla.WaypointInfoRoadMark`
+- `left_road_mark -> carla.WaypointInfoRoadMark`
+- `next(distance) -> list(carla.Waypoint)`
+- `get_right_lane() -> carla.Waypoint`
+- `get_left_lane() -> carla.Waypoint`
 
 ## `carla.WeatherParameters`
 

PythonAPI/no_rendering_mode.py

@@ -478,10 +478,10 @@ class MapImage(object):
 
             if is_left:
                 sign = -1
-                road_mark = sample.get_left_road_mark()
+                road_mark = sample.left_road_mark
             else:
                 sign = 1
-                road_mark = sample.get_right_road_mark()
+                road_mark = sample.right_road_mark
 
             if road_mark is not None:
                 marking_type = road_mark.type

PythonAPI/source/libcarla/Map.cpp

@@ -79,6 +79,26 @@ void export_map() {
   namespace cg = carla::geom;
   namespace cre = carla::road::element;
 
+  class_<cc::Map, boost::noncopyable, boost::shared_ptr<cc::Map>>("Map", no_init)
+    .def(init<std::string, std::string>((arg("name"), arg("xodr_content"))))
+    .add_property("name", CALL_RETURNING_COPY(cc::Map, GetName))
+    .def("get_spawn_points", CALL_RETURNING_LIST(cc::Map, GetRecommendedSpawnPoints))
+    .def("get_waypoint", &cc::Map::GetWaypoint, (arg("location"), arg("project_to_road")=true, arg("lane_type")=cr::Lane::LaneType::Driving))
+    .def("get_topology", &GetTopology)
+    .def("generate_waypoints", CALL_RETURNING_LIST_1(cc::Map, GenerateWaypoints, double), (args("distance")))
+    .def("transform_to_geolocation", &ToGeolocation, (arg("location")))
+    .def("to_opendrive", CALL_RETURNING_COPY(cc::Map, GetOpenDrive))
+    .def("save_to_disk", &SaveOpenDriveToDisk, (arg("path")=""))
+    .def(self_ns::str(self_ns::self))
+  ;
+
+  enum_<cre::WaypointInfoRoadMark::LaneChange>("LaneChange")
+    .value("NONE", cre::WaypointInfoRoadMark::LaneChange::None) // None is reserved in Python3
+    .value("Right", cre::WaypointInfoRoadMark::LaneChange::Right)
+    .value("Left", cre::WaypointInfoRoadMark::LaneChange::Left)
+    .value("Both", cre::WaypointInfoRoadMark::LaneChange::Both)
+  ;
+
   enum_<cr::Lane::LaneType>("LaneType")
     .value("NONE", cr::Lane::LaneType::None) // None is reserved in Python3
     .value("Driving", cr::Lane::LaneType::Driving)
@@ -104,40 +124,6 @@ void export_map() {
     .value("Any", cr::Lane::LaneType::Any)
   ;
 
-  class_<cc::Map, boost::noncopyable, boost::shared_ptr<cc::Map>>("Map", no_init)
-    .def(init<std::string, std::string>((arg("name"), arg("xodr_content"))))
-    .add_property("name", CALL_RETURNING_COPY(cc::Map, GetName))
-    .def("get_spawn_points", CALL_RETURNING_LIST(cc::Map, GetRecommendedSpawnPoints))
-    .def("get_waypoint", &cc::Map::GetWaypoint, (arg("location"), arg("project_to_road")=true, arg("lane_type")=cr::Lane::LaneType::Driving))
-    .def("get_topology", &GetTopology)
-    .def("generate_waypoints", CALL_RETURNING_LIST_1(cc::Map, GenerateWaypoints, double), (args("distance")))
-    .def("transform_to_geolocation", &ToGeolocation, (arg("location")))
-    .def("to_opendrive", CALL_RETURNING_COPY(cc::Map, GetOpenDrive))
-    .def("save_to_disk", &SaveOpenDriveToDisk, (arg("path")=""))
-    .def(self_ns::str(self_ns::self))
-  ;
-
-  enum_<cre::LaneMarking>("LaneMarking")
-    .value("Other", cre::LaneMarking::Other)
-    .value("Broken", cre::LaneMarking::Broken)
-    .value("Solid", cre::LaneMarking::Solid)
-    .value("SolidSolid", cre::LaneMarking::SolidSolid)
-    .value("SolidBroken", cre::LaneMarking::SolidBroken)
-    .value("BrokenSolid", cre::LaneMarking::BrokenSolid)
-    .value("BrokenBroken", cre::LaneMarking::BrokenBroken)
-    .value("BottsDots", cre::LaneMarking::BottsDots)
-    .value("Grass", cre::LaneMarking::Grass)
-    .value("Curb", cre::LaneMarking::Curb)
-    .value("NONE", cre::LaneMarking::None) // None is reserved in Python3
-  ;
-
-  enum_<cre::WaypointInfoRoadMark::LaneChange>("LaneChange")
-    .value("NONE", cre::WaypointInfoRoadMark::LaneChange::None) // None is reserved in Python3
-    .value("Right", cre::WaypointInfoRoadMark::LaneChange::Right)
-    .value("Left", cre::WaypointInfoRoadMark::LaneChange::Left)
-    .value("Both", cre::WaypointInfoRoadMark::LaneChange::Both)
-  ;
-
   enum_<cre::WaypointInfoRoadMark::Color>("RoadMarkColor")
     .value("Standard", cre::WaypointInfoRoadMark::Color::Standard)
     .value("Blue", cre::WaypointInfoRoadMark::Color::Blue)
@@ -148,11 +134,25 @@ void export_map() {
     .value("Other", cre::WaypointInfoRoadMark::Color::Other)
   ;
 
+  enum_<cre::LaneMarking>("LaneMarking")
+    .value("NONE", cre::LaneMarking::None) // None is reserved in Python3
+    .value("Other", cre::LaneMarking::Other)
+    .value("Broken", cre::LaneMarking::Broken)
+    .value("Solid", cre::LaneMarking::Solid)
+    .value("SolidSolid", cre::LaneMarking::SolidSolid)
+    .value("SolidBroken", cre::LaneMarking::SolidBroken)
+    .value("BrokenSolid", cre::LaneMarking::BrokenSolid)
+    .value("BrokenBroken", cre::LaneMarking::BrokenBroken)
+    .value("BottsDots", cre::LaneMarking::BottsDots)
+    .value("Grass", cre::LaneMarking::Grass)
+    .value("Curb", cre::LaneMarking::Curb)
+  ;
+
   class_<cre::WaypointInfoRoadMark>("WaypointInfoRoadMark", no_init)
-    .add_property("width", &cre::WaypointInfoRoadMark::width)
+    .add_property("type", &cre::WaypointInfoRoadMark::type)
     .add_property("color", &cre::WaypointInfoRoadMark::color)
     .add_property("lane_change", &cre::WaypointInfoRoadMark::lane_change)
-    .add_property("type", &cre::WaypointInfoRoadMark::type)
+    .add_property("width", &cre::WaypointInfoRoadMark::width)
   ;
 
   class_<cc::Waypoint, boost::noncopyable, boost::shared_ptr<cc::Waypoint>>("Waypoint", no_init)
@@ -166,8 +166,8 @@ void export_map() {
     .add_property("s", &cc::Waypoint::GetDistance)
     .add_property("lane_change", &cc::Waypoint::GetLaneChange)
     .add_property("lane_type", &cc::Waypoint::GetType)
-    .def("get_right_road_mark", &MakeRightWaypointInfoRoadMark)
-    .def("get_left_road_mark", &MakeLeftWaypointInfoRoadMark)
+    .add_property("right_road_mark", &MakeRightWaypointInfoRoadMark)
+    .add_property("left_road_mark", &MakeLeftWaypointInfoRoadMark)
     .def("next", CALL_RETURNING_LIST_1(cc::Waypoint, Next, double), (args("distance")))
     .def("get_right_lane", &cc::Waypoint::Right)
     .def("get_left_lane", &cc::Waypoint::Left)