diff --git a/Docs/adv_synchrony_timestep.md b/Docs/adv_synchrony_timestep.md index 3a66d8d5f..ffb6e3bec 100644 --- a/Docs/adv_synchrony_timestep.md +++ b/Docs/adv_synchrony_timestep.md @@ -99,15 +99,15 @@ be below `0.01666` and ideally below `0.01`. To demonstrate the effect of optimal physical sub-stepping, consider the following graphs. The first graph shown below illustrates velocity over time in simulations with different fixed simulation time steps. The physical delta time is constant in all simulations at the default value of `0.01`. We can see that velocity is not affected by the difference in simulation time steps only. ->>>>>![velocity with fixed physical delta time](/img/physics_convergence_fixed_pdt.png) +>>>>>![velocity with fixed physical delta time](../img/physics_convergence_fixed_pdt.png) The second graph shows velocity over time in simulations with a fixed simulation time step of `0.04`. We can see that once the physical delta time surpasses `0.01`, deviations start to occur in the constancy of velocity, increasing in severity as physical delta time increases. ->>>>>![velocity with varied physical delta time](/img/physics_convergence_fixed_dt.png) +>>>>>![velocity with varied physical delta time](../img/physics_convergence_fixed_dt.png) We can demonstrate this deviation again by showing the effect of the same difference in physical delta time with a fixed simulation time step in the measurement of z-acceleration, with convergence occurring only when the physical delta time is `0.01` or less. ->>>>>![physics convergence z acceleration](/img/physics_convergence_z_acceleration.png) +>>>>>![physics convergence z acceleration](../img/physics_convergence_z_acceleration.png) --- ## Client-server synchrony diff --git a/Docs/python_api.md b/Docs/python_api.md index f75a2f1b1..e2074e25f 100644 --- a/Docs/python_api.md +++ b/Docs/python_api.md @@ -105,17 +105,13 @@ Enables or disables the simulation of physics on this actor. - **Parameters:** - `enabled` (_bool_) - **set_target_angular_velocity**(**self**, **angular_velocity**) -Sets the actor's angular velocity vector. The modification will be effective two frames after the setting. Also, this is applied before the physics step so the resulting angular velocity will be affected by external forces at this frame such as friction. +Sets the actor's angular velocity vector. This is applied before the physics step so the resulting angular velocity will be affected by external forces such as friction. - **Parameters:** - `angular_velocity` (_[carla.Vector3D](#carla.Vector3D) – deg/s_) - - **Note:** _The update will not be effective until two frames after it is set. -_ - **set_target_velocity**(**self**, **velocity**) -Sets the actor's velocity vector. The modification will be effective two frames after the setting. Also, this is applied before the physics step so the resulting velocity will be affected by external forces at this frame such as friction. +Sets the actor's velocity vector. This is applied before the physics step so the resulting angular velocity will be affected by external forces such as friction. - **Parameters:** - `velocity` (_[carla.Vector3D](#carla.Vector3D)_) - - **Note:** _The update will not be effective until two frames after it is set. -_ - **set_transform**(**self**, **transform**) Teleports the actor to a given transform (location and rotation). - **Parameters:** @@ -3144,6 +3140,11 @@ Retrieves an object containing weather parameters currently active in the simula - **Setter:** _[carla.World.set_weather](#carla.World.set_weather)_ ##### Setters +- **set_pedestrians_cross_factor**(**self**, **percentage**) + - **Parameters:** + - `percentage` (_float_) – Sets the percentage of pedestrians that can walk on the road or cross at any point on the road. Value should be between `0.0` and `1.0`. For example, a value of `0.1` would allow 10% of pedestrians to walk on the road. __Default is `0.0`__. + - **Note:** _Should be set before pedestrians are spawned. +_ - **set_weather**(**self**, **weather**) Changes the weather parameteres ruling the simulation to another ones defined in an object. - **Parameters:** diff --git a/Docs/ref_sensors.md b/Docs/ref_sensors.md index 2f0d57698..a83301d31 100644 --- a/Docs/ref_sensors.md +++ b/Docs/ref_sensors.md @@ -337,7 +337,7 @@ The sensor creates a conic view that is translated to a 2D point map of the elem Points measured are contained in [carla.RadarMeasurement](python_api.md#carla.RadarMeasurement) as an array of [carla.RadarDetection](python_api.md#carla.RadarDetection), which specifies their polar coordinates, distance and velocity. This raw data provided by the radar sensor can be easily converted to a format manageable by __numpy__: ```py -# To get a numpy [[vel, altitude, azimuth, depth],...[,,,]]: +# To get a numpy [[vel, azimuth, altitude, depth],...[,,,]]: points = np.frombuffer(radar_data.raw_data, dtype=np.dtype('f4')) points = np.reshape(points, (len(radar_data), 4)) ``` diff --git a/PythonAPI/docs/actor.yml b/PythonAPI/docs/actor.yml index 2de7d718b..559cb4a8f 100644 --- a/PythonAPI/docs/actor.yml +++ b/PythonAPI/docs/actor.yml @@ -181,9 +181,7 @@ type: carla.Vector3D param_units: deg/s doc: > - Sets the actor's angular velocity vector. The modification will be effective two frames after the setting. Also, this is applied before the physics step so the resulting angular velocity will be affected by external forces at this frame such as friction. - note: > - The update will not be effective until two frames after it is set. + Sets the actor's angular velocity vector. This is applied before the physics step so the resulting angular velocity will be affected by external forces such as friction. # -------------------------------------- - def_name: set_location params: @@ -213,9 +211,7 @@ - param_name: velocity type: carla.Vector3D doc: > - Sets the actor's velocity vector. The modification will be effective two frames after the setting. Also, this is applied before the physics step so the resulting velocity will be affected by external forces at this frame such as friction. - note: > - The update will not be effective until two frames after it is set. + Sets the actor's velocity vector. This is applied before the physics step so the resulting angular velocity will be affected by external forces such as friction. # -------------------------------------- - def_name: __str__ # -------------------------------------- diff --git a/PythonAPI/docs/world.yml b/PythonAPI/docs/world.yml index 8739e39e9..b704e786a 100644 --- a/PythonAPI/docs/world.yml +++ b/PythonAPI/docs/world.yml @@ -651,6 +651,15 @@ If the layer is already unloaded the call has no effect. warning: This only affects "Opt" maps. The minimum layout includes roads, sidewalks, traffic lights and traffic signs. # -------------------------------------- + - def_name: set_pedestrians_cross_factor + params: + - param_name: percentage + type: float + doc: > + Sets the percentage of pedestrians that can walk on the road or cross at any point on the road. Value should be between `0.0` and `1.0`. For example, a value of `0.1` would allow 10% of pedestrians to walk on the road. __Default is `0.0`__. + note: > + Should be set before pedestrians are spawned. + # -------------------------------------- - def_name: __str__ return: string