added unreal coord system, fixed v2x (#8251)
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@ -1999,7 +1999,7 @@ Iterate over the [carla.RadarDetection](#carla.RadarDetection) retrieved as data
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## carla.Rotation<a name="carla.Rotation"></a>
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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. <br>
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<br>The constructor method follows a specific order of declaration: `(pitch, yaw, roll)`, which corresponds to `(Y-rotation,Z-rotation,X-rotation)`. <br> <br> *Unreal Engine's coordinates system*.
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<br>The constructor method follows a specific order of declaration: `(pitch, yaw, roll)`, which corresponds to `(Y-rotation,Z-rotation,X-rotation)`. <br> <br> *Unreal Engine's coordinates system*.
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### Instance Variables
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- <a name="carla.Rotation.pitch"></a>**<font color="#f8805a">pitch</font>** (_float<small> - degrees</small>_)
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@ -940,21 +940,19 @@ While the visibility is simulated within CARLA, the scenario can be configured b
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* __Output:__ [carla.CAMData](python_api.md#carla.CAMData), triggered according to the ETSI CAM standard, unless configured otherwise
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Triggering conditions according to ETSI standard:
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- Heading angle change > $4$°
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- Position difference > $4$ m
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- Speed change > $5$ m/s
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- Heading angle change > 4°
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- Position difference > 4 m
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- Speed change > 5 m/s
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- Time elapsed > CAM Generation time (configurable)
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- Low Frequency Container Time Elapsed $> 500$ ms
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- Low Frequency Container Time Elapsed > 500 ms
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For the CAM V2X sensor, additional blueprint attributes apply:
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| Blueprint attribute | Type | Default | Description |
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|-------------------------|--------|-------------------------|------------------------------------|
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| <td colspan=4> Message generation |
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| gen\_cam\_min | float | $0.1$ | Minimum elapsed time between two successive CAMs in seconds (s) |
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| gen\_cam\_max | float | $1.0$ | Maximum elapsed time between two successive CAMs in seconds (s) |
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| gen\_cam\_min | float | 0.1 | Minimum elapsed time between two successive CAMs in seconds (s) |
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| gen\_cam\_max | float | 1.0 | Maximum elapsed time between two successive CAMs in seconds (s) |
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| fixed\_rate | bool | false [true] | Generate a CAM in every CARLA tick (only for debug purposes, will result in slowdown) |
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| <td colspan=4> Data generation |
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| `noise_vel_stddev_x` | float | 0\.0 | Standard deviation parameter in the noise model for velocity (X axis). |
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| `noise_accel_stddev_x` | float | 0\.0 | Standard deviation parameter in the noise model for acceleration (X axis). |
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| `noise_accel_stddev_y` | float | 0\.0 | Standard deviation parameter in the noise model for acceleration (Y axis). |
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@ -993,14 +991,14 @@ Example:
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| Blueprint attribute | Type | Default | Description |
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|-------------------------|--------|-------------------------|------------------------------------|
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| transmit\_power | float | $21.5$ | Sender transmission power in dBm |
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| receiver\_sensitivity | float | $-99$ | Receiver sensitivity in dBm |
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| frequency\_ghz | float | $5.9$ | Transmission frequency in GHz. 5.9 GHz is standard for several physical channels. |
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| noise\_seed | int | $0$ | Random parameter for initialization of noise |
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| filter\_distance | float | $500$ | Maximum transmission distance in meter, path loss calculations above are skipped for simulation speed |
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| <td colspan=4> __Path loss model parameters__ |
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| combined\_antenna\_gain | float | $10.0$ | Combined gain of sender and receiver antennas in dBi, parameter for radiation efficiency and directivity |
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| d\_ref | float | $ 1.0 $ | reference distance for Log-distance path loss model in meter |
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| transmit\_power | float | 21.5 | Sender transmission power in dBm |
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| receiver\_sensitivity | float | -99 | Receiver sensitivity in dBm |
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| frequency\_ghz | float | 5.9 | Transmission frequency in GHz. 5.9 GHz is standard for several physical channels. |
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| noise\_seed | int | 0 | Random parameter for initialization of noise |
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| filter\_distance | float | 500 | Maximum transmission distance in meter, path loss calculations above are skipped for simulation speed |
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| __Path loss model parameters__ | | | |
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| combined\_antenna\_gain | float | 10.0 | Combined gain of sender and receiver antennas in dBi, parameter for radiation efficiency and directivity |
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| d\_ref | float | 1.0 | reference distance for Log-distance path loss model in meter |
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| path\_loss\_exponent | float | 2.7 | Loss parameter for non-line of sight due to building obstruction |
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| scenario | string | urban | Options: [urban, rural, highway], defines the fading noise parameters |
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| path\_loss\_model | string | geometric | general path loss model to be used. Options: [geometric, winner] |
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@ -328,7 +328,7 @@
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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. <br>
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<br>The constructor method follows a specific order of declaration: `(pitch, yaw, roll)`, which corresponds to `(Y-rotation,Z-rotation,X-rotation)`. <br>
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<br>
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<br>
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*Unreal Engine's coordinates system*
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# - PROPERTIES -------------------------
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instance_variables:
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