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Fdomf/docs (#1966) 

* Added c++ doc section, Updated bp_library,docs improvements

* Minor changes

* Docs updates

* Added c++ doc section, Updated bp_library,docs improvements

* Minor changes

* Docs updates

* Updated jenkins file - master rebase

* Fixed doxygen link

* Waypoint tutorial extended and fixes

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* Updated some python API class & methods

* updated python api

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@ -1,6 +1,6 @@
<h1>Blueprint Library</h1>
The Blueprint Library ([`carla.BlueprintLibrary`](/python_api/#carlablueprintlibrary-class)) is a summary of all [`carla.ActorBlueprint`](/python_api/#carla.ActorBlueprint) and its attributes ([`carla.ActorAttribute`](/python_api/#carla.ActorAttribute)) available to the user in CARLA.
The Blueprint Library ([`carla.BlueprintLibrary`](../python_api/#carlablueprintlibrary-class)) is a summary of all [`carla.ActorBlueprint`](../python_api/#carla.ActorBlueprint) and its attributes ([`carla.ActorAttribute`](../python_api/#carla.ActorAttribute)) available to the user in CARLA.
Here is an example code for printing all actor blueprints and their attributes:
```py
@ -11,7 +11,7 @@ for blueprint in blueprints:
print(attr)
```
Check out our [blueprint tutorial](/python_api_tutorial/#blueprints).
Check out our [blueprint tutorial](../python_api_tutorial/#blueprints).
### walker
- **<font color="#498efc">walker.pedestrian.0001</font>**

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@ -299,7 +299,7 @@
- [**center_of_mass**](#carla.VehiclePhysicsControl.center_of_mass) <sub>_Instance variable_</sub>
- [**steering_curve**](#carla.VehiclePhysicsControl.steering_curve) <sub>_Instance variable_</sub>
- [**wheels**](#carla.VehiclePhysicsControl.wheels) <sub>_Instance variable_</sub>
- [**\__init__**(**self**, **torque_curve**=[[0.0, 500.0], [5000.0, 500.0]], **max_rpm**=5000.0, **moi**=1.0, **damping_rate_full_throttle**=0.15, **damping_rate_zero_throttle_clutch_engaged**=2.0, **damping_rate_zero_throttle_clutch_disengaged**=0.35, **use_gear_autobox**=True, **gear_switch_time**=0.5, **clutch_strength**=10.0, **mass**=1000.0, **drag_coefficient**=0.3, **center_of_mass**=[0.0, 0.0, 0.0], **steering_curve**=[0.0, 0.0, 0.0], **wheels**=list())](#carla.VehiclePhysicsControl.__init__) <sub>_Method_</sub>
- [**\__init__**(**self**, **torque_curve**=[[0.0, 500.0], [5000.0, 500.0]], **max_rpm**=5000.0, **moi**=1.0, **damping_rate_full_throttle**=0.15, **damping_rate_zero_throttle_clutch_engaged**=2.0, **damping_rate_zero_throttle_clutch_disengaged**=0.35, **use_gear_autobox**=True, **gear_switch_time**=0.5, **clutch_strength**=10.0, **final_ratio**=4.0, **forward_gears**=list(), **mass**=1000.0, **drag_coefficient**=0.3, **center_of_mass**=[0.0, 0.0, 0.0], **steering_curve**=[[0.0, 1.0], [10.0, 0.5]], **wheels**=list())](#carla.VehiclePhysicsControl.__init__) <sub>_Method_</sub>
- [**\__eq__**(**self**, **other**)](#carla.VehiclePhysicsControl.__eq__) <sub>_Method_</sub>
- [**\__ne__**(**self**, **other**)](#carla.VehiclePhysicsControl.__ne__) <sub>_Method_</sub>
- [**\__str__**(**self**)](#carla.VehiclePhysicsControl.__str__) <sub>_Method_</sub>
@ -358,7 +358,7 @@
- [**max_brake_torque**](#carla.WheelPhysicsControl.max_brake_torque) <sub>_Instance variable_</sub>
- [**max_handbrake_torque**](#carla.WheelPhysicsControl.max_handbrake_torque) <sub>_Instance variable_</sub>
- [**position**](#carla.WheelPhysicsControl.position) <sub>_Instance variable_</sub>
- [**\__init__**(**self**, **tire_friction**=2.0, **damping_rate**=0.25, **max_steer_angle**=70.0, **radius**=30.0, **position**=(0.0,0.0,0.0))](#carla.WheelPhysicsControl.__init__) <sub>_Method_</sub>
- [**\__init__**(**self**, **tire_friction**=2.0, **damping_rate**=0.25, **max_steer_angle**=70.0, **radius**=30.0, **max_brake_torque**=1500.0, **max_handbrake_torque**=3000.0, **position**=(0.0,0.0,0.0))](#carla.WheelPhysicsControl.__init__) <sub>_Method_</sub>
- [**\__eq__**(**self**, **other**)](#carla.WheelPhysicsControl.__eq__) <sub>_Method_</sub>
- [**\__ne__**(**self**, **other**)](#carla.WheelPhysicsControl.__ne__) <sub>_Method_</sub>
- [**\__str__**(**self**)](#carla.WheelPhysicsControl.__str__) <sub>_Method_</sub>
@ -540,6 +540,7 @@
- [**then**(**self**, **command**)](#command.SpawnActor.then) <sub>_Method_</sub>
## carla.ActorAttributeType<a name="carla.ActorAttributeType"></a> <sub><sup>_class_</sup></sub>
Class that defines the type of attribute of a [carla.ActorAttribute](#carla.ActorAttribute).
<h3>Instance Variables</h3>
- <a name="carla.ActorAttributeType.Bool"></a>**<font color="#f8805a">Bool</font>**
@ -555,12 +556,18 @@ Class that provides access to actors.
<h3>Methods</h3>
- <a name="carla.ActorList.find"></a>**<font color="#7fb800">find</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor_id**</font>)
Find an actor by ID.
- **Parameters:**
- `actor_id` (_int_)
- <a name="carla.ActorList.filter"></a>**<font color="#7fb800">filter</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**wildcard_pattern**</font>)
Filters a list of Actors with type_id matching wildcard_pattern.
- **Parameters:**
- `wildcard_pattern` (_str_)
- **Note:** <font color="#8E8E8E">_The wildcard_pattern follows Unix shell-style wildcards (fnmatch).
_</font>
- <a name="carla.ActorList.__getitem__"></a>**<font color="#7fb800">\__getitem__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**pos**</font>)
- **Parameters:**
- `pos` (_int_)
- <a name="carla.ActorList.__len__"></a>**<font color="#7fb800">\__len__</font>**(<font color="#00a6ed">**self**</font>)
- <a name="carla.ActorList.__iter__"></a>**<font color="#7fb800">\__iter__</font>**(<font color="#00a6ed">**self**</font>)
- <a name="carla.ActorList.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
@ -568,11 +575,13 @@ Class that provides access to actors.
---
## carla.AttachmentType<a name="carla.AttachmentType"></a> <sub><sup>_class_</sup></sub>
Class that defines the attachment options. See [`world.spawn_actor`](#[carla.World.spawn_actor](#carla.World.spawn_actor)).
Class that defines the attachment options. See [carla.World.spawn_actor](#carla.World.spawn_actor).
<h3>Instance Variables</h3>
- <a name="carla.AttachmentType.Rigid"></a>**<font color="#f8805a">Rigid</font>**
Standard fixed attachment.
- <a name="carla.AttachmentType.SpringArm"></a>**<font color="#f8805a">SpringArm</font>**
Attachment that expands or retracts based on camera situation.
---
@ -586,9 +595,11 @@ Filters a list of ActorBlueprint with id or tags matching wildcard_pattern. The
- **Parameters:**
- `wildcard_pattern` (_str_)
- **Return:** _[carla.BlueprintLibrary](#carla.BlueprintLibrary)_
- **Note:** <font color="#8E8E8E">_wildcard_pattern follows Unix shell-style wildcards (fnmatch).
- **Note:** <font color="#8E8E8E">_The wildcard_pattern follows Unix shell-style wildcards (fnmatch).
_</font>
- <a name="carla.BlueprintLibrary.__getitem__"></a>**<font color="#7fb800">\__getitem__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**pos**</font>)
- **Parameters:**
- `pos` (_int_)
- **Return:** _[carla.ActorBlueprint](#carla.ActorBlueprint)_
- <a name="carla.BlueprintLibrary.__len__"></a>**<font color="#7fb800">\__len__</font>**(<font color="#00a6ed">**self**</font>)
- <a name="carla.BlueprintLibrary.__iter__"></a>**<font color="#7fb800">\__iter__</font>**(<font color="#00a6ed">**self**</font>)
@ -608,25 +619,28 @@ Class that defines the color converter options.
---
## carla.DebugHelper<a name="carla.DebugHelper"></a> <sub><sup>_class_</sup></sub>
Class that provides drawing debug shapes.
Class that provides drawing debug shapes. Check out this [`example`](https://github.com/carla-simulator/carla/blob/master/PythonAPI/util/lane_explorer.py).
<h3>Methods</h3>
- <a name="carla.DebugHelper.draw_point"></a>**<font color="#7fb800">draw_point</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**location**</font>, <font color="#00a6ed">**size**=0.1f</font>, <font color="#00a6ed">**color**=(255,0,0)</font>, <font color="#00a6ed">**life_time**=-1.0f</font>, <font color="#00a6ed">**persistent_lines**=True</font>)
Draws a point in the given location.
- **Parameters:**
- `location` (_[carla.Location](#carla.Location)_)
- `size` (_float_)
- `color` (_[carla.Color](#carla.Color)_)
- `life_time` (_float_)
- `persistent_lines` (_bool_) – _Deprecated, use `life_time=0` instead_.
- `persistent_lines` (_bool_) – _Deprecated, use `life_time = 0` instead_.
- <a name="carla.DebugHelper.draw_line"></a>**<font color="#7fb800">draw_line</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**begin**</font>, <font color="#00a6ed">**end**</font>, <font color="#00a6ed">**thickness**=0.1f</font>, <font color="#00a6ed">**color**=(255,0,0)</font>, <font color="#00a6ed">**life_time**=-1.0f</font>, <font color="#00a6ed">**persistent_lines**=True</font>)
Draws a line between two given locations.
- **Parameters:**
- `begin` (_[carla.Location](#carla.Location)_)
- `end` (_[carla.Location](#carla.Location)_)
- `thickness` (_float_)
- `color` (_[carla.Color](#carla.Color)_)
- `life_time` (_float_)
- `persistent_lines` (_bool_) – _Deprecated, use `life_time=0` instead_.
- `persistent_lines` (_bool_) – _Deprecated, use `life_time = 0` instead_.
- <a name="carla.DebugHelper.draw_arrow"></a>**<font color="#7fb800">draw_arrow</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**begin**</font>, <font color="#00a6ed">**end**</font>, <font color="#00a6ed">**thickness**=0.1f</font>, <font color="#00a6ed">**arrow_size**=0.1f</font>, <font color="#00a6ed">**color**=(255,0,0)</font>, <font color="#00a6ed">**life_time**=-1.0f</font>, <font color="#00a6ed">**persistent_lines**=True</font>)
Draws an arrow between two given locations.
- **Parameters:**
- `begin` (_[carla.Location](#carla.Location)_)
- `end` (_[carla.Location](#carla.Location)_)
@ -634,16 +648,18 @@ Class that provides drawing debug shapes.
- `arrow_size` (_float_)
- `color` (_[carla.Color](#carla.Color)_)
- `life_time` (_float_)
- `persistent_lines` (_bool_) – _Deprecated, use `life_time=0` instead_.
- `persistent_lines` (_bool_) – _Deprecated, use `life_time = 0` instead_.
- <a name="carla.DebugHelper.draw_box"></a>**<font color="#7fb800">draw_box</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**box**</font>, <font color="#00a6ed">**rotation**</font>, <font color="#00a6ed">**thickness**=0.1f</font>, <font color="#00a6ed">**color**=(255,0,0)</font>, <font color="#00a6ed">**life_time**=-1.0f</font>, <font color="#00a6ed">**persistent_lines**=True</font>)
Draws the [carla.BoundingBox](#carla.BoundingBox) of a given bounding_box.
- **Parameters:**
- `box` (_[carla.BoundingBox](#carla.BoundingBox)_)
- `rotation` (_[carla.Rotation](#carla.Rotation)_)
- `thickness` (_float_)
- `color` (_[carla.Color](#carla.Color)_)
- `life_time` (_float_)
- `persistent_lines` (_bool_) – _Deprecated, use `life_time=0` instead_.
- `persistent_lines` (_bool_) – _Deprecated, use `life_time = 0` instead_.
- <a name="carla.DebugHelper.draw_string"></a>**<font color="#7fb800">draw_string</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**location**</font>, <font color="#00a6ed">**text**</font>, <font color="#00a6ed">**draw_shadow**=False</font>, <font color="#00a6ed">**color**=(255,0,0)</font>, <font color="#00a6ed">**life_time**=-1.0f</font>, <font color="#00a6ed">**persistent_lines**=True</font>)
Draws a string in a given location.
- **Parameters:**
- `location` (_[carla.Location](#carla.Location)_)
- `text` (_str_)
@ -651,6 +667,8 @@ Class that provides drawing debug shapes.
- `color` (_[carla.Color](#carla.Color)_)
- `life_time` (_float_)
- `persistent_lines` (_bool_) – _Deprecated, set a high `life_time` instead_.
- **Note:** <font color="#8E8E8E">_Strings can only be seen on the server-side.
_</font>
---
@ -670,7 +688,7 @@ Traffic rules allow turning right or left.
---
## carla.LaneMarking<a name="carla.LaneMarking"></a> <sub><sup>_class_</sup></sub>
Struct that defines a lane marking.
Class that defines a lane marking.
<h3>Instance Variables</h3>
- <a name="carla.LaneMarking.type"></a>**<font color="#f8805a">type</font>** (_[carla.LaneMarkingType](#carla.LaneMarkingType)_)
@ -790,7 +808,7 @@ Parent actor of this instance, None if this instance is not attached to another
- <a name="carla.Actor.semantic_tags"></a>**<font color="#f8805a">semantic_tags</font>** (_list(int)_)
List of semantic tags of all components of this actor, see semantic segmentation sensor for the list of available tags. E.g., a traffic light actor could contain "pole" and "traffic light" tags.
- <a name="carla.Actor.is_alive"></a>**<font color="#f8805a">is_alive</font>** (_bool_)
Return whether this object was destroyed using this actor handle.
Returns whether this object was destroyed using this actor handle.
- <a name="carla.Actor.attributes"></a>**<font color="#f8805a">attributes</font>** (_dict_)
Dictionary of attributes of the blueprint that created this actor.
@ -801,25 +819,25 @@ Tell the simulator to destroy this Actor, and return whether the actor was succe
- **Warning:** <font color="#ED2F2F">_This function blocks until the destruction operation is completed by the simulator.
_</font>
- <a name="carla.Actor.get_world"></a>**<font color="#7fb800">get_world</font>**(<font color="#00a6ed">**self**</font>)
Return the world this actor belongs to.
Returns the world this actor belongs to.
- **Return:** _[carla.World](#carla.World)_
- <a name="carla.Actor.get_location"></a>**<font color="#7fb800">get_location</font>**(<font color="#00a6ed">**self**</font>)
Return the current location of the actor.
Returns the current location of the actor.
- **Return:** _[carla.Location](#carla.Location)_
- **Note:** <font color="#8E8E8E">_This function does not call the simulator, it returns the location received in the last tick.
_</font>
- <a name="carla.Actor.get_velocity"></a>**<font color="#7fb800">get_velocity</font>**(<font color="#00a6ed">**self**</font>)
Return the current 3D velocity of the actor.
Returns the current 3D velocity of the actor.
- **Return:** _[carla.Vector3D](#carla.Vector3D)_
- **Note:** <font color="#8E8E8E">_This function does not call the simulator, it returns the velocity received in the last tick.
_</font>
- <a name="carla.Actor.get_angular_velocity"></a>**<font color="#7fb800">get_angular_velocity</font>**(<font color="#00a6ed">**self**</font>)
Return the current 3D angular velocity of the actor.
Returns the current 3D angular velocity of the actor.
- **Return:** _[carla.Vector3D](#carla.Vector3D)_
- **Note:** <font color="#8E8E8E">_This function does not call the simulator, it returns the angular velocity received in the last tick.
_</font>
- <a name="carla.Actor.get_acceleration"></a>**<font color="#7fb800">get_acceleration</font>**(<font color="#00a6ed">**self**</font>)
Return the current 3D acceleration of the actor.
Returns the current 3D acceleration of the actor.
- **Return:** _[carla.Vector3D](#carla.Vector3D)_
- **Note:** <font color="#8E8E8E">_This function does not call the simulator, it returns the acceleration received in the last tick.
_</font>
@ -899,7 +917,7 @@ Test if any of the flags or id matches wildcard_pattern.
- **Parameters:**
- `wildcard_pattern` (_str_)
- **Return:** _bool_
- **Note:** <font color="#8E8E8E">_Wildcard_pattern follows Unix shell-style wildcards.
- **Note:** <font color="#8E8E8E">_The wildcard_pattern follows Unix shell-style wildcards.
_</font>
- <a name="carla.ActorBlueprint.has_attribute"></a>**<font color="#7fb800">has_attribute</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**id**</font>)
- **Parameters:**
@ -924,6 +942,7 @@ Class that provides access to the data of a [carla.Actor](#carla.Actor) in a [ca
<h3>Instance Variables</h3>
- <a name="carla.ActorSnapshot.id"></a>**<font color="#f8805a">id</font>** (_int_)
Identifier of the actor snapshot.
<h3>Methods</h3>
- <a name="carla.ActorSnapshot.get_transform"></a>**<font color="#7fb800">get_transform</font>**(<font color="#00a6ed">**self**</font>)
@ -1084,9 +1103,13 @@ Class that defines a 32-bit BGRA color.
<h3>Instance Variables</h3>
- <a name="carla.Color.r"></a>**<font color="#f8805a">r</font>** (_int_)
Red color (0-255).
- <a name="carla.Color.g"></a>**<font color="#f8805a">g</font>** (_int_)
Green color (0-255).
- <a name="carla.Color.b"></a>**<font color="#f8805a">b</font>** (_int_)
Blue color (0-255).
- <a name="carla.Color.a"></a>**<font color="#f8805a">a</font>** (_int_)
Alpha channel (0-255).
<h3>Methods</h3>
- <a name="carla.Color.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**r**=0</font>, <font color="#00a6ed">**g**=0</font>, <font color="#00a6ed">**b**=0</font>, <font color="#00a6ed">**a**=255</font>)
@ -1097,7 +1120,11 @@ Client constructor.
- `b` (_int_)
- `a` (_int_)
- <a name="carla.Color.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
- **Parameters:**
- `other` (_[carla.Color](#carla.Color)_)
- <a name="carla.Color.__ne__"></a>**<font color="#7fb800">\__ne__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
- **Parameters:**
- `other` (_[carla.Color](#carla.Color)_)
- <a name="carla.Color.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
---
@ -1107,8 +1134,11 @@ Class that provides access to vehicle transmission details.
<h3>Instance Variables</h3>
- <a name="carla.GearPhysicsControl.ratio"></a>**<font color="#f8805a">ratio</font>** (_float_)
Gear ratio.
- <a name="carla.GearPhysicsControl.down_ratio"></a>**<font color="#f8805a">down_ratio</font>** (_float_)
Lower limit to gear down.
- <a name="carla.GearPhysicsControl.up_ratio"></a>**<font color="#f8805a">up_ratio</font>** (_float_)
Upper limit to gear up.
<h3>Methods</h3>
- <a name="carla.GearPhysicsControl.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**ratio**=1.0</font>, <font color="#00a6ed">**down_ratio**=0.5</font>, <font color="#00a6ed">**up_ratio**=0.65</font>)
@ -1131,8 +1161,11 @@ Class that contains geolocation simulated data.
<h3>Instance Variables</h3>
- <a name="carla.GeoLocation.latitude"></a>**<font color="#f8805a">latitude</font>** (_float_)
North/South value of a point on the map.
- <a name="carla.GeoLocation.longitude"></a>**<font color="#f8805a">longitude</font>** (_float_)
West/East value of a point on the map.
- <a name="carla.GeoLocation.altitude"></a>**<font color="#f8805a">altitude</font>** (_float_)
Height regarding ground level.
<h3>Methods</h3>
- <a name="carla.GeoLocation.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**latitude**=0.0</font>, <font color="#00a6ed">**longitude**=0.0</font>, <font color="#00a6ed">**altitude**=0.0</font>)
@ -1205,8 +1238,11 @@ Class that represents a 3D rotation. All rotation angles are stored in degrees.
<h3>Instance Variables</h3>
- <a name="carla.Rotation.pitch"></a>**<font color="#f8805a">pitch</font>** (_float_)
Rotation about Y-axis.
- <a name="carla.Rotation.yaw"></a>**<font color="#f8805a">yaw</font>** (_float_)
Rotation about Z-axis.
- <a name="carla.Rotation.roll"></a>**<font color="#f8805a">roll</font>** (_float_)
Rotation about X-axis.
<h3>Methods</h3>
- <a name="carla.Rotation.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**pitch**=0.0</font>, <font color="#00a6ed">**yaw**=0.0</font>, <font color="#00a6ed">**roll**=0.0</font>)
@ -1228,6 +1264,7 @@ Computes a forward vector using the current rotation.
---
## carla.Timestamp<a name="carla.Timestamp"></a> <sub><sup>_class_</sup></sub>
Class that contains Timestamp simulated data.
<h3>Instance Variables</h3>
- <a name="carla.Timestamp.frame"></a>**<font color="#f8805a">frame</font>** (_int_)
@ -1257,9 +1294,11 @@ Time-stamp of the frame at which this measurement was taken, in seconds as given
---
## carla.TrafficSign<a name="carla.TrafficSign"></a><sub><sup>([carla.Actor](#carla.Actor))</sup></sub> <sub><sup>_class_</sup></sub>
A traffic sign actor.
<h3>Instance Variables</h3>
- <a name="carla.TrafficSign.trigger_volume"></a>**<font color="#f8805a">trigger_volume</font>**
A [carla.BoundingBox](#carla.BoundingBox) situated near a traffic sign where the [carla.Actor](#carla.Actor) who is inside can know about its state.
---
@ -1440,8 +1479,24 @@ Curve that indicates the maximum steering for a specific forward speed.
List of [carla.WheelPhysicsControl](#carla.WheelPhysicsControl) objects. This list should have 4 elements, where index 0 corresponds to the front left wheel, index 1 corresponds to the front right wheel, index 2 corresponds to the back left wheel and index 3 corresponds to the back right wheel. For 2 wheeled vehicles, set the same values for both front and back wheels.
<h3>Methods</h3>
- <a name="carla.VehiclePhysicsControl.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**torque_curve**=[[0.0, 500.0], [5000.0, 500.0]]</font>, <font color="#00a6ed">**max_rpm**=5000.0</font>, <font color="#00a6ed">**moi**=1.0</font>, <font color="#00a6ed">**damping_rate_full_throttle**=0.15</font>, <font color="#00a6ed">**damping_rate_zero_throttle_clutch_engaged**=2.0</font>, <font color="#00a6ed">**damping_rate_zero_throttle_clutch_disengaged**=0.35</font>, <font color="#00a6ed">**use_gear_autobox**=True</font>, <font color="#00a6ed">**gear_switch_time**=0.5</font>, <font color="#00a6ed">**clutch_strength**=10.0</font>, <font color="#00a6ed">**mass**=1000.0</font>, <font color="#00a6ed">**drag_coefficient**=0.3</font>, <font color="#00a6ed">**center_of_mass**=[0.0, 0.0, 0.0]</font>, <font color="#00a6ed">**steering_curve**=[0.0, 0.0, 0.0]</font>, <font color="#00a6ed">**wheels**=list()</font>)
- <a name="carla.VehiclePhysicsControl.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**torque_curve**=[[0.0, 500.0], [5000.0, 500.0]]</font>, <font color="#00a6ed">**max_rpm**=5000.0</font>, <font color="#00a6ed">**moi**=1.0</font>, <font color="#00a6ed">**damping_rate_full_throttle**=0.15</font>, <font color="#00a6ed">**damping_rate_zero_throttle_clutch_engaged**=2.0</font>, <font color="#00a6ed">**damping_rate_zero_throttle_clutch_disengaged**=0.35</font>, <font color="#00a6ed">**use_gear_autobox**=True</font>, <font color="#00a6ed">**gear_switch_time**=0.5</font>, <font color="#00a6ed">**clutch_strength**=10.0</font>, <font color="#00a6ed">**final_ratio**=4.0</font>, <font color="#00a6ed">**forward_gears**=list()</font>, <font color="#00a6ed">**mass**=1000.0</font>, <font color="#00a6ed">**drag_coefficient**=0.3</font>, <font color="#00a6ed">**center_of_mass**=[0.0, 0.0, 0.0]</font>, <font color="#00a6ed">**steering_curve**=[[0.0, 1.0], [10.0, 0.5]]</font>, <font color="#00a6ed">**wheels**=list()</font>)
VehiclePhysicsControl constructor.
- **Parameters:**
- `torque_curve` (_list([carla.Vector2D](#carla.Vector2D))_)
- `max_rpm` (_float_)
- `moi` (_float_)
- `damping_rate_full_throttle` (_float_)
- `damping_rate_zero_throttle_clutch_engaged` (_float_)
- `damping_rate_zero_throttle_clutch_disengaged` (_float_)
- `use_gear_autobox` (_bool_)
- `gear_switch_time` (_float_)
- `clutch_strength` (_float_)
- `final_ratio` (_float_)
- `forward_gears` (_list([carla.GearPhysicsControl](#carla.GearPhysicsControl))_)
- `drag_coefficient` (_float_)
- `center_of_mass` (_[carla.Vector3D](#carla.Vector3D)_)
- `steering_curve` (_[carla.Vector2D](#carla.Vector2D)_)
- `wheels` (_list([carla.WheelPhysicsControl](#carla.WheelPhysicsControl))_)
- <a name="carla.VehiclePhysicsControl.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
- **Parameters:**
- `other` (_[carla.VehiclePhysicsControl](#carla.VehiclePhysicsControl)_)
@ -1477,6 +1532,7 @@ Class used for controlling the skeleton of a walker. See [walker bone control](w
<h3>Instance Variables</h3>
- <a name="carla.WalkerBoneControl.bone_transforms"></a>**<font color="#f8805a">bone_transforms</font>** (_list([name,transform])_)
List of pairs where the first value is the bone name and the second value is the bone transform.
<h3>Methods</h3>
- <a name="carla.WalkerBoneControl.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**list(name,transform)**</font>)
@ -1499,7 +1555,11 @@ If true, the walker will perform a jump.
<h3>Methods</h3>
- <a name="carla.WalkerControl.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**direction**=[1.0, 0.0, 0.0]</font>, <font color="#00a6ed">**speed**=0.0</font>, <font color="#00a6ed">**jump**=False</font>)
VehicleControl constructor.
WalkerControl constructor.
- **Parameters:**
- `direction` (_[carla.Vector3D](#carla.Vector3D)_)
- `speed` (_float_)
- `jump` (_bool_)
- <a name="carla.WalkerControl.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
- **Parameters:**
- `other` (_[carla.WalkerControl](#carla.WalkerControl)_)
@ -1617,8 +1677,16 @@ The maximum handbrake torque in Nm.
World position of the wheel. Note that it is a read-only parameter.
<h3>Methods</h3>
- <a name="carla.WheelPhysicsControl.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**tire_friction**=2.0</font>, <font color="#00a6ed">**damping_rate**=0.25</font>, <font color="#00a6ed">**max_steer_angle**=70.0</font>, <font color="#00a6ed">**radius**=30.0</font>, <font color="#00a6ed">**position**=(0.0,0.0,0.0)</font>)
- <a name="carla.WheelPhysicsControl.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**tire_friction**=2.0</font>, <font color="#00a6ed">**damping_rate**=0.25</font>, <font color="#00a6ed">**max_steer_angle**=70.0</font>, <font color="#00a6ed">**radius**=30.0</font>, <font color="#00a6ed">**max_brake_torque**=1500.0</font>, <font color="#00a6ed">**max_handbrake_torque**=3000.0</font>, <font color="#00a6ed">**position**=(0.0,0.0,0.0)</font>)
WheelPhysicsControl constructor.
- **Parameters:**
- `tire_friction` (_float_)
- `damping_rate` (_float_)
- `max_steer_angle` (_float_)
- `radius` (_float_)
- `max_brake_torque` (_float_)
- `max_handbrake_torque` (_float_)
- `position` (_[carla.Vector3D](#carla.Vector3D)_)
- <a name="carla.WheelPhysicsControl.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
- **Parameters:**
- `other` (_[carla.WheelPhysicsControl](#carla.WheelPhysicsControl)_)
@ -1630,6 +1698,7 @@ WheelPhysicsControl constructor.
---
## carla.World<a name="carla.World"></a> <sub><sup>_class_</sup></sub>
Class that contains the current loaded map.
<h3>Instance Variables</h3>
- <a name="carla.World.id"></a>**<font color="#f8805a">id</font>** (_int_)
@ -1707,7 +1776,7 @@ Synchronizes with the simulator and returns the id of the newly started frame (o
---
## carla.WorldSettings<a name="carla.WorldSettings"></a> <sub><sup>_class_</sup></sub>
More information in our [section](../configuring_the_simulation/).
Class that provides access to modifiable world settings. Check it out in our [section](../configuring_the_simulation/).
<h3>Instance Variables</h3>
- <a name="carla.WorldSettings.synchronous_mode"></a>**<font color="#f8805a">synchronous_mode</font>** (_bool_)
@ -1731,11 +1800,15 @@ More information in our [section](../configuring_the_simulation/).
---
## carla.WorldSnapshot<a name="carla.WorldSnapshot"></a> <sub><sup>_class_</sup></sub>
Class that represents the state of every actor in the simulation at a single frame.
<h3>Instance Variables</h3>
- <a name="carla.WorldSnapshot.id"></a>**<font color="#f8805a">id</font>** (_int_)
Identifier of the WorldSnapshot.
- <a name="carla.WorldSnapshot.frame"></a>**<font color="#f8805a">frame</font>** (_int_)
Frame number.
- <a name="carla.WorldSnapshot.timestamp"></a>**<font color="#f8805a">timestamp</font>** (_[carla.Timestamp](#carla.Timestamp)_)
Timestamp simulated data.
<h3>Methods</h3>
- <a name="carla.WorldSnapshot.has_actor"></a>**<font color="#7fb800">has_actor</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor_id**</font>)
@ -1747,7 +1820,8 @@ Find an ActorSnapshot by id, return None if the actor is not found.
- **Parameters:**
- `actor_id` (_int_)
- <a name="carla.WorldSnapshot.__len__"></a>**<font color="#7fb800">\__len__</font>**(<font color="#00a6ed">**self**</font>)
Return number of ActorSnapshots present in this WorldSnapshot.
Return number of [carla.ActorSnapshot](#carla.ActorSnapshot) present in this [carla.WorldSnapshot](#carla.WorldSnapshot).
- **Return:** _int_
- <a name="carla.WorldSnapshot.__iter__"></a>**<font color="#7fb800">\__iter__</font>**(<font color="#00a6ed">**self**</font>)
- <a name="carla.WorldSnapshot.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
- **Parameters:**
@ -1760,11 +1834,15 @@ Return number of ActorSnapshots present in this WorldSnapshot.
---
## carla.GnssEvent<a name="carla.GnssEvent"></a><sub><sup>([carla.SensorData](#carla.SensorData))</sup></sub> <sub><sup>_class_</sup></sub>
Gnss sensor data.
<h3>Instance Variables</h3>
- <a name="carla.GnssEvent.latitude"></a>**<font color="#f8805a">latitude</font>** (_float_)
North/South value of a point on the map.
- <a name="carla.GnssEvent.longitude"></a>**<font color="#f8805a">longitude</font>** (_float_)
West/East value of a point on the map.
- <a name="carla.GnssEvent.altitude"></a>**<font color="#f8805a">altitude</font>** (_float_)
Height regarding ground level.
<h3>Methods</h3>
- <a name="carla.GnssEvent.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
@ -1785,11 +1863,13 @@ Horizontal field of view of the image in degrees.
<h3>Methods</h3>
- <a name="carla.Image.convert"></a>**<font color="#7fb800">convert</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**color_converter**</font>)
Convert the image with the applied conversion.
- **Parameters:**
- `color_converter` (_[carla.ColorConverter](#carla.ColorConverter)_)
- <a name="carla.Image.save_to_disk"></a>**<font color="#7fb800">save_to_disk</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**path**</font>, <font color="#00a6ed">**color_converter**=Raw</font>)
Save the image to disk.
- **Parameters:**
- `path` (_str_)
- `path` (_str_) – Path where it will be saved.
- `color_converter` (_[carla.ColorConverter](#carla.ColorConverter)_)
- <a name="carla.Image.__len__"></a>**<font color="#7fb800">\__len__</font>**(<font color="#00a6ed">**self**</font>)
- <a name="carla.Image.__iter__"></a>**<font color="#7fb800">\__iter__</font>**(<font color="#00a6ed">**self**</font>)
@ -1805,6 +1885,7 @@ Horizontal field of view of the image in degrees.
---
## carla.LaneInvasionEvent<a name="carla.LaneInvasionEvent"></a><sub><sup>([carla.SensorData](#carla.SensorData))</sup></sub> <sub><sup>_class_</sup></sub>
Lane invasion sensor data.
<h3>Instance Variables</h3>
- <a name="carla.LaneInvasionEvent.actor"></a>**<font color="#f8805a">actor</font>** (_[carla.Actor](#carla.Actor)_)
@ -1818,11 +1899,15 @@ List of lane markings that have been crossed.
---
## carla.LidarMeasurement<a name="carla.LidarMeasurement"></a><sub><sup>([carla.SensorData](#carla.SensorData))</sup></sub> <sub><sup>_class_</sup></sub>
Lidar sensor measurement data.
<h3>Instance Variables</h3>
- <a name="carla.LidarMeasurement.horizontal_angle"></a>**<font color="#f8805a">horizontal_angle</font>** (_float_)
Horizontal angle that the Lidar has rotated.
- <a name="carla.LidarMeasurement.channels"></a>**<font color="#f8805a">channels</font>** (_int_)
Number of lasers.
- <a name="carla.LidarMeasurement.raw_data"></a>**<font color="#f8805a">raw_data</font>** (_bytes_)
List of 3D points.
<h3>Methods</h3>
- <a name="carla.LidarMeasurement.get_point_count"></a>**<font color="#7fb800">get_point_count</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**channel**</font>)
@ -1874,6 +1959,7 @@ Computes the Euclidean distance in meters from this location to another one.
---
## carla.ObstacleDetectionEvent<a name="carla.ObstacleDetectionEvent"></a><sub><sup>([carla.SensorData](#carla.SensorData))</sup></sub> <sub><sup>_class_</sup></sub>
Obstacle detection sensor data.
<h3>Instance Variables</h3>
- <a name="carla.ObstacleDetectionEvent.actor"></a>**<font color="#f8805a">actor</font>** (_[carla.Actor](#carla.Actor)_)
@ -1889,6 +1975,7 @@ Get obstacle distance.
---
## carla.Sensor<a name="carla.Sensor"></a><sub><sup>([carla.Actor](#carla.Actor))</sup></sub> <sub><sup>_class_</sup></sub>
A sensor actor.
<h3>Instance Variables</h3>
- <a name="carla.Sensor.is_listening"></a>**<font color="#f8805a">is_listening</font>** (_boolean_)
@ -1905,54 +1992,68 @@ Stops listening for data.
---
## carla.TrafficLight<a name="carla.TrafficLight"></a><sub><sup>([carla.TrafficSign](#carla.TrafficSign))</sup></sub> <sub><sup>_class_</sup></sub>
A traffic light actor.
<h3>Instance Variables</h3>
- <a name="carla.TrafficLight.state"></a>**<font color="#f8805a">state</font>** (_[carla.TrafficLightState](#carla.TrafficLightState)_)
Current traffic light state.
<h3>Methods</h3>
- <a name="carla.TrafficLight.set_state"></a>**<font color="#7fb800">set_state</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**state**</font>)
Sets a given state to a traffic light actor.
- **Parameters:**
- `state` (_[carla.TrafficLightState](#carla.TrafficLightState)_)
- <a name="carla.TrafficLight.get_state"></a>**<font color="#7fb800">get_state</font>**(<font color="#00a6ed">**self**</font>)
Return the current state of the traffic light.
Returns the current state of the traffic light.
- **Return:** _[carla.TrafficLightState](#carla.TrafficLightState)_
- **Note:** <font color="#8E8E8E">_This function does not call the simulator, it returns the data received in the last tick.
_</font>
- <a name="carla.TrafficLight.set_green_time"></a>**<font color="#7fb800">set_green_time</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**green_time**</font>)
- **Parameters:**
- `green_time` (_float_)
- `green_time` (_float_) – Sets a given time (in seconds) to the green state to be active.
- <a name="carla.TrafficLight.get_green_time"></a>**<font color="#7fb800">get_green_time</font>**(<font color="#00a6ed">**self**</font>)
Returns the current time set for the green light to be active.
- **Return:** _float_
- **Note:** <font color="#8E8E8E">_This function does not call the simulator, it returns the data received in the last tick.
_</font>
- <a name="carla.TrafficLight.set_yellow_time"></a>**<font color="#7fb800">set_yellow_time</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**yellow_time**</font>)
Sets a given time (in seconds) to the yellow state to be active.
- **Parameters:**
- `yellow_time` (_float_)
- <a name="carla.TrafficLight.get_yellow_time"></a>**<font color="#7fb800">get_yellow_time</font>**(<font color="#00a6ed">**self**</font>)
Returns the current time set for the yellow light to be active.
- **Return:** _float_
- **Note:** <font color="#8E8E8E">_This function does not call the simulator, it returns the data received in the last tick.
_</font>
- <a name="carla.TrafficLight.set_red_time"></a>**<font color="#7fb800">set_red_time</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**red_time**</font>)
Sets a given time (in seconds) to the red state to be active.
- **Parameters:**
- `red_time` (_float_)
- <a name="carla.TrafficLight.get_red_time"></a>**<font color="#7fb800">get_red_time</font>**(<font color="#00a6ed">**self**</font>)
Returns the current time set for the red light to be active.
- **Return:** _float_
- **Note:** <font color="#8E8E8E">_This function does not call the simulator, it returns the data received in the last tick.
_</font>
- <a name="carla.TrafficLight.get_elapsed_time"></a>**<font color="#7fb800">get_elapsed_time</font>**(<font color="#00a6ed">**self**</font>)
Returns the current countdown of the state of a traffic light.
- **Return:** _float_
- **Note:** <font color="#8E8E8E">_This function does not call the simulator, it returns the data received in the last tick.
_</font>
- <a name="carla.TrafficLight.freeze"></a>**<font color="#7fb800">freeze</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**freeze**</font>)
Stops the traffic light at its current state.
- **Parameters:**
- `freeze` (_bool_)
- <a name="carla.TrafficLight.is_frozen"></a>**<font color="#7fb800">is_frozen</font>**(<font color="#00a6ed">**self**</font>)
Returns `True` if a traffic light is frozen.
- **Return:** _bool_
- **Note:** <font color="#8E8E8E">_This function does not call the simulator, it returns the data received in the last tick.
_</font>
- <a name="carla.TrafficLight.get_pole_index"></a>**<font color="#7fb800">get_pole_index</font>**(<font color="#00a6ed">**self**</font>)
Returns the index of the pole in the traffic light group.
- **Return:** _int_
- <a name="carla.TrafficLight.get_group_traffic_lights"></a>**<font color="#7fb800">get_group_traffic_lights</font>**(<font color="#00a6ed">**self**</font>)
Return all traffic lights in the group this one belongs to.
Returns all traffic lights in the group this one belongs to.
- **Return:** _list([carla.TrafficLight](#carla.TrafficLight))_
- **Note:** <font color="#8E8E8E">_This function calls the simulator.
_</font>
- <a name="carla.TrafficLight.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
@ -1972,7 +2073,7 @@ Apply control to this vehicle. The control will take effect on next tick.
- **Parameters:**
- `control` (_[carla.VehicleControl](#carla.VehicleControl)_)
- <a name="carla.Vehicle.get_control"></a>**<font color="#7fb800">get_control</font>**(<font color="#00a6ed">**self**</font>)
Return the control last applied to this vehicle.
Returns the control last applied to this vehicle.
- **Return:** _[carla.VehicleControl](#carla.VehicleControl)_
- **Note:** <font color="#8E8E8E">_This function does not call the simulator, it returns the data received in the last tick.
_</font>
@ -1981,7 +2082,7 @@ Apply physics control to this vehicle. The control will take effect on the next
- **Parameters:**
- `physics_control` (_[carla.VehiclePhysicsControl](#carla.VehiclePhysicsControl)_)
- <a name="carla.Vehicle.get_physics_control"></a>**<font color="#7fb800">get_physics_control</font>**(<font color="#00a6ed">**self**</font>)
Return the physics control last applied to this vehicle.
Returns the physics control last applied to this vehicle.
- **Return:** _[carla.VehiclePhysicsControl](#carla.VehiclePhysicsControl)_
- **Warning:** <font color="#ED2F2F">_This function does call the simulator to retrieve the value._</font>
- <a name="carla.Vehicle.set_autopilot"></a>**<font color="#7fb800">set_autopilot</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**enabled**=True</font>)
@ -1989,17 +2090,17 @@ Switch on/off this vehicle's server-side autopilot.
- **Parameters:**
- `enabled` (_bool_)
- <a name="carla.Vehicle.get_speed_limit"></a>**<font color="#7fb800">get_speed_limit</font>**(<font color="#00a6ed">**self**</font>)
Return the speed limit currently affecting this vehicle. Note that the speed limit is only updated when passing by a speed limit signal, right after spawning a vehicle it might not reflect the actual speed limit of the current road.
Returns the speed limit currently affecting this vehicle. Note that the speed limit is only updated when passing by a speed limit signal, right after spawning a vehicle it might not reflect the actual speed limit of the current road.
- **Return:** _float_
- **Note:** <font color="#8E8E8E">_This function does not call the simulator, it returns the data received in the last tick.
_</font>
- <a name="carla.Vehicle.get_traffic_light_state"></a>**<font color="#7fb800">get_traffic_light_state</font>**(<font color="#00a6ed">**self**</font>)
Return the state of the traffic light currently affecting this vehicle. If no traffic light is currently affecting the vehicle, return Green.
Returns the state of the traffic light currently affecting this vehicle. If no traffic light is currently affecting the vehicle, return Green.
- **Return:** _[carla.TrafficLightState](#carla.TrafficLightState)_
- **Note:** <font color="#8E8E8E">_This function does not call the simulator, it returns the data received in the last tick.
_</font>
- <a name="carla.Vehicle.is_at_traffic_light"></a>**<font color="#7fb800">is_at_traffic_light</font>**(<font color="#00a6ed">**self**</font>)
Return whether a traffic light is affecting this vehicle.
Returns whether a traffic light is affecting this vehicle.
- **Return:** _bool_
- **Note:** <font color="#8E8E8E">_This function does not call the simulator, it returns the data received in the last tick.
_</font>
@ -2020,14 +2121,19 @@ The bounding box of the walker.
<h3>Methods</h3>
- <a name="carla.Walker.apply_control"></a>**<font color="#7fb800">apply_control</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**control**</font>)
Apply control to this walker. The control will take effect on the next tick.
Apply control to this walker.
- **Parameters:**
- `control` (_[carla.WalkerControl](#carla.WalkerControl)_)
- **Note:** <font color="#8E8E8E">_The control will take effect on the next tick.
_</font>
- <a name="carla.Walker.apply_control"></a>**<font color="#7fb800">apply_control</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**control**</font>)
Apply bone control to this walker.
- **Parameters:**
- `control` (_[carla.WalkerBoneControl](#carla.WalkerBoneControl)_)
- **Note:** <font color="#8E8E8E">_The control will take effect on the next tick.
_</font>
- <a name="carla.Walker.get_control"></a>**<font color="#7fb800">get_control</font>**(<font color="#00a6ed">**self**</font>)
Return the control last applied to this walker.
Returns the control last applied to this walker.
- **Return:** _[carla.WalkerControl](#carla.WalkerControl)_
- **Note:** <font color="#8E8E8E">_This function does not call the simulator, it returns the data received in the last tick.
_</font>
@ -2149,7 +2255,7 @@ _</font>
---
## command.Response<a name="command.Response"></a> <sub><sup>_class_</sup></sub>
Execution result of a command, contains either an error string or and actor ID, depending on whether or not the command succeeded. See `client.apply_batch_sync()`.
Execution result of a command, contains either an error string or an actor ID, depending on whether or not the command succeeded. See [carla.Client.apply_batch_sync](#carla.Client.apply_batch_sync).
<h3>Instance Variables</h3>
- <a name="command.Response.actor_id"></a>**<font color="#f8805a">actor_id</font>** (_int_)

53
PythonAPI/docs/actor.yml
View File

@ -39,7 +39,7 @@
`world.get_actor(actor.id)` to check if the actor is still present in
the simulation.
doc: >
Return whether this object was destroyed using this actor handle.
Returns whether this object was destroyed using this actor handle.
- var_name: attributes
type: dict
doc: >
@ -59,12 +59,12 @@
- def_name: get_world
return: carla.World
doc: >
Return the world this actor belongs to.
Returns the world this actor belongs to.
# --------------------------------------
- def_name: get_location
return: carla.Location
doc: >
Return the current location of the actor.
Returns the current location of the actor.
note: >
This function does not call the simulator, it returns the location
received in the last tick.
@ -72,7 +72,7 @@
- def_name: get_velocity
return: carla.Vector3D
doc: >
Return the current 3D velocity of the actor.
Returns the current 3D velocity of the actor.
note: >
This function does not call the simulator, it returns the velocity
received in the last tick.
@ -80,7 +80,7 @@
- def_name: get_angular_velocity
return: carla.Vector3D
doc: >
Return the current 3D angular velocity of the actor.
Returns the current 3D angular velocity of the actor.
note: >
This function does not call the simulator, it returns the angular
velocity received in the last tick.
@ -88,7 +88,7 @@
- def_name: get_acceleration
return: carla.Vector3D
doc: >
Return the current 3D acceleration of the actor.
Returns the current 3D acceleration of the actor.
note: >
This function does not call the simulator, it returns the acceleration
received in the last tick.
@ -164,7 +164,7 @@
- def_name: get_control
return: carla.VehicleControl
doc: >
Return the control last applied to this vehicle.
Returns the control last applied to this vehicle.
note: >
This function does not call the simulator, it returns the data received
in the last tick.
@ -180,7 +180,7 @@
- def_name: get_physics_control
return: carla.VehiclePhysicsControl
doc: >
Return the physics control last applied to this vehicle.
Returns the physics control last applied to this vehicle.
warning: This function does call the simulator to retrieve the value.
# --------------------------------------
- def_name: set_autopilot
@ -194,7 +194,7 @@
- def_name: get_speed_limit
return: float
doc: >
Return the speed limit currently affecting this vehicle. Note that the
Returns the speed limit currently affecting this vehicle. Note that the
speed limit is only updated when passing by a speed limit signal, right
after spawning a vehicle it might not reflect the actual speed limit of
the current road.
@ -205,7 +205,7 @@
- def_name: get_traffic_light_state
return: carla.TrafficLightState
doc: >
Return the state of the traffic light currently affecting this vehicle.
Returns the state of the traffic light currently affecting this vehicle.
If no traffic light is currently affecting the vehicle, return Green.
note: >
This function does not call the simulator, it returns the data received
@ -214,7 +214,7 @@
- def_name: is_at_traffic_light
return: bool
doc: >
Return whether a traffic light is affecting this vehicle.
Returns whether a traffic light is affecting this vehicle.
note: >
This function does not call the simulator, it returns the data received
in the last tick.
@ -246,18 +246,23 @@
- param_name: control
type: carla.WalkerControl
doc: >
Apply control to this walker. The control will take effect on the next tick.
Apply control to this walker.
note: >
The control will take effect on the next tick.
# --------------------------------------
- def_name: apply_control
params:
- param_name: control
type: carla.WalkerBoneControl
doc: >
Apply bone control to this walker.
note: >
The control will take effect on the next tick.
# --------------------------------------
- def_name: get_control
return: carla.WalkerControl
doc: >
Return the control last applied to this walker.
Returns the control last applied to this walker.
note: >
This function does not call the simulator, it returns the data received
in the last tick.
@ -306,10 +311,13 @@
parent: carla.Actor
# - DESCRIPTION ------------------------
doc: >
A traffic sign actor.
# - PROPERTIES -------------------------
instance_variables:
- var_name: trigger_volume
doc: >
A carla.BoundingBox situated near a traffic sign where the
carla.Actor who is inside can know about its state.
# --------------------------------------
- class_name: TrafficLightState
@ -329,11 +337,13 @@
parent: carla.TrafficSign
# - DESCRIPTION ------------------------
doc: >
A traffic light actor.
# - PROPERTIES -------------------------
instance_variables:
- var_name: state
type: carla.TrafficLightState
doc: >
Current traffic light state.
# - METHODS ----------------------------
methods:
- def_name: set_state
@ -341,11 +351,12 @@
- param_name: state
type: carla.TrafficLightState
doc: >
Sets a given state to a traffic light actor.
# --------------------------------------
- def_name: get_state
return: carla.TrafficLightState
doc: >
Return the current state of the traffic light.
Returns the current state of the traffic light.
note: >
This function does not call the simulator, it returns the data
received in the last tick.
@ -355,10 +366,12 @@
- param_name: green_time
type: float
doc: >
Sets a given time (in seconds) to the green state to be active.
# --------------------------------------
- def_name: get_green_time
return: float
doc: >
Returns the current time set for the green light to be active.
note: >
This function does not call the simulator, it returns the data
received in the last tick.
@ -368,10 +381,12 @@
- param_name: yellow_time
type: float
doc: >
Sets a given time (in seconds) to the yellow state to be active.
# --------------------------------------
- def_name: get_yellow_time
return: float
doc: >
Returns the current time set for the yellow light to be active.
note: >
This function does not call the simulator, it returns the data
received in the last tick.
@ -381,10 +396,12 @@
- param_name: red_time
type: float
doc: >
Sets a given time (in seconds) to the red state to be active.
# --------------------------------------
- def_name: get_red_time
return: float
doc: >
Returns the current time set for the red light to be active.
note: >
This function does not call the simulator, it returns the data
received in the last tick.
@ -392,6 +409,7 @@
- def_name: get_elapsed_time
return: float
doc: >
Returns the current countdown of the state of a traffic light.
note: >
This function does not call the simulator, it returns the data
received in the last tick.
@ -401,9 +419,12 @@
- param_name: freeze
type: bool
doc: >
Stops the traffic light at its current state.
# --------------------------------------
- def_name: is_frozen
return: bool
doc: >
Returns `True` if a traffic light is frozen.
note: >
This function does not call the simulator, it returns the data
received in the last tick.
@ -411,10 +432,12 @@
- def_name: get_pole_index
return: int
doc: >
Returns the index of the pole in the traffic light group.
# --------------------------------------
- def_name: get_group_traffic_lights
return: list(carla.TrafficLight)
doc: >
Return all traffic lights in the group this one belongs to.
Returns all traffic lights in the group this one belongs to.
note: >
This function calls the simulator.
# --------------------------------------

12
PythonAPI/docs/blueprint.yml
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@ -6,6 +6,7 @@
- class_name: ActorAttributeType
# - DESCRIPTION ------------------------
doc: >
Class that defines the type of attribute of a carla.ActorAttribute.
# - PROPERTIES -------------------------
instance_variables:
- var_name: Bool
@ -28,15 +29,19 @@
- var_name: r
type: int
doc: >
Red color (0-255)
- var_name: g
type: int
doc: >
Green color (0-255)
- var_name: b
type: int
doc: >
Blue color (0-255)
- var_name: a
type: int
doc: >
Alpha channel (0-255)
# - METHODS ----------------------------
methods:
- def_name: __init__
@ -63,11 +68,13 @@
- def_name: __eq__
params:
- param_name: other
type: carla.Color
doc: >
# --------------------------------------
- def_name: __ne__
params:
- param_name: other
type: carla.Color
doc: >
# --------------------------------------
- def_name: __str__
@ -169,7 +176,7 @@
doc: >
Test if any of the flags or id matches wildcard_pattern.
note: >
Wildcard_pattern follows Unix shell-style wildcards.
The wildcard_pattern follows Unix shell-style wildcards.
# --------------------------------------
- def_name: has_attribute
return: bool
@ -224,12 +231,13 @@
Filters a list of ActorBlueprint with id or tags matching wildcard_pattern.
The pattern is matched against each blueprint's id and tags.
note: >
wildcard_pattern follows Unix shell-style wildcards (fnmatch).
The wildcard_pattern follows Unix shell-style wildcards (fnmatch).
return: carla.BlueprintLibrary
# --------------------------------------
- def_name: __getitem__
params:
- param_name: pos
type: int
return: carla.ActorBlueprint
doc: >
# --------------------------------------

4
PythonAPI/docs/commands.yml
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@ -5,8 +5,8 @@
- class_name: Response
# - DESCRIPTION ------------------------
doc: >
Execution result of a command, contains either an error string or and
actor ID, depending on whether or not the command succeeded. See `client.apply_batch_sync()`
Execution result of a command, contains either an error string or an
actor ID, depending on whether or not the command succeeded. See carla.Client.apply_batch_sync
# - PROPERTIES -------------------------
instance_variables:
- var_name: actor_id

42
PythonAPI/docs/control.yml
View File

@ -113,12 +113,15 @@
params:
- param_name: direction
default: [1.0, 0.0, 0.0]
type: carla.Vector3D
- param_name: speed
default: 0.0
type: float
- param_name: jump
default: False
type: bool
doc: >
VehicleControl constructor
WalkerControl constructor
# --------------------------------------
- def_name: __eq__
params:
@ -144,6 +147,8 @@
- var_name: bone_transforms
type: list([name,transform])
doc: >
List of pairs where the first value is the bone name
and the second value is the bone transform.
# - METHODS ----------------------------
methods:
- def_name: __init__
@ -165,14 +170,17 @@
- var_name: ratio
type: float
doc: >
Gear ratio.
# --------------------------------------
- var_name: down_ratio
type: float
doc: >
Lower limit to gear down.
# --------------------------------------
- var_name: up_ratio
type: float
doc: >
Upper limit to gear up.
# - METHODS ----------------------------
methods:
- def_name: __init__
@ -296,32 +304,51 @@
params:
- param_name: torque_curve
default: [[0.0,500.0], [5000.0, 500.0]]
type: list(carla.Vector2D)
- param_name: max_rpm
default: 5000.0
type: float
- param_name: moi
default: 1.0
type: float
- param_name: damping_rate_full_throttle
default: 0.15
type: float
- param_name: damping_rate_zero_throttle_clutch_engaged
default: 2.0
type: float
- param_name: damping_rate_zero_throttle_clutch_disengaged
default: 0.35
type: float
- param_name: use_gear_autobox
default: True
type: bool
- param_name: gear_switch_time
default: 0.5
type: float
- param_name: clutch_strength
default: 10.0
type: float
- param_name: final_ratio
default: 4.0
type: float
- param_name: forward_gears
default: list()
type: list(carla.GearPhysicsControl)
- param_name: mass
default: 1000.0
- param_name: drag_coefficient
default: 0.3
type: float
- param_name: center_of_mass
default: [0.0, 0.0, 0.0]
type: carla.Vector3D
- param_name: steering_curve
default: [0.0, 0.0, 0.0]
default: [[0.0, 1.0],[10.0, 0.5]]
type: carla.Vector2D
- param_name: wheels
default: list()
type: list(carla.WheelPhysicsControl)
doc: >
VehiclePhysicsControl constructor
# --------------------------------------
@ -384,14 +411,25 @@
params:
- param_name: tire_friction
default: 2.0
type: float
- param_name: damping_rate
default: 0.25
type: float
- param_name: max_steer_angle
default: 70.0
type: float
- param_name: radius
default: 30.0
type: float
- param_name: max_brake_torque
default: 1500.0
type: float
- param_name: max_handbrake_torque
default: 3000.0
type: float
- param_name: position
default: (0.0,0.0,0.0)
type: carla.Vector3D
doc: >
WheelPhysicsControl constructor
# --------------------------------------

12
PythonAPI/docs/geom.yml
View File

@ -182,10 +182,16 @@
instance_variables:
- var_name: pitch
type: float
doc: >
Rotation about Y-axis.
- var_name: yaw
type: float
doc: >
Rotation about Z-axis.
- var_name: roll
type: float
doc: >
Rotation about X-axis.
# - METHODS ----------------------------
methods:
- def_name: __init__
@ -323,10 +329,16 @@
instance_variables:
- var_name: latitude
type: float
doc: >
North/South value of a point on the map.
- var_name: longitude
type: float
doc: >
West/East value of a point on the map.
- var_name: altitude
type: float
doc: >
Height regarding ground level.
# - METHODS ----------------------------
methods:
- def_name: __init__

2
PythonAPI/docs/map.yml
View File

@ -233,7 +233,7 @@
- class_name: LaneMarking
# - DESCRIPTION ------------------------
doc: >
Struct that defines a lane marking
Class that defines a lane marking
# - PROPERTIES -------------------------
instance_variables:
- var_name: type

1
PythonAPI/docs/sensor.yml
View File

@ -7,6 +7,7 @@
parent: carla.Actor
# - DESCRIPTION ------------------------
doc: >
A sensor actor.
# - PROPERTIES -------------------------
instance_variables:
- var_name: is_listening

14
PythonAPI/docs/sensor_data.yml
View File

@ -67,15 +67,19 @@
- param_name: color_converter
type: carla.ColorConverter
doc: >
Convert the image with the applied conversion.
# --------------------------------------
- def_name: save_to_disk
params:
- param_name: path
type: str
doc: >
Path where it will be saved
- param_name: color_converter
type: carla.ColorConverter
default: Raw
doc: >
Save the image to disk.
# --------------------------------------
- def_name: __len__
doc: >
@ -105,17 +109,21 @@
parent: carla.SensorData
# - DESCRIPTION ------------------------
doc: >
Lidar sensor measurement data.
# - PROPERTIES -------------------------
instance_variables:
- var_name: horizontal_angle
type: float
doc: >
Horizontal angle that the Lidar has rotated
- var_name: channels
type: int
doc: >
Number of lasers
- var_name: raw_data
type: bytes
doc: >
List of 3D points
# - METHODS ----------------------------
methods:
- def_name: get_point_count
@ -178,6 +186,7 @@
parent: carla.SensorData
# - DESCRIPTION ------------------------
doc: >
Obstacle detection sensor data
# - PROPERTIES -------------------------
instance_variables:
- var_name: actor
@ -202,6 +211,7 @@
parent: carla.SensorData
# - DESCRIPTION ------------------------
doc: >
Lane invasion sensor data.
# - PROPERTIES -------------------------
instance_variables:
- var_name: actor
@ -222,17 +232,21 @@
parent: carla.SensorData
# - DESCRIPTION ------------------------
doc: >
Gnss sensor data
# - PROPERTIES -------------------------
instance_variables:
- var_name: latitude
type: float
doc: >
North/South value of a point on the map.
- var_name: longitude
type: float
doc: >
West/East value of a point on the map.
- var_name: altitude
type: float
doc: >
Height regarding ground level.
# - METHODS ----------------------------
methods:
- def_name: __str__

9
PythonAPI/docs/snapshot.yml
View File

@ -6,17 +6,22 @@
- class_name: WorldSnapshot
# - DESCRIPTION ------------------------
doc: >
Class that represents the state of every actor
in the simulation at a single frame
# - PROPERTIES -------------------------
instance_variables:
- var_name: id
type: int
doc: >
Identifier of the WorldSnapshot
- var_name: frame
type: int
doc: >
Frame number
- var_name: timestamp
type: carla.Timestamp
doc: >
Timestamp simulated data
# - METHODS ----------------------------
methods:
- def_name: has_actor
@ -35,8 +40,9 @@
Find an ActorSnapshot by id, return None if the actor is not found.
# --------------------------------------
- def_name: __len__
return: int
doc: >
Return number of ActorSnapshots present in this WorldSnapshot.
Return number of carla.ActorSnapshot present in this carla.WorldSnapshot.
# --------------------------------------
- def_name: __iter__
doc: >
@ -66,6 +72,7 @@
- var_name: id
type: int
doc: >
Identifier of the actor snapshot
# - METHODS ----------------------------
methods:
- def_name: get_transform

32
PythonAPI/docs/world.yml
View File

@ -6,6 +6,7 @@
- class_name: Timestamp
# - DESCRIPTION ------------------------
doc: >
Class that contains Timestamp simulated data.
# - PROPERTIES -------------------------
instance_variables:
- var_name: frame
@ -66,16 +67,21 @@
- param_name: actor_id
type: int
doc: >
Find an actor by ID.
# --------------------------------------
- def_name: filter
params:
- param_name: wildcard_pattern
type: str
doc: >
Filters a list of Actors with type_id matching wildcard_pattern.
note: >
The wildcard_pattern follows Unix shell-style wildcards (fnmatch).
# --------------------------------------
- def_name: __getitem__
params:
- param_name: pos
type: int
doc: >
# --------------------------------------
- def_name: __len__
@ -91,7 +97,8 @@
- class_name: WorldSettings
# - DESCRIPTION ------------------------
doc: >
More information in our [section](../configuring_the_simulation/)
Class that provides access to modifiable world settings.
Check it out in our [section](../configuring_the_simulation/)
# - PROPERTIES -------------------------
instance_variables:
- var_name: synchronous_mode
@ -140,19 +147,21 @@
- class_name: AttachmentType
# - DESCRIPTION ------------------------
doc: >
Class that defines the attachment options. See
[`world.spawn_actor`](#carla.World.spawn_actor)
Class that defines the attachment options. See carla.World.spawn_actor.
# - PROPERTIES -------------------------
instance_variables:
- var_name: Rigid
doc: >
Standard fixed attachment.
- var_name: SpringArm
doc: >
Attachment that expands or retracts based on camera situation.
# --------------------------------------
- class_name: World
# - DESCRIPTION ------------------------
doc: >
Class that contains the current loaded map.
# - PROPERTIES -------------------------
instance_variables:
- var_name: id
@ -306,6 +315,7 @@
# - DESCRIPTION ------------------------
doc: >
Class that provides drawing debug shapes.
Check out this [`example`](https://github.com/carla-simulator/carla/blob/master/PythonAPI/util/lane_explorer.py)
# - METHODS ----------------------------
methods:
- def_name: draw_point
@ -325,8 +335,9 @@
type: bool
default: True
doc: >
_Deprecated, use `life_time=0` instead_
_Deprecated, use `life_time = 0` instead_
doc: >
Draws a point in the given location.
# --------------------------------------
- def_name: draw_line
params:
@ -347,8 +358,9 @@
type: bool
default: True
doc: >
_Deprecated, use `life_time=0` instead_
_Deprecated, use `life_time = 0` instead_
doc: >
Draws a line between two given locations.
# --------------------------------------
- def_name: draw_arrow
params:
@ -372,8 +384,10 @@
type: bool
default: True
doc: >
_Deprecated, use `life_time=0` instead_
_Deprecated, use `life_time = 0` instead_
doc: >
Draws an arrow between two given locations.
# --------------------------------------
- def_name: draw_box
params:
@ -394,8 +408,9 @@
type: bool
default: True
doc: >
_Deprecated, use `life_time=0` instead_
_Deprecated, use `life_time = 0` instead_
doc: >
Draws the carla.BoundingBox of a given bounding_box.
# --------------------------------------
- def_name: draw_string
params:
@ -418,5 +433,8 @@
doc: >
_Deprecated, set a high `life_time` instead_
doc: >
Draws a string in a given location.
note: >
Strings can only be seen on the server-side.
# --------------------------------------
...