p71924506
/
carla
mirror of https://github.com/carla-simulator/carla.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Javiergr cs/get socket names (#7170) 

* Added new function to obtain the name of all actor sockets

* Updating CHANGELOG.md

* Simplifying code of get_actor_socket_names function

---------

Co-authored-by: Blyron <53337103+Blyron@users.noreply.github.com>
This commit is contained in:
javiergrCS 2024-03-13 23:02:00 +01:00 committed by GitHub
parent fda970b881
commit 3eb9a76263
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
8 changed files with 63 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
CHANGELOG.md
View File

@ -8,6 +8,7 @@
* Added functions to get actor' bones and components names
* Added functions to get actor' sockets transforms
* make PythonAPI Windows: Fixed incompatibility issue with Anaconda due `py` command.
* Added function to get actor' sockets names
* Fixed bug in python agents when vehicle list was empty causing a check on all vehicles (BasicAgent.py) and detected pedestrians as vehicles if no pedestrains are present (BehaviourAgent.py)
* Added possibility to change gravity variable in imui sensor for the accelerometer

4
LibCarla/source/carla/client/Actor.cpp
View File

@ -64,6 +64,10 @@ namespace client {
return GetEpisode().Lock()->GetActorSocketRelativeTransforms(*this);
}
std::vector<std::string> Actor::GetSocketNames() const {
return GetEpisode().Lock()->GetActorSocketNames(*this);
}
void Actor::SetLocation(const geom::Location &location) {
GetEpisode().Lock()->SetActorLocation(*this, location);
}

2
LibCarla/source/carla/client/Actor.h
View File

@ -76,6 +76,8 @@ namespace client {
std::vector<geom::Transform> GetSocketRelativeTransforms() const;
std::vector<std::string> GetSocketNames() const;
/// Teleport the actor to @a location.
void SetLocation(const geom::Location &location);

5
LibCarla/source/carla/client/detail/Client.cpp
View File

@ -456,6 +456,11 @@ namespace detail {
return _pimpl->CallAndWait<return_t>("get_actor_socket_relative_transforms", actor);
}
std::vector<std::string> Client::GetActorSocketNames(rpc::ActorId actor) {
using return_t = std::vector<std::string>;
return _pimpl->CallAndWait<return_t>("get_actor_socket_names", actor);
}
void Client::SetActorSimulatePhysics(rpc::ActorId actor, const bool enabled) {
_pimpl->CallAndWait<void>("set_actor_simulate_physics", actor, enabled);
}

3
LibCarla/source/carla/client/detail/Client.h
View File

@ -263,6 +263,9 @@ namespace detail {
std::vector<geom::Transform> GetActorSocketRelativeTransforms(
rpc::ActorId actor);
std::vector<std::string> GetActorSocketNames(
rpc::ActorId actor);
void SetActorSimulatePhysics(
rpc::ActorId actor,
bool enabled);

4
LibCarla/source/carla/client/detail/Simulator.h
View File

@ -479,6 +479,10 @@ namespace detail {
return _client.GetActorSocketRelativeTransforms(actor.GetId());
}
std::vector<std::string> GetActorSocketNames(const Actor &actor) {
return _client.GetActorSocketNames(actor.GetId());
}
void SetActorLocation(Actor &actor, const geom::Location &location) {
_client.SetActorLocation(actor.GetId(), location);
}

3
PythonAPI/carla/source/libcarla/Actor.cpp
View File

@ -120,7 +120,8 @@ void export_actor() {
.def("get_component_names", CALL_RETURNING_LIST(cc::Actor,GetComponentNames))
.def("get_bone_names", CALL_RETURNING_LIST(cc::Actor,GetBoneNames))
.def("get_socket_world_transforms", CALL_RETURNING_LIST(cc::Actor,GetSocketWorldTransforms))
.def("get_socket_relative_transforms", CALL_RETURNING_LIST(cc::Actor,GetSocketRelativeTransforms))
.def("get_socket_relative_transforms", CALL_RETURNING_LIST(cc::Actor,GetSocketRelativeTransforms))
.def("get_socket_names", CALL_RETURNING_LIST(cc::Actor,GetSocketNames))
.def("set_location", &cc::Actor::SetLocation, (arg("location")))
.def("set_transform", &cc::Actor::SetTransform, (arg("transform")))
.def("set_target_velocity", &cc::Actor::SetTargetVelocity, (arg("velocity")))

49
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
View File

@ -1402,7 +1402,7 @@ BIND_SYNC(is_sensor_enabled_for_ros) << [this](carla::streaming::detail::stream_
if (!CarlaActor)
{
return RespondError(
"get_actor_bone_world_transform",
"get_actor_bone_world_transforms",
ECarlaServerResponse::ActorNotFound,
" Actor Id: " + FString::FromInt(ActorId));
}
@ -1414,7 +1414,7 @@ BIND_SYNC(is_sensor_enabled_for_ros) << [this](carla::streaming::detail::stream_
if(!SkinnedMeshComponents[0])
{
return RespondError(
"get_actor_bone_relative_transforms",
"get_actor_bone_world_transforms",
ECarlaServerResponse::ComponentNotFound,
" Component Name: SkinnedMeshComponent ");
}
@ -1443,7 +1443,7 @@ BIND_SYNC(is_sensor_enabled_for_ros) << [this](carla::streaming::detail::stream_
if (!CarlaActor)
{
return RespondError(
"get_actor_bone_relative_transform",
"get_actor_bone_relative_transforms",
ECarlaServerResponse::ActorNotFound,
" Actor Id: " + FString::FromInt(ActorId));
}
@ -1509,7 +1509,7 @@ BIND_SYNC(is_sensor_enabled_for_ros) << [this](carla::streaming::detail::stream_
if (!CarlaActor)
{
return RespondError(
"get_actor_component_relative_transform",
"get_actor_bone_names",
ECarlaServerResponse::ActorNotFound,
" Actor Id: " + FString::FromInt(ActorId));
}
@ -1519,7 +1519,7 @@ BIND_SYNC(is_sensor_enabled_for_ros) << [this](carla::streaming::detail::stream_
if(!SkinnedMeshComponent)
{
return RespondError(
"get_actor_bone_relative_transforms",
"get_actor_bone_names",
ECarlaServerResponse::ComponentNotFound,
" Component Name: SkinnedMeshComponent ");
}
@ -1547,7 +1547,7 @@ BIND_SYNC(is_sensor_enabled_for_ros) << [this](carla::streaming::detail::stream_
if (!CarlaActor)
{
return RespondError(
"get_actor_component_relative_transform",
"get_actor_socket_world_transforms",
ECarlaServerResponse::ActorNotFound,
" Actor Id: " + FString::FromInt(ActorId));
}
@ -1580,7 +1580,7 @@ BIND_SYNC(is_sensor_enabled_for_ros) << [this](carla::streaming::detail::stream_
if (!CarlaActor)
{
return RespondError(
"get_actor_component_relative_transform",
"get_actor_socket_relative_transforms",
ECarlaServerResponse::ActorNotFound,
" Actor Id: " + FString::FromInt(ActorId));
}
@ -1605,6 +1605,41 @@ BIND_SYNC(is_sensor_enabled_for_ros) << [this](carla::streaming::detail::stream_
}
};
BIND_SYNC(get_actor_socket_names) << [this](
cr::ActorId ActorId) -> R<std::vector<std::string>>
{
REQUIRE_CARLA_EPISODE();
FCarlaActor* CarlaActor = Episode->FindCarlaActor(ActorId);
if (!CarlaActor)
{
return RespondError(
"get_actor_socket_names",
ECarlaServerResponse::ActorNotFound,
" Actor Id: " + FString::FromInt(ActorId));
}
else
{
TArray<FName> SocketNames;
std::vector<std::string> StringSocketNames;
TArray<UActorComponent*> Components;
CarlaActor->GetActor()->GetComponents(Components);
for(UActorComponent* ActorComponent : Components)
{
if(USceneComponent* SceneComponent = Cast<USceneComponent>(ActorComponent))
{
SocketNames = SceneComponent->GetAllSocketNames();
for (const FName& Name : SocketNames)
{
FString FSocketName = Name.ToString();
std::string StringSocketName = TCHAR_TO_UTF8(*FSocketName);
StringSocketNames.push_back(StringSocketName);
}
}
}
return StringSocketNames;
}
};
BIND_SYNC(get_physics_control) << [this](
cr::ActorId ActorId) -> R<cr::VehiclePhysicsControl>
{