diff --git a/Docs/python_api.md b/Docs/python_api.md index 680bd2596..f75a2f1b1 100644 --- a/Docs/python_api.md +++ b/Docs/python_api.md @@ -63,7 +63,7 @@ Sets a vehicle's velocity vector to a constant value over time. The resulting ve _ - **Warning:** _Enabling a constant velocity for a vehicle managed by the [Traffic Manager](https://[carla.readthedocs.io](#carla.readthedocs.io)/en/latest/adv_traffic_manager/) may cause conflicts. This method overrides any changes in velocity by the TM. _ -- **enable_debug_telemetry**(**self**, **enabled**=True) +- **show_debug_telemetry**(**self**, **enabled**=True) Enables or disables the telemetry on this vehicle. This shows information about the vehicles current state and forces applied to it in the spectator window. Only information for one vehicle can be shown so if you enable a second one, the previous will be automatically disabled. - **Parameters:** - `enabled` (_bool_) @@ -91,6 +91,10 @@ Returns the world this actor belongs to. - **Return:** _[carla.World](#carla.World)_ ##### Setters +- **set_enable_gravity**(**self**, **enabled**) +Enables or disables gravity for the actor. __Default__ is True. + - **Parameters:** + - `enabled` (_bool_) - **set_location**(**self**, **location**) Teleports the actor to a given location. - **Parameters:** @@ -453,6 +457,10 @@ Load a new world with default settings using `map_name` map. All actors present - `duration` (_float – seconds_) – Time that will be reenacted using the information `name` file. If the end is reached, the simulation will continue. - `follow_id` (_int_) – ID of the actor to follow. If this is 0 then camera is disabled. - `replay_sensors` (_bool_) – Flag to enable or disable the spawn of sensors during playback. +- **request_file**(**self**, **name**) +Requests one of the required files returned by [carla.Client.get_required_files](#carla.Client.get_required_files). + - **Parameters:** + - `name` (_str_) – Name of the file you are requesting. - **show_recorder_actors_blocked**(**self**, **filename**, **min_time**, **min_distance**) The terminal will show the information registered for actors considered blocked. An actor is considered blocked when it does not move a minimum distance in a period of time, being these `min_distance` and `min_time`. - **Parameters:** @@ -506,6 +514,11 @@ Returns a list of strings containing the paths of the maps available on server. - **get_client_version**(**self**) Returns the client libcarla version by consulting it in the "Version.h" file. Both client and server can use different libcarla versions but some issues may arise regarding unexpected incompatibilities. - **Return:** _str_ +- **get_required_files**(**self**, **folder**, **download**=True) +Asks the server which files are required by the client to use the current map. Option to download files automatically if they are not already in the cache. + - **Parameters:** + - `folder` (_str_) – Folder where files required by the client will be downloaded to. + - `download` (_bool_) – If True, downloads files that are not already in cache. - **get_server_version**(**self**) Returns the server libcarla version by consulting it in the "Version.h" file. Both client and server should use the same libcarla version. - **Return:** _str_ @@ -519,6 +532,12 @@ Returns the world object currently active in the simulation. This world will be - **Return:** _[carla.World](#carla.World)_ ##### Setters +- **set_files_base_folder**(**self**, **path**) + - **Parameters:** + - `path` (_str_) – Specifies the base folder where the local cache for required files will be placed. +- **set_replayer_ignore_hero**(**self**, **ignore_hero**) + - **Parameters:** + - `ignore_hero` (_bool_) – Enables or disables playback of the hero vehicle during a playback of a recorded simulation. - **set_replayer_time_factor**(**self**, **time_factor**=1.0) When used, the time speed of the reenacted simulation is modified at will. It can be used several times while a playback is in curse. - **Parameters:** @@ -1403,6 +1422,9 @@ Returns Euclidean distance from this location to another one. - **Return:** _float – meters_ ##### Dunder methods +- **\__abs__**(**self**) +Returns a Location with the absolute value of the components x, y and z. + - **Return:** _[carla.Location](#carla.Location)_ - **\__eq__**(**self**, **other**=[carla.Location](#carla.Location)) Returns __True__ if both locations are the same point in space. - **Return:** _bool_ @@ -1461,6 +1483,9 @@ Returns the landmarks of a specific type. Landmarks retrieved using this method - **Parameters:** - `type` (_string_) – The type of the landmarks. - **Return:** _list([carla.Landmark](#carla.Landmark))_ +- **get_crosswalks**(**self**) +Returns a list of locations with all crosswalk zones in the form of closed polygons. The first point is repeated, symbolizing where the polygon begins and ends. + - **Return:** _list([carla.Location](#carla.Location))_ - **get_landmark_group**(**self**, **landmark**) Returns the landmarks in the same group as the specified landmark (including itself). Returns an empty list if the landmark does not belong to any group. - **Parameters:** @@ -2251,6 +2276,13 @@ Returns the port where the Traffic Manager is connected. If the object is a TM-C - **Return:** _uint16_ ##### Setters +- **set_boundaries_respawn_dormant_vehicles**(**self**, **lower_bound**=25.0, **upper_bound**=actor_active_distance) +Sets the upper and lower boundaries for dormant actors to be respawned near the hero vehicle. + - **Parameters:** + - `lower_bound` (_float_) – The minimum distance in meters from the hero vehicle that a dormant actor will be respawned. + - `upper_bound` (_float_) – The maximum distance in meters from the hero vehicle that a dormant actor will be respawned. + - **Warning:** _The `upper_bound` cannot be higher than the `actor_active_distance`. The `lower_bound` cannot be less than 25. +_ - **set_global_distance_to_leading_vehicle**(**self**, **distance**) Sets the minimum distance in meters that vehicles have to keep with the rest. The distance is in meters and will affect the minimum moving distance. It is computed from center to center of the vehicle objects. - **Parameters:** @@ -2276,6 +2308,10 @@ During the localization stage, this method sets a percent chance that vehicle wi Sets a specific random seed for the Traffic Manager, thereby setting it to be deterministic. - **Parameters:** - `value` (_int_) – Seed value for the random number generation of the Traffic Manager. +- **set_respawn_dormant_vehicles**(**self**, **mode_switch**=False) +If __True__, vehicles in large maps will respawn near the hero vehicle when they become dormant. Otherwise, they will stay dormant until they are within `actor_active_distance` of the hero vehicle again. + - **Parameters:** + - `mode_switch` (_bool_) - **set_synchronous_mode**(**self**, **mode_switch**=True) Sets the Traffic Manager to [synchronous mode](adv_traffic_manager.md#synchronous-mode). In a [multiclient situation](adv_traffic_manager.md#multiclient), only the TM-Server can tick. Similarly, in a [multiTM situation](adv_traffic_manager.md#multitm), only one TM-Server must tick. Use this method in the client that does the world tick, and right after setting the world to synchronous mode, to set which TM will be the master while in sync. - **Parameters:** @@ -2395,6 +2431,9 @@ Z-axis value. - `z` (_float_) ##### Dunder methods +- **\__abs__**(**self**) +Returns a Vector3D with the absolute value of the components x, y and z. + - **Return:** _[carla.Vector3D](#carla.Vector3D)_ - **\__add__**(**self**, **other**=[carla.Vector3D](#carla.Vector3D)) - **\__eq__**(**self**, **other**=[carla.Vector3D](#carla.Vector3D)) Returns __True__ if values for every axis are equal. @@ -2594,7 +2633,7 @@ Enable the use of sweep for wheel collision. By default, it is disabled and it u List of wheel physics 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. ### Methods -- **\__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()) +- **\__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(), **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(), **use_sweep_wheel_collision**=False, **mass**=1000.0) VehiclePhysicsControl constructor. - **Parameters:** - `torque_curve` (_list([carla.Vector2D](#carla.Vector2D))_) @@ -2612,6 +2651,8 @@ VehiclePhysicsControl constructor. - `center_of_mass` (_[carla.Vector3D](#carla.Vector3D)_) - `steering_curve` (_[carla.Vector2D](#carla.Vector2D)_) - `wheels` (_list([carla.WheelPhysicsControl](#carla.WheelPhysicsControl))_) + - `use_sweep_wheel_collision` (_bool_) + - `mass` (_float – kilograms_) ##### Dunder methods - **\__eq__**(**self**, **other**=[carla.VehiclePhysicsControl](#carla.VehiclePhysicsControl)) @@ -2848,9 +2889,15 @@ Fog start distance. Values range from 0 to infinite. Wetness intensity. It only affects the RGB camera sensor. Values range from 0 to 100. - **fog_falloff** (_float_) Density of the fog (as in specific mass) from 0 to infinity. The bigger the value, the more dense and heavy it will be, and the fog will reach smaller heights. Corresponds to Fog Height Falloff in the UE docs.
If the value is 0, the fog will be lighter than air, and will cover the whole scene.
A value of 1 is approximately as dense as the air, and reaches normal-sized buildings.
For values greater than 5, the air will be so dense that it will be compressed on ground level. +- **scattering_intensity** (_float_) +Controls how much the light will contribute to volumetric fog. When set to 0, there is no contribution. +- **mie_scattering_scale** (_float_) +Controls interaction of light with large particles like pollen or air pollution resulting in a hazy sky with halos around the light sources. When set to 0, there is no contribution. +- **rayleigh_scattering_scale** (_float_) +Controls interaction of light with small particles like air molecules. Dependent on light wavelength, resulting in a blue sky in the day or red sky in the evening. ### Methods -- **\__init__**(**self**, **cloudiness**=0.0, **precipitation**=0.0, **precipitation_deposits**=0.0, **wind_intensity**=0.0, **sun_azimuth_angle**=0.0, **sun_altitude_angle**=0.0, **fog_density**=0.0, **fog_distance**=0.0, **wetness**=0.0, **fog_falloff**=0.2) +- **\__init__**(**self**, **cloudiness**=0.0, **precipitation**=0.0, **precipitation_deposits**=0.0, **wind_intensity**=0.0, **sun_azimuth_angle**=0.0, **sun_altitude_angle**=0.0, **fog_density**=0.0, **fog_distance**=0.0, **wetness**=0.0, **fog_falloff**=0.0, **scattering_intensity**=0.0, **mie_scattering_scale**=0.0, **rayleigh_scattering_scale**=0.0331) Method to initialize an object defining weather conditions. This class has some presets for different noon and sunset conditions listed in a note below. - **Parameters:** - `cloudiness` (_float_) – 0 is a clear sky, 100 complete overcast. @@ -2863,6 +2910,9 @@ Method to initialize an object defining weather conditions. This class has some - `fog_distance` (_float – meters_) – Distance where the fog starts in meters. - `wetness` (_float_) – Humidity percentages of the road, from 0 to 100. - `fog_falloff` (_float_) – Density (specific mass) of the fog, from 0 to infinity. + - `scattering_intensity` (_float_) – Controls how much the light will contribute to volumetric fog. When set to 0, there is no contribution. + - `mie_scattering_scale` (_float_) – Controls interaction of light with large particles like pollen or air pollution resulting in a hazy sky with halos around the light sources. When set to 0, there is no contribution. + - `rayleigh_scattering_scale` (_float_) – Controls interaction of light with small particles like air molecules. Dependent on light wavelength, resulting in a blue sky in the day or red sky in the evening. - **Note:** _ClearNoon, CloudyNoon, WetNoon, WetCloudyNoon, SoftRainNoon, MidRainyNoon, HardRainNoon, ClearSunset, CloudySunset, WetSunset, WetCloudySunset, SoftRainSunset, MidRainSunset, HardRainSunset. _ @@ -3431,6 +3481,22 @@ Port of the Traffic Manager where the vehicle is to be registered or unlisted. --- +## command.SetEnableGravity +Command adaptation of __set_enable_gravity()__ in [carla.Actor](#carla.Actor). Enables or disables gravity on an actor. + +### Instance Variables +- **actor_id** (_[carla.Actor](#carla.Actor) or int_) +Actor that is affected by the command. +- **enabled** (_bool_) + +### Methods +- **\__init__**(**self**, **actor**, **enabled**) + - **Parameters:** + - `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or Actor ID to which the command will be applied to. + - `enabled` (_bool_) + +--- + ## command.SetSimulatePhysics Command adaptation of __set_simulate_physics()__ in [carla.Actor](#carla.Actor). Determines whether an actor will be affected by physics or not. @@ -3465,6 +3531,22 @@ Defines the light state of a vehicle. --- +## command.ShowDebugTelemetry +Command adaptation of __show_debug_telemetry()__ in [carla.Actor](#carla.Actor). Displays vehicle control telemetry data. + +### Instance Variables +- **actor_id** (_[carla.Actor](#carla.Actor) or int_) +Actor that is affected by the command. +- **enabled** (_bool_) + +### Methods +- **\__init__**(**self**, **actor**, **enabled**) + - **Parameters:** + - `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or Actor ID to which the command will be applied to. + - `enabled` (_bool_) + +--- + ## command.SpawnActor Command adaptation of __spawn_actor()__ in [carla.World](#carla.World). Spawns an actor into the world based on the blueprint provided and the transform. If a parent is provided, the actor is attached to it. diff --git a/PythonAPI/docs/actor.yml b/PythonAPI/docs/actor.yml index 1a832d0c6..2de7d718b 100644 --- a/PythonAPI/docs/actor.yml +++ b/PythonAPI/docs/actor.yml @@ -133,7 +133,7 @@ warning: > Enabling a constant velocity for a vehicle managed by the [Traffic Manager](https://carla.readthedocs.io/en/latest/adv_traffic_manager/) may cause conflicts. This method overrides any changes in velocity by the TM. # -------------------------------------- - - def_name: enable_debug_telemetry + - def_name: show_debug_telemetry params: - param_name: enabled type: bool @@ -219,6 +219,13 @@ # -------------------------------------- - def_name: __str__ # -------------------------------------- + - def_name: set_enable_gravity + params: + - param_name: enabled + type: bool + doc: > + Enables or disables gravity for the actor. __Default__ is True. + - class_name: VehicleLightState # - DESCRIPTION ------------------------ doc: > diff --git a/PythonAPI/docs/client.yml b/PythonAPI/docs/client.yml index f501f368f..fc83098d1 100644 --- a/PythonAPI/docs/client.yml +++ b/PythonAPI/docs/client.yml @@ -299,6 +299,42 @@ doc: > Sets the maxixum time a network call is allowed before blocking it and raising a timeout exceeded error. # -------------------------------------- + - def_name: set_replayer_ignore_hero + params: + - param_name: ignore_hero + type: bool + doc: > + Enables or disables playback of the hero vehicle during a playback of a recorded simulation. + # -------------------------------------- + - def_name: set_files_base_folder + params: + - param_name: path + type: str + doc: > + Specifies the base folder where the local cache for required files will be placed. + # -------------------------------------- + - def_name: get_required_files + params: + - param_name: folder + type: str + doc: > + Folder where files required by the client will be downloaded to. + - param_name: download + type: bool + default: True + doc: > + If True, downloads files that are not already in cache. + doc: > + Asks the server which files are required by the client to use the current map. Option to download files automatically if they are not already in the cache. + # -------------------------------------- + - def_name: request_file + params: + - param_name: name + type: str + doc: > + Name of the file you are requesting. + doc: > + Requests one of the required files returned by carla.Client.get_required_files. - class_name: TrafficManager # - DESCRIPTION ------------------------ @@ -526,6 +562,31 @@ warning: > If the server is set to synchronous mode, the TM must be set to synchronous mode too in the same client that does the tick. # -------------------------------------- + - def_name: set_respawn_dormant_vehicles + params: + - param_name: mode_switch + type: bool + default: false + doc: > + If __True__, vehicles in large maps will respawn near the hero vehicle when they become dormant. Otherwise, they will stay dormant until they are within `actor_active_distance` of the hero vehicle again. + # -------------------------------------- + - def_name: set_boundaries_respawn_dormant_vehicles + params: + - param_name: lower_bound + type: float + default: 25.0 + doc: > + The minimum distance in meters from the hero vehicle that a dormant actor will be respawned. + - param_name: upper_bound + type: float + default: actor_active_distance + doc: > + The maximum distance in meters from the hero vehicle that a dormant actor will be respawned. + doc: > + Sets the upper and lower boundaries for dormant actors to be respawned near the hero vehicle. + warning: > + The `upper_bound` cannot be higher than the `actor_active_distance`. The `lower_bound` cannot be less than 25. + # -------------------------------------- - class_name: OpendriveGenerationParameters # - DESCRIPTION ------------------------ diff --git a/PythonAPI/docs/commands.yml b/PythonAPI/docs/commands.yml index f9adcd88c..f97cf0ed0 100644 --- a/PythonAPI/docs/commands.yml +++ b/PythonAPI/docs/commands.yml @@ -489,4 +489,52 @@ doc: > Recaps the state of the lights of a vehicle, these can be used as a flags. # -------------------------------------- + + - class_name: SetEnableGravity + # - DESCRIPTION ------------------------ + doc: > + Command adaptation of __set_enable_gravity()__ in carla.Actor. Enables or disables gravity on an actor. + # - PROPERTIES ------------------------- + instance_variables: + - var_name: actor_id + type: carla.Actor or int + doc: > + Actor that is affected by the command. + - var_name: enabled + type: bool + # - METHODS ---------------------------- + methods: + - def_name: __init__ + params: + - param_name: actor + type: carla.Actor or int + doc: > + Actor or Actor ID to which the command will be applied to. + - param_name: enabled + type: bool + # -------------------------------------- + + - class_name: ShowDebugTelemetry + # - DESCRIPTION ------------------------ + doc: > + Command adaptation of __show_debug_telemetry()__ in carla.Actor. Displays vehicle control telemetry data. + # - PROPERTIES ------------------------- + instance_variables: + - var_name: actor_id + type: carla.Actor or int + doc: > + Actor that is affected by the command. + - var_name: enabled + type: bool + # - METHODS ---------------------------- + methods: + - def_name: __init__ + params: + - param_name: actor + type: carla.Actor or int + doc: > + Actor or Actor ID to which the command will be applied to. + - param_name: enabled + type: bool + # -------------------------------------- ... diff --git a/PythonAPI/docs/control.yml b/PythonAPI/docs/control.yml index 34651ded0..22ecefc78 100644 --- a/PythonAPI/docs/control.yml +++ b/PythonAPI/docs/control.yml @@ -349,9 +349,6 @@ - param_name: forward_gears default: list() type: list(carla.GearPhysicsControl) - - param_name: mass - default: 1000.0 - param_units: kilograms - param_name: drag_coefficient default: 0.3 type: float @@ -364,6 +361,13 @@ - param_name: wheels default: list() type: list(carla.WheelPhysicsControl) + - param_name: use_sweep_wheel_collision + default: False + type: bool + - param_name: mass + default: 1000.0 + type: float + param_units: kilograms doc: > VehiclePhysicsControl constructor # -------------------------------------- diff --git a/PythonAPI/docs/geom.yml b/PythonAPI/docs/geom.yml index db9ccb096..cae843d06 100644 --- a/PythonAPI/docs/geom.yml +++ b/PythonAPI/docs/geom.yml @@ -141,6 +141,11 @@ doc: > Returns the axis values for the vector parsed as string. # -------------------------------------- + - def_name: __abs__ + return: carla.Vector3D + doc: > + Returns a Vector3D with the absolute value of the components x, y and z. + # -------------------------------------- - class_name: Location parent: carla.Vector3D @@ -210,6 +215,12 @@ doc: > Parses the axis' values to string. # -------------------------------------- + - def_name: __abs__ + return: carla.Location + doc: > + Returns a Location with the absolute value of the components x, y and z. + # -------------------------------------- + - class_name: Rotation # - DESCRIPTION ------------------------ diff --git a/PythonAPI/docs/map.yml b/PythonAPI/docs/map.yml index a71851c52..3b4d0929d 100644 --- a/PythonAPI/docs/map.yml +++ b/PythonAPI/docs/map.yml @@ -270,6 +270,11 @@ Specify the length from the road start. return: carla.Waypoint # -------------------------------------- + - def_name: get_crosswalks + doc: > + Returns a list of locations with all crosswalk zones in the form of closed polygons. The first point is repeated, symbolizing where the polygon begins and ends. + return: list(carla.Location) + # -------------------------------------- - def_name: __str__ # -------------------------------------- diff --git a/PythonAPI/docs/weather.yml b/PythonAPI/docs/weather.yml index 52e22e372..9326d2620 100644 --- a/PythonAPI/docs/weather.yml +++ b/PythonAPI/docs/weather.yml @@ -62,7 +62,21 @@ type: float doc: > Density of the fog (as in specific mass) from 0 to infinity. The bigger the value, the more dense and heavy it will be, and the fog will reach smaller heights. Corresponds to Fog Height Falloff in the UE docs.
If the value is 0, the fog will be lighter than air, and will cover the whole scene.
A value of 1 is approximately as dense as the air, and reaches normal-sized buildings.
For values greater than 5, the air will be so dense that it will be compressed on ground level. - + # -------------------------------------- + - var_name: scattering_intensity + type: float + doc: > + Controls how much the light will contribute to volumetric fog. When set to 0, there is no contribution. + # -------------------------------------- + - var_name: mie_scattering_scale + type: float + doc: > + Controls interaction of light with large particles like pollen or air pollution resulting in a hazy sky with halos around the light sources. When set to 0, there is no contribution. + # -------------------------------------- + - var_name: rayleigh_scattering_scale + type: float + doc: > + Controls interaction of light with small particles like air molecules. Dependent on light wavelength, resulting in a blue sky in the day or red sky in the evening. # - METHODS ---------------------------- methods: - def_name: __init__ @@ -117,9 +131,24 @@ Humidity percentages of the road, from 0 to 100. - param_name: fog_falloff type: float - default: 0.2 + default: 0.0 doc: > Density (specific mass) of the fog, from 0 to infinity. + - param_name: scattering_intensity + type: float + default: 0.0 + doc: > + Controls how much the light will contribute to volumetric fog. When set to 0, there is no contribution. + - param_name: mie_scattering_scale + type: float + default: 0.0 + doc: > + Controls interaction of light with large particles like pollen or air pollution resulting in a hazy sky with halos around the light sources. When set to 0, there is no contribution. + - param_name: rayleigh_scattering_scale + type: float + default: 0.0331 + doc: > + Controls interaction of light with small particles like air molecules. Dependent on light wavelength, resulting in a blue sky in the day or red sky in the evening. note: > ClearNoon, CloudyNoon, WetNoon, WetCloudyNoon, SoftRainNoon, MidRainyNoon, HardRainNoon, ClearSunset, CloudySunset, WetSunset, WetCloudySunset, SoftRainSunset, MidRainSunset, HardRainSunset. doc: >