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Python documentation.

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@ -6,11 +6,11 @@
- class_name: LaneType
# - DESCRIPTION ------------------------
doc: >
Class that defines the possible lane types accepted by OpenDRIVE 1.4. This standards define the road information. For instance in this [recipe](ref_code_recipes.md#lanes-recipe) the user creates a carla.Waypoint for the current location of a vehicle and uses it to get the current and adjacent lane types.
Class that defines the possible lane types accepted by OpenDRIVE 1.4. This standards define the road information. For instance in this [recipe](ref_code_recipes.md#lanes-recipe) the user creates a carla.Waypoint for the current location of a vehicle and uses it to get the current and adjacent lane types.
# - PROPERTIES -------------------------
instance_variables:
- var_name: NONE
doc: >
doc: >
- var_name: Bidirectional
doc: >
- var_name: Biking
@ -53,12 +53,12 @@
doc: >
- var_name: Any
doc: >
Every type except for NONE.
Every type except for NONE.
- class_name: LaneChange
# - DESCRIPTION ------------------------
doc: >
Class that defines the permission to turn either left, right, both or none (meaning only going straight is allowed). This information is stored for every carla.Waypoint according to the OpenDRIVE file. In this [recipe](ref_code_recipes.md#lanes-recipe) the user creates a waypoint for a current vehicle position and learns which turns are permitted.
Class that defines the permission to turn either left, right, both or none (meaning only going straight is allowed). This information is stored for every carla.Waypoint according to the OpenDRIVE file. In this [recipe](ref_code_recipes.md#lanes-recipe) the user creates a waypoint for a current vehicle position and learns which turns are permitted.
# - PROPERTIES -------------------------
instance_variables:
- var_name: NONE
@ -82,7 +82,7 @@
instance_variables:
- var_name: Standard
doc: >
White by default.
White by default.
- var_name: Blue
doc: >
- var_name: Green
@ -99,9 +99,9 @@
- class_name: LaneMarkingType
# - DESCRIPTION ------------------------
doc: >
Class that defines the lane marking types accepted by OpenDRIVE 1.4. Take a look at this [recipe](ref_code_recipes.md#lanes-recipe) where the user creates a carla.Waypoint for a vehicle location and retrieves from it the information about adjacent lane markings.
__Note on double types:__ Lane markings are defined under the OpenDRIVE standard that determines whereas a line will be considered "BrokenSolid" or "SolidBroken". For each road there is a center lane marking, defined from left to right regarding the lane's directions. The rest of the lane markings are defined in order from the center lane to the closest outside of the road.
Class that defines the lane marking types accepted by OpenDRIVE 1.4. Take a look at this [recipe](ref_code_recipes.md#lanes-recipe) where the user creates a carla.Waypoint for a vehicle location and retrieves from it the information about adjacent lane markings.
__Note on double types:__ Lane markings are defined under the OpenDRIVE standard that determines whereas a line will be considered "BrokenSolid" or "SolidBroken". For each road there is a center lane marking, defined from left to right regarding the lane's directions. The rest of the lane markings are defined in order from the center lane to the closest outside of the road.
# - PROPERTIES -------------------------
instance_variables:
- var_name: NONE
@ -111,7 +111,7 @@
- var_name: Broken
doc: >
- var_name: BrokenBroken
doc: >
doc: >
- var_name: BrokenSolid
doc: >
- var_name: Curb
@ -130,28 +130,28 @@
- class_name: Map
# - DESCRIPTION ------------------------
doc: >
Class containing the road information and waypoint managing. Data is retrieved from an OpenDRIVE file that describes the road. A query system is defined which works hand in hand with carla.Waypoint to translate geometrical information from the .xodr to natural world points. CARLA is currently working with [OpenDRIVE 1.4 standard](http://www.opendrive.org/docs/OpenDRIVEFormatSpecRev1.4H.pdf).
Class containing the road information and waypoint managing. Data is retrieved from an OpenDRIVE file that describes the road. A query system is defined which works hand in hand with carla.Waypoint to translate geometrical information from the .xodr to natural world points. CARLA is currently working with [OpenDRIVE 1.4 standard](http://www.opendrive.org/docs/OpenDRIVEFormatSpecRev1.4H.pdf).
# - PROPERTIES -------------------------
instance_variables:
- var_name: name
type: str
doc: >
The name of the map. It corresponds to the .umap from Unreal Engine that is loaded from a CARLA server, which then references to the .xodr road description.
The name of the map. It corresponds to the .umap from Unreal Engine that is loaded from a CARLA server, which then references to the .xodr road description.
# - METHODS ----------------------------
methods:
- def_name: __init__
params:
- param_name: name
type: str
doc: >
Name of the current map.
doc: >
Name of the current map.
- param_name: xodr_content
type: str
doc: >
.xodr content in string format.
return: list(carla.Transform)
doc: >
Constructor for this class. Though a map is automatically generated when initializing the world, using this method in no-rendering mode facilitates working with an .xodr without any CARLA server running.
Constructor for this class. Though a map is automatically generated when initializing the world, using this method in no-rendering mode facilitates working with an .xodr without any CARLA server running.
# --------------------------------------
- def_name: generate_waypoints
params:
@ -161,12 +161,12 @@
Approximate distance between waypoints.
return: list(carla.Waypoint)
doc: >
Returns a list of waypoints with a certain distance between them for every lane and centered inside of it. Waypoints are not listed in any particular order. Remember that waypoints closer than 2cm within the same road, section and lane will have the same identificator.
Returns a list of waypoints with a certain distance between them for every lane and centered inside of it. Waypoints are not listed in any particular order. Remember that waypoints closer than 2cm within the same road, section and lane will have the same identificator.
# --------------------------------------
- def_name: get_spawn_points
return: list(carla.Transform)
doc: >
Returns a list of recommendations made by the creators of the map to be used as spawning points for the vehicles. The list includes carla.Transform objects with certain location and orientation. Said locations are slightly on-air in order to avoid Z-collisions, so vehicles fall for a bit before starting their way.
Returns a list of recommendations made by the creators of the map to be used as spawning points for the vehicles. The list includes carla.Transform objects with certain location and orientation. Said locations are slightly on-air in order to avoid Z-collisions, so vehicles fall for a bit before starting their way.
# --------------------------------------
- def_name: get_topology
doc: >
@ -175,22 +175,22 @@
# --------------------------------------
- def_name: get_waypoint
doc: >
Returns a waypoint that can be located in an exact location or translated to the center of the nearest lane. Said lane type can be defined using flags such as `LaneType.Driving & LaneType.Shoulder`.
The method will return <b>None</b> if the waypoint is not found, which may happen only when trying to retrieve a waypoint for an exact location. That eases checking if a point is inside a certain road, as otherwise, it will return the corresponding waypoint.
Returns a waypoint that can be located in an exact location or translated to the center of the nearest lane. Said lane type can be defined using flags such as `LaneType.Driving & LaneType.Shoulder`.
The method will return <b>None</b> if the waypoint is not found, which may happen only when trying to retrieve a waypoint for an exact location. That eases checking if a point is inside a certain road, as otherwise, it will return the corresponding waypoint.
params:
- param_name: location
type: carla.Location
doc: >
Location used as reference for the carla.Waypoint.
doc: >
Location used as reference for the carla.Waypoint.
- param_name: project_to_road
type: bool
default: "True"
doc: >
doc: >
If **True**, the waypoint will be at the center of the closest lane. This is the default setting. If **False**, the waypoint will be exactly in `location`. <b>None</b> means said location does not belong to a road.
- param_name: lane_type
type: carla.LaneType
default: carla.LaneType.Driving
doc: >
doc: >
Limits the search for nearest lane to one or various lane types that can be flagged.
return: carla.Waypoint
# --------------------------------------
@ -222,7 +222,7 @@
# --------------------------------------
- def_name: to_opendrive
doc: >
Returns the .xodr OpenDRIVe file of the current map as string.
Returns the .xodr OpenDRIVe file of the current map as string.
return: str
# --------------------------------------
- def_name: transform_to_geolocation
@ -239,17 +239,17 @@
- class_name: LaneMarking
# - DESCRIPTION ------------------------
doc: >
Class that gathers all the information regarding a lane marking according to [OpenDRIVE 1.4 standard](http://www.opendrive.org/docs/OpenDRIVEFormatSpecRev1.4H.pdf) standard.
Class that gathers all the information regarding a lane marking according to [OpenDRIVE 1.4 standard](http://www.opendrive.org/docs/OpenDRIVEFormatSpecRev1.4H.pdf) standard.
# - PROPERTIES -------------------------
instance_variables:
- var_name: color
type: carla.LaneMarkingColor
doc: >
Actual color of the marking.
Actual color of the marking.
- var_name: lane_change
type: carla.LaneChange
doc: >
Permissions for said lane marking to be crossed.
Permissions for said lane marking to be crossed.
- var_name: type
type: carla.LaneMarkingType
doc: >
@ -263,21 +263,21 @@
- class_name: Waypoint
# - DESCRIPTION ------------------------
doc: >
Waypoints in CARLA are described as 3D directed points. They store a certain carla.Transform which locates the waypoint in a road and orientates it according to the lane. They also store the road information belonging to said point regarding its lane and lane markings. All of this information is retrieved as provided by the OpenDRIVE file.
Waypoints in CARLA are described as 3D directed points. They store a certain carla.Transform which locates the waypoint in a road and orientates it according to the lane. They also store the road information belonging to said point regarding its lane and lane markings. All of this information is retrieved as provided by the OpenDRIVE file.
# - PROPERTIES -------------------------
instance_variables:
- var_name: id
type: int
doc: >
The identificator is generated using a hash combination of the <b>road</b>, <b>section</b>, <b>lane</b> and <b>s</b> values that correspond to said point in the OpenDRIVE geometry. The <b>s</b> precision is set to 2 centimeters, so 2 waypoints closer than 2 centimeters in the same road, section and lane, will have the same identificator.
The identificator is generated using a hash combination of the <b>road</b>, <b>section</b>, <b>lane</b> and <b>s</b> values that correspond to said point in the OpenDRIVE geometry. The <b>s</b> precision is set to 2 centimeters, so 2 waypoints closer than 2 centimeters in the same road, section and lane, will have the same identificator.
- var_name: transform
type: carla.Transform
doc: >
Position and orientation of the waypoint according to the current lane information. This data is computed the first time it is accessed. It is not created right away in order to ease computing costs when lots of waypoints are created but their specific transform is not needed.
Position and orientation of the waypoint according to the current lane information. This data is computed the first time it is accessed. It is not created right away in order to ease computing costs when lots of waypoints are created but their specific transform is not needed.
- var_name: road_id
type: int
doc: >
OpenDRIVE road's id.
OpenDRIVE road's id.
- var_name: section_id
type: int
doc: >
@ -293,7 +293,7 @@
- var_name: is_junction
type: bool
doc: >
<b>True</b> if the current Waypoint is on a junction as defined by OpenDRIVE.
<b>True</b> if the current Waypoint is on a junction as defined by OpenDRIVE.
- var_name: lane_width
type: float
doc: >
@ -319,14 +319,14 @@
- def_name: get_left_lane
return: carla.Waypoint
doc: >
Generates a Waypoint at the center of the left lane based on the direction of the current Waypoint, taking into account if the lane change is allowed in this location.
Generates a Waypoint at the center of the left lane based on the direction of the current Waypoint, taking into account if the lane change is allowed in this location.
Will return <b>None</b> if the lane does not exist
# --------------------------------------
- def_name: get_right_lane
return: carla.Waypoint
doc: >
Generates a waypoint at the center of the right lane based on the direction of the current waypoint, taking into account if the lane change is allowed in this location.
Generates a waypoint at the center of the right lane based on the direction of the current waypoint, taking into account if the lane change is allowed in this location.
Will return <b>None</b> if the lane does not exist.
# --------------------------------------
@ -338,7 +338,7 @@
The approximate distance where to get the next waypoints.
return: list(carla.Waypoint)
doc: >
Returns a list of waypoints at a certain approximate `distance` from the current one. It takes into account the road and its possible deviations without performing any lane change and returns one waypoint per option.
Returns a list of waypoints at a certain approximate `distance` from the current one. It takes into account the road and its possible deviations without performing any lane change and returns one waypoint per option.
The list may be empty if the lane is not connected to any other at the specified distance.
# --------------------------------------
@ -360,7 +360,7 @@
The approximate distance where to get the previous waypoints.
return: list(carla.Waypoint)
doc: >
This method does not return the waypoint previously visited by an actor, but a list of waypoints at an approximate `distance` but in the opposite direction of the lane. Similarly to **<font color="#7fb800">next()</font>**, it takes into account the road and its possible deviations without performing any lane change and returns one waypoint per option.
This method does not return the waypoint previously visited by an actor, but a list of waypoints at an approximate `distance` but in the opposite direction of the lane. Similarly to **<font color="#7fb800">next()</font>**, it takes into account the road and its possible deviations without performing any lane change and returns one waypoint per option.
The list may be empty if the lane is not connected to any other at the specified distance.
# --------------------------------------
@ -379,7 +379,7 @@
- param_name: distance
type: float
doc: >
Distance to search for landmarks from the current waypoint (metres in OpenDRIVE).
The maximum distance to search for landmarks from the current waypoint.
- param_name: stop_at_junction
type: bool
default: False
@ -394,11 +394,11 @@
- param_name: distance
type: float
doc: >
Distance to search for landmarks from the current waypoint (metres in OpenDRIVE).
The maximum distance to search for landmarks from the current waypoint.
- param_name: type
type: str
doc: >
Type of landmarks to search.
The type of landmarks to search.
- param_name: stop_at_junction
type: bool
default: False
@ -406,7 +406,7 @@
Enables or disables the landmark search through junctions.
return: list(carla.Landmark)
doc: >
Returns a list of landmarks in the road of a certain type from the current waypoint until the specified distance.
Returns a list of landmarks in the road of a specified type from the current waypoint until the specified distance.
# --------------------------------------
- def_name: __str__
# --------------------------------------
@ -435,7 +435,7 @@
Type of lanes to get the waypoints.
return: list(tuple(carla.Waypoint))
doc: >
Returns a list of pairs of waypoints. Every tuple on the list contains first an initial and then a final waypoint within the intersection boundaries that describe the beginning and the end of said lane along the junction. Lanes follow their OpenDRIVE definitions so there may be many different tuples with the same starting waypoint due to possible deviations, as this are considered different lanes.
Returns a list of pairs of waypoints. Every tuple on the list contains first an initial and then a final waypoint within the intersection boundaries that describe the beginning and the end of said lane along the junction. Lanes follow their OpenDRIVE definitions so there may be many different tuples with the same starting waypoint due to possible deviations, as this are considered different lanes.
# --------------------------------------
- class_name: LandmarkOrientation
@ -675,4 +675,236 @@
<small>Example: In a road with 5 lanes, being 3 not affected: [(from_lane1,to_lane2),(from_lane4,to_lane5)]</small>
# --------------------------------------
- class_name: LandmarkOrientation
# - DESCRIPTION ------------------------
doc: >
Class defining the orientation of a landmark in the road.
# - PROPERTIES -------------------------
instance_variables:
- var_name: Positive
doc: >
Positive direction of the road's geometry definition (negative lanes).
- var_name: Negative
doc: >
Negative direction of the road's geometry definition (positive lanes).
- var_name: Both
doc: >
Affects lanes in both directions of the road.
# --------------------------------------
- class_name: LandmarkType
# - DESCRIPTION ------------------------
doc: >
Class containing a set of landmarks using the country code OpenDRIVE.
See section 6.10 in the OpenDrive 1.5M specification.
# - PROPERTIES -------------------------
instance_variables:
- var_name: Danger
doc: >
Type 101.
- var_name: LanesMerging
doc: >
Type 121.
- var_name: CautionPedestrian
doc: >
Type 133.
- var_name: CautionBicycle
doc: >
Type 138.
- var_name: LevelCrossing
doc: >
Type 150.
- var_name: Stop
doc: >
Type 206.
- var_name: Yield
doc: >
Type 205.
- var_name: MandatoryTurnDirection
doc: >
Type 209.
- var_name: MandatoryLeftRightDirection
doc: >
Type 211.
- var_name: TwoChoiceTurnDirection
doc: >
Type 214.
- var_name: Roundabout
doc: >
Type 215.
- var_name: PassRightLeft
doc: >
Type 222.
- var_name: AccessForbidden
doc: >
Type 250.
- var_name: AccessForbiddenMotorvehicles
doc: >
Type 251.
- var_name: AccessForbiddenTrucks
doc: >
Type 253.
- var_name: AccessForbiddenBicycle
doc: >
Type 254.
- var_name: AccessForbiddenWeight
doc: >
Type 263.
- var_name: AccessForbiddenWidth
doc: >
Type 264.
- var_name: AccessForbiddenHeight
doc: >
Type 265.
- var_name: AccessForbiddenWrongDirection
doc: >
Type 267.
- var_name: ForbiddenUTurn
doc: >
Type 272.
- var_name: MaximumSpeed
doc: >
Type 274.
- var_name: ForbiddenOvertakingMotorvehicles
doc: >
Type 276.
- var_name: ForbiddenOvertakingTrucks
doc: >
Type 277.
- var_name: AbsoluteNoStop
doc: >
Type 283.
- var_name: RestrictedStop
doc: >
Type 286.
- var_name: HasWayNextIntersection
doc: >
Type 301.
- var_name: PriorityWay
doc: >
Type 306.
- var_name: PriorityWayEnd
doc: >
Type 307.
- var_name: CityBegin
doc: >
Type 310.
- var_name: CityEnd
doc: >
Type 311.
- var_name: Highway
doc: >
Type 330.
- var_name: RecomendedSpeed
doc: >
Type 380.
- var_name: RecomendedSpeedEnd
doc: >
Type 381.
# --------------------------------------
- class_name: Landmark
# - DESCRIPTION ------------------------
doc: >
Class containing the definition of a signal affecting a specific road.
# - PROPERTIES -------------------------
instance_variables:
- var_name: road_id
type: int
doc: >
Id of the road where this signal is defined. This road may be different from the road this signal is currently affecting.
- var_name: distance
type: float
doc: >
Remaining distance to the signal from the waypoint calling `get_landmarks` or `get_landmarks_of_type`.
- var_name: s
type: float
doc: >
Distance position of the signal along the geometry of the road `road_id`.
- var_name: t
type: float
doc: >
Lateral position of the signal along the geometry of the road `road_id`.
- var_name: id
type: str
doc: >
Unique id of the signal in the OpenDRIVE file.
- var_name: name
type: str
doc: >
Name of the signal in the in the OpenDRIVE file.
- var_name: is_dynamic
type: bool
doc: >
Indicates if the signal state changes over time such as traffic lights.
- var_name: orientation
type: LandmarkOrientation
doc: >
Indicates if the signal state changes over time such as traffic lights.
- var_name: z_offset
type: float
doc: >
Elevation from the ground of the signal.
- var_name: country
type: str
doc: >
Country code where this signal is defined (default to OpenDRIVE).
- var_name: type
type: str
doc: >
Type identification of the signal according to country code.
- var_name: sub_type
type: str
doc: >
Subtype identification of the signal according to country code.
- var_name: value
type: float
doc: >
Value printed in the signal (e.g. speed limit, maximum weight, etc).
- var_name: unit
type: str
doc: >
Units of attribute `value`.
- var_name: height
type: float
doc: >
Total height of the signal.
- var_name: width
type: float
doc: >
Total width of the signal.
- var_name: text
type: str
doc: >
Additional text in the signal.
- var_name: h_offset
type: float
doc: >
Heading of the signal relative to the orientation of the road.
- var_name: pitch
type: float
doc: >
Pitch of the signal.
- var_name: roll
type: float
doc: >
Roll of the signal.
- var_name: waypoint
type: carla.Waypoint
doc: >
The waypoint where this signal is producing an effect in the road.
- var_name: transform
type: carla.Transform
doc: >
The position and orientation of this signal in the world.
# - METHODS ----------------------------
methods:
- def_name: get_lane_validities
return: list(tuple(int))
doc: >
Returns a list of pairs of lane ids defining to which lanes this signal is producing an effect.
The pair defines a range of lanes (from_lane_id, to_lane_id).
# --------------------------------------
...