Add functions to set actor location and transform

LibCarla/source/carla/client/Actor.cpp

@@ -10,6 +10,14 @@
 namespace carla {
 namespace client {
 
+  bool Actor::SetLocation(const Location &location) {
+    return GetWorld()->GetClient().SetActorLocation(*this, location);
+  }
+
+  bool Actor::SetTransform(const Transform &transform) {
+    return GetWorld()->GetClient().SetActorTransform(*this, transform);
+  }
+
   void Actor::Destroy() {
     GetWorld()->GetClient().DestroyActor(*this);
   }

LibCarla/source/carla/client/Actor.h

@@ -39,6 +39,10 @@ namespace client {
       return _world;
     }
 
+    bool SetLocation(const Location &location);
+
+    bool SetTransform(const Transform &transform);
+
     const auto &Serialize() const {
       return _actor;
     }

LibCarla/source/carla/client/Client.cpp

@@ -47,14 +47,22 @@ namespace client {
     _client.call("destroy_actor", actor.Serialize());
   }
 
+  bool Client::SetActorLocation(Actor &actor, const Location &location) {
+    return Call<bool>("set_actor_location", actor.Serialize(), location);
+  }
+
+  bool Client::SetActorTransform(Actor &actor, const Transform &transform) {
+    return Call<bool>("set_actor_transform", actor.Serialize(), transform);
+  }
+
   void Client::ApplyControlToActor(
-      const Actor &actor,
+      Actor &actor,
       const VehicleControl &control) {
     _client.call("apply_control_to_actor", actor.Serialize(), control);
   }
 
   void Client::SetActorAutopilot(
-      const Actor &actor,
+      Actor &actor,
       const bool enabled) {
     _client.call("set_actor_autopilot", actor.Serialize(), enabled);
   }

LibCarla/source/carla/client/Client.h

@@ -80,13 +80,17 @@ namespace client {
 
     void DestroyActor(Actor &actor);
 
+    bool SetActorLocation(Actor &actor, const Location &location);
+
+    bool SetActorTransform(Actor &actor, const Transform &transform);
+
     void ApplyControlToActor(
-        const Actor &actor,
+        Actor &actor,
         const VehicleControl &control);
 
     void SetActorAutopilot(
-        const Actor &actor,
-        bool enabled);
+        Actor &actor,
+        bool enabled = true);
 
   private:
 

PythonAPI/source/libcarla/Actor.cpp

@@ -79,6 +79,8 @@ void export_actor() {
       return self.GetTypeId();
     })
     .def("get_world", &cc::Actor::GetWorld)
+    .def("set_location", &cc::Actor::SetLocation, (arg("location")))
+    .def("set_transform", &cc::Actor::SetTransform, (arg("transform")))
     .def("destroy", &cc::Actor::Destroy)
     .def(self_ns::str(self_ns::self))
   ;

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/TheNewCarlaServer.cpp

@@ -200,6 +200,40 @@ void FTheNewCarlaServer::FPimpl::BindActions()
     AttachActors(Registry.Find(Child.id), Registry.Find(Parent.id));
   });
 
+  Server.BindSync("set_actor_location", [this](
+      cr::Actor Actor,
+      cr::Location Location) -> bool {
+    RequireEpisode();
+    auto ActorView = Episode->GetActorRegistry().Find(Actor.id);
+    if (!ActorView.IsValid() || ActorView.GetActor()->IsPendingKill()) {
+      RespondErrorStr("unable to set actor location: actor not found");
+    }
+    // This function only works with teleport physics, to reset speeds we need
+    // another method.
+    return ActorView.GetActor()->SetActorLocation(
+        Location,
+        false,
+        nullptr,
+        ETeleportType::TeleportPhysics);
+  });
+
+  Server.BindSync("set_actor_transform", [this](
+      cr::Actor Actor,
+      cr::Transform Transform) -> bool {
+    RequireEpisode();
+    auto ActorView = Episode->GetActorRegistry().Find(Actor.id);
+    if (!ActorView.IsValid() || ActorView.GetActor()->IsPendingKill()) {
+      RespondErrorStr("unable to set actor transform: actor not found");
+    }
+    // This function only works with teleport physics, to reset speeds we need
+    // another method.
+    return ActorView.GetActor()->SetActorTransform(
+        Transform,
+        false,
+        nullptr,
+        ETeleportType::TeleportPhysics);
+  });
+
   Server.BindSync("apply_control_to_actor", [this](cr::Actor Actor, cr::VehicleControl Control) {
     RequireEpisode();
     auto ActorView = Episode->GetActorRegistry().Find(Actor.id);