Python documentation.
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Axel
Marc Garcia Puig
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Docs/python_api.md
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Docs/python_api.md
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@ -322,8 +322,6 @@ namespace road {
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lane_tangent = static_cast<float>(computed_width.second);
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}
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// log_warning("Got to computetransform, road: ", road.GetId(), " ",
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// road.GetLength());
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// get a directed point in s and apply the computed lateral offet
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DirectedPoint dp = road.GetDirectedPointIn(waypoint.s);
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@ -742,6 +742,7 @@ namespace road {
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DirectedPoint point = GetRoad(signal->_road_id)->GetDirectedPointIn(signal->_s);
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point.ApplyLateralOffset(static_cast<float>(-signal->_t));
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point.location.y *= -1; // Unreal Y axis hack
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point.location.z += static_cast<float>(signal->_zOffset);
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geom::Transform transform(point.location, geom::Rotation(
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static_cast<float>(signal->_pitch),
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static_cast<float>(-(point.tangent + signal->_hOffset)),
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@ -251,6 +251,7 @@ void export_map() {
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;
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class_<cc::Landmark, boost::noncopyable, boost::shared_ptr<cc::Landmark>>("Landmark", no_init)
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.add_property("road_id", &cc::Landmark::GetRoadId)
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.add_property("distance", &cc::Landmark::GetDistance)
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.add_property("s", &cc::Landmark::GetS)
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.add_property("t", &cc::Landmark::GetT)
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@ -374,6 +374,40 @@
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doc: >
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Returns a list of waypoints from this to the start of the lane separated by a certain `distance`.
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# --------------------------------------
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- def_name: get_landmarks
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params:
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- param_name: distance
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type: float
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doc: >
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The maximum distance to search for landmarks from the current waypoint.
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- param_name: stop_at_junction
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type: bool
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default: False
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doc: >
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Enables or disables the landmark search through junctions.
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return: list(carla.Landmark)
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doc: >
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Returns a list of landmarks in the road from the current waypoint until the specified distance.
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# --------------------------------------
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- def_name: get_landmarks_of_type
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params:
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- param_name: distance
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type: float
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doc: >
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The maximum distance to search for landmarks from the current waypoint.
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- param_name: type
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type: str
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doc: >
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The type of landmarks to search.
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- param_name: stop_at_junction
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type: bool
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default: False
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doc: >
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Enables or disables the landmark search through junctions.
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return: list(carla.Landmark)
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doc: >
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Returns a list of landmarks in the road of a specified type from the current waypoint until the specified distance.
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# --------------------------------------
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- def_name: __str__
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# --------------------------------------
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@ -403,4 +437,236 @@
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doc: >
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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.
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# --------------------------------------
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- class_name: LandmarkOrientation
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# - DESCRIPTION ------------------------
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doc: >
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Class defining the orientation of a landmark in the road.
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# - PROPERTIES -------------------------
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instance_variables:
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- var_name: Positive
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doc: >
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Positive direction of the road's geometry definition (negative lanes).
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- var_name: Negative
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doc: >
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Negative direction of the road's geometry definition (positive lanes).
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- var_name: Both
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doc: >
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Affects lanes in both directions of the road.
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# --------------------------------------
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- class_name: LandmarkType
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# - DESCRIPTION ------------------------
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doc: >
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Class containing a set of landmarks using the country code OpenDRIVE.
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See section 6.10 in the OpenDrive 1.5M specification.
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# - PROPERTIES -------------------------
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instance_variables:
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- var_name: Danger
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doc: >
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Type 101.
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- var_name: LanesMerging
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doc: >
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Type 121.
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- var_name: CautionPedestrian
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doc: >
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Type 133.
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- var_name: CautionBicycle
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doc: >
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Type 138.
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- var_name: LevelCrossing
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doc: >
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Type 150.
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- var_name: Stop
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doc: >
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Type 206.
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- var_name: Yield
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doc: >
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Type 205.
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- var_name: MandatoryTurnDirection
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doc: >
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Type 209.
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- var_name: MandatoryLeftRightDirection
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doc: >
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Type 211.
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- var_name: TwoChoiceTurnDirection
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doc: >
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Type 214.
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- var_name: Roundabout
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doc: >
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Type 215.
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- var_name: PassRightLeft
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doc: >
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Type 222.
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- var_name: AccessForbidden
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doc: >
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Type 250.
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- var_name: AccessForbiddenMotorvehicles
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doc: >
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Type 251.
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- var_name: AccessForbiddenTrucks
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doc: >
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Type 253.
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- var_name: AccessForbiddenBicycle
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doc: >
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Type 254.
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- var_name: AccessForbiddenWeight
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doc: >
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Type 263.
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- var_name: AccessForbiddenWidth
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doc: >
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Type 264.
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- var_name: AccessForbiddenHeight
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doc: >
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Type 265.
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- var_name: AccessForbiddenWrongDirection
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doc: >
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Type 267.
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- var_name: ForbiddenUTurn
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doc: >
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Type 272.
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- var_name: MaximumSpeed
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doc: >
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Type 274.
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- var_name: ForbiddenOvertakingMotorvehicles
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doc: >
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Type 276.
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- var_name: ForbiddenOvertakingTrucks
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doc: >
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Type 277.
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- var_name: AbsoluteNoStop
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doc: >
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Type 283.
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- var_name: RestrictedStop
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doc: >
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Type 286.
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- var_name: HasWayNextIntersection
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doc: >
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Type 301.
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- var_name: PriorityWay
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doc: >
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Type 306.
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- var_name: PriorityWayEnd
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doc: >
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Type 307.
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- var_name: CityBegin
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doc: >
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Type 310.
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- var_name: CityEnd
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doc: >
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Type 311.
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- var_name: Highway
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doc: >
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Type 330.
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- var_name: RecomendedSpeed
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doc: >
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Type 380.
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- var_name: RecomendedSpeedEnd
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doc: >
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Type 381.
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# --------------------------------------
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- class_name: Landmark
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# - DESCRIPTION ------------------------
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doc: >
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Class containing the definition of a signal affecting a specific road.
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# - PROPERTIES -------------------------
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instance_variables:
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- var_name: road_id
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type: int
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doc: >
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Id of the road where this signal is defined. This road may be different from the road this signal is currently affecting.
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- var_name: distance
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type: float
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doc: >
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Remaining distance to the signal from the waypoint calling `get_landmarks` or `get_landmarks_of_type`.
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- var_name: s
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type: float
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doc: >
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Distance position of the signal along the geometry of the road `road_id`.
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- var_name: t
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type: float
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doc: >
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Lateral position of the signal along the geometry of the road `road_id`.
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- var_name: id
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type: str
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doc: >
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Unique id of the signal in the OpenDRIVE file.
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- var_name: name
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type: str
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doc: >
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Name of the signal in the in the OpenDRIVE file.
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- var_name: is_dynamic
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type: bool
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doc: >
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Indicates if the signal state changes over time such as traffic lights.
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- var_name: orientation
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type: LandmarkOrientation
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doc: >
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Indicates if the signal state changes over time such as traffic lights.
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- var_name: z_offset
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type: float
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doc: >
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Elevation from the ground of the signal.
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- var_name: country
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type: str
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doc: >
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Country code where this signal is defined (default to OpenDRIVE).
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- var_name: type
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type: str
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doc: >
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Type identification of the signal according to country code.
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- var_name: sub_type
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type: str
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doc: >
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Subtype identification of the signal according to country code.
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- var_name: value
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type: float
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doc: >
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Value printed in the signal (e.g. speed limit, maximum weight, etc).
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- var_name: unit
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type: str
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doc: >
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Units of attribute `value`.
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- var_name: height
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type: float
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Total height of the signal.
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- var_name: width
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type: float
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Total width of the signal.
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- var_name: text
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type: str
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doc: >
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Additional text in the signal.
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- var_name: h_offset
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type: float
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doc: >
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Heading of the signal relative to the orientation of the road.
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- var_name: pitch
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type: float
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doc: >
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Pitch of the signal.
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- var_name: roll
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type: float
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doc: >
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Roll of the signal.
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- var_name: waypoint
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type: carla.Waypoint
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doc: >
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The waypoint where this signal is producing an effect in the road.
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- var_name: transform
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type: carla.Transform
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doc: >
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The position and orientation of this signal in the world.
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# - METHODS ----------------------------
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methods:
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- def_name: get_lane_validities
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return: list(tuple(int))
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doc: >
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Returns a list of pairs of lane ids defining to which lanes this signal is producing an effect.
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The pair defines a range of lanes (from_lane_id, to_lane_id).
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# --------------------------------------
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...
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