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First iteration with units

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sergi-e 2020-09-14 16:58:48 +02:00 committed by Marc Garcia Puig
parent 161923c1dd
commit 935644d877
14 changed files with 484 additions and 300 deletions
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428
Docs/python_api.md
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33
PythonAPI/docs/actor.yml
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@ -39,6 +39,7 @@
params:
- param_name: impulse
type: carla.Vector3D
param_units: N * s
doc: >
Adds an impulse to the actor. The parameter `impulse` determines magnitude and global axis where it is applied.
# --------------------------------------
@ -46,6 +47,7 @@
params:
- param_name: impulse
type: carla.Vector3D
param_units: N * m * s
doc: >
Adds an angular impulse to the actor. The parameter `impulse` determines magnitude and global axis where it is applied.
# --------------------------------------
@ -58,16 +60,19 @@
# --------------------------------------
- def_name: get_acceleration
return: carla.Vector3D
return_units: m/s<sup>2</sup>
doc: >
Returns the actor's 3D acceleration vector the client recieved during last tick. The method does not call the simulator.
# --------------------------------------
- def_name: get_angular_velocity
return: carla.Vector3D
return_units: rad/s
doc: >
Returns the actor's angular velocity vector the client recieved during last tick. The method does not call the simulator.
# --------------------------------------
- def_name: get_location
return: carla.Location
return_units: meters
doc: >
Returns the actor's location the client recieved during last tick. The method does not call the simulator.
# --------------------------------------
@ -78,6 +83,7 @@
# --------------------------------------
- def_name: get_velocity
return: carla.Vector3D
return_units: m/s
doc: >
Returns the actor's velocity vector the client recieved during last tick. The method does not call the simulator.
# --------------------------------------
@ -97,6 +103,7 @@
params:
- param_name: location
type: carla.Location
param_units: meters
doc: >
Teleports the actor to a given location.
# --------------------------------------
@ -198,7 +205,7 @@
return: carla.VehicleLightState
doc: >
Returns a flag representing the vehicle light state,
this represents which lights are active or not
this represents which lights are active or not.
# --------------------------------------
- def_name: get_physics_control
return: carla.VehiclePhysicsControl
@ -208,6 +215,7 @@
# --------------------------------------
- def_name: get_speed_limit
return: float
return_units: m/s
doc: >
The client returns the speed limit affecting this vehicle according to last tick (it does not call the simulator). The speed limit is updated when passing by a speed limit signal, so a vehicle might have none right after spawning.
# --------------------------------------
@ -291,6 +299,7 @@
params:
- param_name: destination
type: carla.Location
param_units: meters
doc: >
Sets the destination that the pedestrian will reach.
# --------------------------------------
@ -307,8 +316,9 @@
- param_name: speed
type: float
default: 1.4
param_units: m/s
doc: >
speed in m/s. An easy walking speed is set by default.
An easy walking speed is set by default.
doc: >
Sets a speed for the walker in meters per second.
# --------------------------------------
@ -369,6 +379,7 @@
# --------------------------------------
- def_name: get_elapsed_time
return: float
return_units: seconds
doc: >
The client returns the time in seconds since current light state started according to last tick. The method does not call the simulator.
# --------------------------------------
@ -397,18 +408,21 @@
# --------------------------------------
- def_name: get_green_time
return: float
return_units: seconds
doc: >
The client returns the seconds set for the traffic light to be green according to last tick. The method does not call the simulator.
The client returns the time set for the traffic light to be green, according to last tick. The method does not call the simulator.
# --------------------------------------
- def_name: get_red_time
return: float
return_units: seconds
doc: >
The client returns the seconds set for the traffic light to be red according to last tick. The method does not call the simulator.
The client returns the time set for the traffic light to be red, according to last tick. The method does not call the simulator.
# --------------------------------------
- def_name: get_yellow_time
return: float
return_units: seconds
doc: >
The client returns the the seconds set for the traffic light to be yellow according to last tick. The method does not call the simulator.
The client returns the time set for the traffic light to be yellow, according to last tick. The method does not call the simulator.
# --------------------------------------
- def_name: set_state
params:
@ -421,22 +435,25 @@
params:
- param_name: green_time
type: float
param_units: seconds
doc: >
Sets a given time (in seconds) for the green light to be active.
Sets a given time for the green light to be active.
# --------------------------------------
- def_name: set_red_time
params:
- param_name: red_time
type: float
param_units: seconds
doc: >
Sets a given time (in seconds) for the red state to be active.
Sets a given time for the red state to be active.
# --------------------------------------
- def_name: set_yellow_time
params:
- param_name: yellow_time
type: float
param_units: seconds
doc: >
Sets a given time (in seconds) for the yellow light to be active.
Sets a given time for the yellow light to be active.
# --------------------------------------
- def_name: __str__
# --------------------------------------

24
PythonAPI/docs/client.yml
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@ -102,12 +102,14 @@
Name of the file containing the information of the simulation.
- param_name: start
type: float
param_units: seconds
doc: >
Time in seconds where to start playing the simulation. Negative is read as beginning from the end, being -10 just 10 seconds before the recording finished.
Time where to start playing the simulation. Negative is read as beginning from the end, being -10 just 10 seconds before the recording finished.
- param_name: duration
type: float
param_units: seconds
doc: >
Time in seconds that will be reenacted using the information `name` file. If the end is reached, the simulation will continue.
Time that will be reenacted using the information `name` file. If the end is reached, the simulation will continue.
- param_name: follow_id
type: int
doc: >
@ -133,12 +135,14 @@
Name of the recorded file to load
- param_name: min_time
type: float
param_units: seconds
doc: >
Minimum time in seconds the actor has to move a minimum distance before being considered blocked. Default is 60 seconds.
Minimum time the actor has to move a minimum distance before being considered blocked. Default is 60 seconds.
- param_name: min_distance
type: float
param_units: centimeters
doc: >
Minimum distance in centimeters the actor has to move to not be considered blocked. Default is 100 centimeters.
Minimum distance the actor has to move to not be considered blocked. Default is 100 centimeters.
return: string
doc: >
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`.
@ -259,10 +263,11 @@
params:
- param_name: seconds
type: float
param_units: seconds
doc: >
New timeout value in seconds. Default is 5 seconds.
New timeout value. Default is 5 seconds.
doc: >
Sets in seconds the maxixum time a network call is allowed before blocking it and raising a timeout exceeded error.
Sets the maxixum time a network call is allowed before blocking it and raising a timeout exceeded error.
# --------------------------------------
- class_name: TrafficManager
@ -313,6 +318,7 @@
Vehicle whose minimum distance is being changed.
- param_name: distance
type: float
param_units: meters
doc: >
Meters between both vehicles.
doc: >
@ -335,6 +341,7 @@
params:
- param_name: distance
type: float
param_units: meters
doc: >
Meters between vehicles.
doc: >
@ -430,6 +437,7 @@
- param_name: r
type: float
default: 70.0
param_units: meters
doc: >
New radius where physics are enabled.
doc: >
@ -444,18 +452,22 @@
instance_variables:
- var_name: vertex_distance
type: float
param_units: meters
doc: >
Distance between vertices of the mesh generated. __Default is `2.0`__.
- var_name: max_road_length
type: float
param_units: meters
doc: >
Max road length for a single mesh portion. The mesh of the map is divided into portions, in order to avoid propagating issues. __Default is `50.0`__.
- var_name: wall_height
type: float
param_units: meters
doc: >
Height of walls created on the boundaries of the road. These prevent vehicles from falling off the road. __Default is `1.0`__.
- var_name: additional_width
type: float
param_units: meters
doc: >
Additional with applied junction lanes. Complex situations tend to occur at junctions, and a little increase can prevent vehicles from falling off the road. __Default is `0.6`__.
- var_name: smooth_junctions

10
PythonAPI/docs/commands.yml
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@ -184,6 +184,7 @@
Transform to be applied.
- var_name: speed
type: float
var_units: m/s
doc: >
Speed to be applied.
# - METHODS ----------------------------
@ -198,6 +199,7 @@
type: carla.Transform
- param_name: speed
type: float
param_units: m/s
# --------------------------------------
- class_name: ApplyVelocity
@ -212,6 +214,7 @@
Actor affected by the command.
- var_name: velocity
type: carla.Vector3D
var_units: m/s
doc: >
The 3D velocity applied to the actor.
# - METHODS ----------------------------
@ -224,6 +227,7 @@
Actor or its ID to whom the command will be applied to.
- param_name: velocity
type: carla.Vector3D
param_untis: m/s
# --------------------------------------
- class_name: ApplyAngularVelocity
@ -238,6 +242,7 @@
Actor affected by the command.
- var_name: angular_velocity
type: carla.Vector3D
var_units: rad/s
doc: >
The 3D angular velocity that will be applied to the actor.
# - METHODS ----------------------------
@ -250,6 +255,7 @@
Actor or its ID to whom the command will be applied to.
- param_name: angular_velocity
type: carla.Vector3D
param_units: rad/s
# --------------------------------------
- class_name: ApplyImpulse
@ -264,6 +270,7 @@
Actor affected by the command.
- var_name: impulse
type: carla.Vector3D
var_units: N * s
doc: >
Impulse applied to the actor.
# - METHODS ----------------------------
@ -276,6 +283,7 @@
Actor or its ID to whom the command will be applied to.
- param_name: impulse
type: carla.Vector3D
param_units: N * s
# --------------------------------------
- class_name: ApplyAngularImpulse
@ -290,6 +298,7 @@
Actor affected by the command.
- var_name: impulse
type: carla.Vector3D
var_units: N * m * s
doc: >
Angular impulse applied to the actor. Determines magnitude and global axis where it is applied.
# - METHODS ----------------------------
@ -302,6 +311,7 @@
Actor or its ID to whom the command will be applied to.
- param_name: impulse
type: carla.Vector3D
param_units: N * m * s
# --------------------------------------
- class_name: SetSimulatePhysics

41
PythonAPI/docs/control.yml
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@ -51,12 +51,15 @@
- param_name: throttle
type: float
default: 0.0
doc: Scalar value between [0.0,1.0]
- param_name: steer
type: float
default: 0.0
doc: Scalar value between [0.0,1.0]
- param_name: brake
type: float
default: 0.0
doc: Scalar value between [0.0,1.0]
- param_name: hand_brake
type: bool
default: False
@ -98,6 +101,7 @@
# --------------------------------------
- var_name: speed
type: float
var_units: m/s
doc: >
A scalar value to control the walker's speed.
# --------------------------------------
@ -115,6 +119,7 @@
type: carla.Vector3D
- param_name: speed
default: 0.0
param_Units: m/s
type: float
- param_name: jump
default: False
@ -154,7 +159,7 @@
- param_name: 'list(name,transform)'
type: tuple
doc: >
Intializes an object containing moves to be applied on tick. These are listed with the name of the bone and the transform that will be applied to it.
Initializes an object containing moves to be applied on tick. These are listed with the name of the bone and the transform that will be applied to it.
# --------------------------------------
- def_name: __str__
# --------------------------------------
@ -224,6 +229,7 @@
# --------------------------------------
- var_name: moi
type: float
var_units: kg*m<sup>2</sup>
doc: >
The moment of inertia of the vehicle's engine.
# --------------------------------------
@ -249,18 +255,20 @@
# --------------------------------------
- var_name: gear_switch_time
type: float
var_units: seconds
doc: >
Switching time between gears.
# --------------------------------------
- var_name: clutch_strength
type: float
var_units: kg*m<sup>2</sup>/s
doc: >
The clutch strength of the vehicle in Kgm^2/s.
Clutch strength of the vehicle.
# --------------------------------------
- var_name: final_ratio
type: float
doc: >
The fixed ratio from transmission to wheels.
Fixed ratio from transmission to wheels.
# --------------------------------------
- var_name: forward_gears
type: list(carla.GearPhysicsControl)
@ -269,8 +277,9 @@
# --------------------------------------
- var_name: mass
type: float
var_units: kilograms
doc: >
The mass of the vehicle in Kg.
Mass of the vehicle.
# --------------------------------------
- var_name: drag_coefficient
type: float
@ -279,8 +288,9 @@
# --------------------------------------
- var_name: center_of_mass
type: carla.Vector3D
var_units: meters
doc: >
The center of mass of the vehicle.
Center of mass of the vehicle.
# --------------------------------------
- var_name: steering_curve
type: list(carla.Vector2D)
@ -305,6 +315,7 @@
- param_name: moi
default: 1.0
type: float
param_units: kg*m<sup>2</sup>
- param_name: damping_rate_full_throttle
default: 0.15
type: float
@ -320,9 +331,11 @@
- param_name: gear_switch_time
default: 0.5
type: float
param_units: seconds
- param_name: clutch_strength
default: 10.0
type: float
param_units: kg*m<sup>2</sup>/s
- param_name: final_ratio
default: 4.0
type: float
@ -331,6 +344,7 @@
type: list(carla.GearPhysicsControl)
- param_name: mass
default: 1000.0
param_units: kilograms
- param_name: drag_coefficient
default: 0.3
type: float
@ -376,23 +390,27 @@
# --------------------------------------
- var_name: max_steer_angle
type: float
var_units: degrees
doc: >
Maximum angle in degrees that the wheel can steer.
Maximum angle that the wheel can steer.
# --------------------------------------
- var_name: radius
type: float
var_units: centimeters
doc: >
Radius of the wheel in centimeters.
Radius of the wheel.
# --------------------------------------
- var_name: max_brake_torque
type: float
var_units: N*m
doc: >
Maximum brake torque in Nm.
Maximum brake torque.
# --------------------------------------
- var_name: max_handbrake_torque
type: float
var_units: N*m
doc: >
Maximum handbrake torque in Nm.
Maximum handbrake torque.
# --------------------------------------
- var_name: position
type: carla.Vector3D
@ -411,18 +429,23 @@
- param_name: max_steer_angle
default: 70.0
type: float
param_units: degrees
- param_name: radius
default: 30.0
type: float
param_units: centimerers
- param_name: max_brake_torque
default: 1500.0
type: float
param_units: N*m
- param_name: max_handbrake_torque
default: 3000.0
type: float
param_units: N*m
- param_name: position
default: (0.0,0.0,0.0)
type: carla.Vector3D
param_units: meters
# --------------------------------------
- def_name: __eq__
params:

21
PythonAPI/docs/doc_gen.py
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@ -328,11 +328,14 @@ def add_doc_method_param(md, param):
param_name = param['param_name']
param_type = ''
param_doc = ''
param_units = ''
if valid_dic_val(param, 'type'):
param_type = create_hyperlinks(param['type'])
if valid_dic_val(param, 'doc'):
param_doc = create_hyperlinks(md.prettify_doc(param['doc']))
param_type = '' if not param_type else parentheses(italic(param_type))
if valid_dic_val(param, 'param_units'):
param_units = '<small> – '+create_hyperlinks(param['param_units']+'</small>')
param_type = '' if not param_type else parentheses(italic(param_type+param_units))
md.list_push(code(param_name))
if param_type:
md.text(' ' + param_type)
@ -372,7 +375,10 @@ def add_doc_method(md, method, class_key):
# Return doc
if valid_dic_val(method, 'return'):
md.list_push(bold('Return:') + ' ')
md.textn(italic(create_hyperlinks(method['return'])))
return_units = ''
if valid_dic_val(method, 'return_units'):
return_units = '<small> – '+create_hyperlinks(method['return_units']+'</small>')
md.textn(italic(create_hyperlinks(method['return'])+return_units))
md.list_pop()
# Note doc
@ -423,7 +429,10 @@ def add_doc_getter_setter(md, method,class_key,is_getter,other_list):
# Return doc
if valid_dic_val(method, 'return'):
md.list_push(bold('Return:') + ' ')
md.textn(italic(create_hyperlinks(method['return'])))
return_units = ''
if valid_dic_val(method, 'return_units'):
return_units = '<small> – '+create_hyperlinks(method['return_units']+'</small>')
md.textn(italic(create_hyperlinks(method['return'])+return_units))
md.list_pop()
# If setter/getter
@ -493,11 +502,13 @@ def add_doc_inst_var(md, inst_var, class_key):
var_name = inst_var['var_name']
var_key = join([class_key, var_name], '.')
var_type = ''
var_units = ''
# Instance variable type
if valid_dic_val(inst_var, 'type'):
var_type = ' ' + parentheses(italic(create_hyperlinks(inst_var['type'])))
if valid_dic_val(inst_var, 'var_units'):
var_units = '<small> – '+create_hyperlinks(inst_var['var_units']+'</small>')
var_type = ' ' + parentheses(italic(create_hyperlinks(inst_var['type']+var_units)))
md.list_pushn(
html_key(var_key) +
bold(color(COLOR_INSTANCE_VAR, var_name)) +

57
PythonAPI/docs/geom.yml
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@ -151,16 +151,19 @@
instance_variables:
- var_name: x
type: float
var_units: meters
doc: >
Distance in meters from origin to spot on X axis.
Distance from origin to spot on X axis.
- var_name: 'y'
type: float
var_units: meters
doc: >
Distance in meters from origin to spot on Y axis.
Distance from origin to spot on Y axis.
- var_name: z
type: float
var_units: meters
doc: >
Distance in meters from origin to spot on Z axis.
Distance from origin to spot on Z axis.
# - METHODS ----------------------------
methods:
- def_name: __init__
@ -182,8 +185,9 @@
doc: >
The other point to compute the distance with.
return: float
return_units: meters
doc: >
Returns Euclidean distance in meters from this location to another one.
Returns Euclidean distance from this location to another one.
# --------------------------------------
- def_name: __eq__
return: bool
@ -219,16 +223,19 @@
instance_variables:
- var_name: pitch
type: float
var_units: degrees
doc: >
Degrees around the Y-axis.
Y-axis rotation angle.
- var_name: yaw
type: float
var_units: degrees
doc: >
Degrees around the Z-axis.
Z-axis rotation angle.
- var_name: roll
type: float
var_units: degrees
doc: >
Degrees around the X-axis.
X-axis rotation angle.
# - METHODS ----------------------------
methods:
- def_name: __init__
@ -236,36 +243,39 @@
- param_name: pitch
type: float
default: 0.0
param_units: degrees
doc: >
Y rotation in degrees.
Y-axis rotation angle.
- param_name: yaw
type: float
default: 0.0
param_units: degrees
doc: >
Z rotation in degrees.
Z-axis rotation angle.
- param_name: roll
type: float
default: 0.0
param_units: degrees
doc: >
X rotation in degrees.
X-axis rotation angle.
# --------------------------------------
- def_name: get_forward_vector
params:
return: carla.Vector3D
doc: >
Computes the vector pointing forward according to the orientation of each axis.
Computes the vector pointing forward according to the rotation of the object.
# --------------------------------------
- def_name: get_right_vector
params:
return: carla.Vector3D
doc: >
Computes the vector pointing to the right according to the orientation of each axis.
Computes the vector pointing to the right according to the rotation of the object.
# --------------------------------------
- def_name: get_up_vector
params:
return: carla.Vector3D
doc: >
Computes the vector pointing upwards according to the orientation of each axis.
Computes the vector pointing upwards according to the rotation of the object.
# --------------------------------------
- def_name: __eq__
return: bool
@ -273,7 +283,7 @@
- param_name: other
type: carla.Rotation
doc: >
Returns __True__ if both rotations represent the same orientation of each axis.
Returns __True__ if both rotations represent the same orientation for every axis.
# --------------------------------------
- def_name: __ne__
params:
@ -323,17 +333,17 @@
- def_name: get_forward_vector
return: carla.Vector3D
doc: >
Computes a forward vector using its rotation.
Computes a forward vector using the rotation of the object.
# --------------------------------------
- def_name: get_right_vector
return: carla.Vector3D
doc: >
Computes a right vector using its rotation.
Computes a right vector using the rotatio of the object.
# --------------------------------------
- def_name: get_up_vector
return: carla.Vector3D
doc: >
Computes an up vector using its rotation.
Computes an up vector using the rotation of the object.
# --------------------------------------
- def_name: get_matrix
return: list(list(float))
@ -375,12 +385,14 @@
instance_variables:
- var_name: extent
type: carla.Vector3D
var_units: meters
doc: >
Vector from the center of the box to one vertex. The value in each axis equals half the size of the box for that axis.
`extent.x * 2` would return the size of the box in the X-axis.
- var_name: location
type: carla.Location
var_units: meters
doc: >
The center of the bounding box relative to its parent actor.
# - METHODS ----------------------------
@ -389,10 +401,12 @@
params:
- param_name: location
type: carla.Location
var_units: meters
doc: >
Point to center the box.
Center of the box, relative to its parent.
- param_name: extent
type: carla.Vector3D
param_units: meters
doc: >
Vector containing half the size of the box for every axis.
# --------------------------------------
@ -401,6 +415,7 @@
params:
- param_name: world_point
type: carla.Location
param_units: meters
doc: >
The point in world space to be checked.
- param_name: transform
@ -455,14 +470,17 @@
instance_variables:
- var_name: latitude
type: float
var_units: degrees
doc: >
North/South value of a point on the map.
- var_name: longitude
type: float
var_units: degrees
doc: >
West/East value of a point on the map.
- var_name: altitude
type: float
var_units: meters
doc: >
Height regarding ground level.
# - METHODS ----------------------------
@ -472,12 +490,15 @@
- param_name: latitude
type: float
default: 0.0
param_units: degrees
- param_name: longitude
type: float
default: 0.0
param_units: degrees
- param_name: altitude
type: float
default: 0.0
param_units: meters
# --------------------------------------
- def_name: __eq__
params:

14
PythonAPI/docs/light_manager.yml
View File

@ -28,8 +28,9 @@
instance_variables:
- var_name: intensity
type: float
var_units: lumens
doc: >
Intensity of a light in lumens.
Intensity of a light.
# --------------------------------------
- var_name: color
type: carla.Color
@ -52,8 +53,9 @@
- param_name: intensity
type: float
default: 0.0
param_units: lumens
doc: >
Intensity of the light in lumens. Default is `0.0`.
Intensity of the light. Default is `0.0`.
# --------------------------------------
- param_name: color
type: carla.Color
@ -94,8 +96,9 @@
# --------------------------------------
- var_name: intensity
type: float
var_units: lumens
doc: >
Intensity of the light in lumens.
Intensity of the light.
# --------------------------------------
- var_name: is_on
type: bool
@ -104,6 +107,7 @@
# --------------------------------------
- var_name: location
type: carla.Location
var_units: meters
doc: >
Position of the light.
# --------------------------------------
@ -139,6 +143,7 @@
params:
- param_name: intensity
type: float
param_units: lumens
# --------------------------------------
- def_name: set_light_group
doc: >
@ -222,6 +227,7 @@
doc:
List of lights to be queried.
return: list(float)
return_units: lumens
# --------------------------------------
- def_name: get_light_group
doc: >
@ -312,6 +318,7 @@
List of lights to be changed.
- param_name: intensity
type: float
param_units: lumens
doc:
Intensity to be applied.
# --------------------------------------
@ -325,6 +332,7 @@
List of lights to be changed.
- param_name: intensities
type: list(float)
param_units: lumens
doc:
List of intensities to be applied.
# --------------------------------------

28
PythonAPI/docs/map.yml
View File

@ -156,6 +156,7 @@
params:
- param_name: distance
type: float
param_units: meters
doc: >
Approximate distance between waypoints.
return: list(carla.Waypoint)
@ -235,6 +236,7 @@
params:
- param_name: location
type: carla.Location
param_units: meters
doc: >
Location used as reference for the carla.Waypoint.
- param_name: project_to_road
@ -263,6 +265,7 @@
ID of the lane to get the waypoint.
- param_name: s
type: float
param_units: meters
doc: >
Specify the length from the road start.
return: carla.Waypoint
@ -322,6 +325,7 @@
OpenDRIVE lane's id, this value can be positive or negative which represents the direction of the current lane with respect to the road. For more information refer to OpenDRIVE [documentation](http://www.opendrive.org/docs/OpenDRIVEFormatSpecRev1.4H.pdf#page=20)
- var_name: s
type: float
param_units: meters
doc: >
OpenDRIVE <b>s</b> value of the current position.
- var_name: is_junction
@ -330,6 +334,7 @@
<b>True</b> if the current Waypoint is on a junction as defined by OpenDRIVE.
- var_name: lane_width
type: float
param_units: meters
doc: >
Horizontal size of the road at current <b>s</b>.
- var_name: lane_change
@ -354,6 +359,7 @@
params:
- param_name: distance
type: float
param_units: meters
doc: >
The approximate distance where to get the next waypoints.
return: list(carla.Waypoint)
@ -366,8 +372,9 @@
params:
- param_name: distance
type: float
param_units: meters
doc: >
The approximate distance between waypoints
The approximate distance between waypoints.
return: list(carla.Waypoint)
doc: >
Returns a list of waypoints from this to the end of the lane separated by a certain `distance`.
@ -376,6 +383,7 @@
params:
- param_name: distance
type: float
param_units: meters
doc: >
The approximate distance where to get the previous waypoints.
return: list(carla.Waypoint)
@ -388,8 +396,9 @@
params:
- param_name: distance
type: float
param_units: meters
doc: >
The approximate distance between waypoints
The approximate distance between waypoints.
return: list(carla.Waypoint)
doc: >
Returns a list of waypoints from this to the start of the lane separated by a certain `distance`.
@ -403,6 +412,7 @@
params:
- param_name: distance
type: float
param_units: meters
doc: >
The maximum distance to search for landmarks from the current waypoint.
- param_name: stop_at_junction
@ -417,6 +427,7 @@
- def_name: get_landmarks_of_type
params:
- param_name: distance
param_units: meters
type: float
doc: >
The maximum distance to search for landmarks from the current waypoint.
@ -623,14 +634,17 @@
<small>Example: a traffic light is defined in one of the divergent roads in a junction, but it affects all the possible routes</small>
- var_name: distance
type: float
var_units: meters
doc: >
Distance between the landmark and the waypoint creating the object (querying `get_landmarks` or `get_landmarks_of_type`).
- var_name: s
type: float
var_units: meters
doc: >
Distance where the landmark is positioned along the geometry of the road `road_id`.
- var_name: t
type: float
var_units: meters
doc: >
Lateral distance where the landmark is positioned from the edge of the road `road_id`.
- var_name: id
@ -647,10 +661,12 @@
Indicates if the landmark has state changes over time such as traffic lights.
- var_name: orientation
type: carla.LandmarkOrientation
var_units: degrees
doc: >
Indicates which lanes the landmark is facing towards to.
- var_name: z_offset
type: float
var_units: meters
doc: >
Height where the landmark is placed.
- var_name: country
@ -675,10 +691,12 @@
Units of measurement for the attribute `value`.
- var_name: height
type: float
var_units: meters
doc: >
Total height of the signal.
- var_name: width
type: float
var_units: meters
doc: >
Total width of the signal.
- var_name: text
@ -687,16 +705,18 @@
Additional text in the signal.
- var_name: h_offset
type: float
var_units: meters
doc: >
Orientation offset of the signal relative to the the definition of `road_id` at `s` in OpenDRIVE.
- var_name: pitch
type: float
var_units: meters
doc: >
Pitch rotation of the signal.
Pitch rotation (Y-axis) of the signal.
- var_name: roll
type: float
doc: >
Roll rotation of the signal.
Roll rotation (X-axis) of the signal.
- var_name: waypoint
type: carla.Waypoint
doc: >

4
PythonAPI/docs/osm2odr.yml
View File

@ -40,17 +40,21 @@
Enables the use of offset for the conversion. The offset will move the origin position of the map. Default value is __False__.
- var_name: offset_x
type: float
var_units: meters
doc: >
Offset in the X axis. Default value is __0.0__.
- var_name: offset_y
type: float
var_units: meters
doc: >
Offset in the Y axis. Default value is __0.0__.
- var_name: default_lane_width
type: float
var_units: meters
doc: >
Width of the lanes described in the resulting XODR map. Default value is __4.0__.
- var_name: elevation_layer_height
type: float
var_units: meters
doc: >
Defines the height separating two different [OpenStreetMap layers](https://wiki.openstreetmap.org/wiki/Key:layer). Default value is __0.0__.

44
PythonAPI/docs/sensor_data.yml
View File

@ -24,6 +24,7 @@
Frame count when the data was generated.
- var_name: timestamp
type: float
var_units: seconds
doc: >
Simulation-time when the data was generated.
- var_name: transform
@ -60,8 +61,9 @@
instance_variables:
- var_name: fov
type: float
var_units: degrees
doc: >
Horizontal field of view of the image in degrees.
Horizontal field of view of the image.
- var_name: height
type: int
doc: >
@ -127,8 +129,9 @@
Number of lasers shot.
- var_name: horizontal_angle
type: float
var_units: radians
doc: >
Horizontal angle the LIDAR is rotated at the time of the measurement (in radians).
Horizontal angle the LIDAR is rotated at the time of the measurement.
- var_name: raw_data
type: bytes
doc: >
@ -176,13 +179,14 @@
instance_variables:
- var_name: point
type: carla.Location
var_units: meters
doc: >
Point in xyz coordinates.
# --------------------------------------
- var_name: intensity
type: float
doc: >
Computed intensity for this point.
Computed intensity for this point as a scalar value between [0.0 , 1.0].
# - METHODS ----------------------------
methods:
- def_name: __str__
@ -250,6 +254,7 @@
instance_variables:
- var_name: point
type: carla.Location
var_units: meters
doc: >
[x,y,z] coordinates of the point.
# --------------------------------------
@ -261,12 +266,12 @@
- var_name: object_idx
type: uint
doc: >
Carla index of the hit actor.
[CARLA index](https://carla.readthedocs.io/en/latest/ref_sensors/#semantic-segmentation-camera) of the hit actor.
# --------------------------------------
- var_name: object_tag
type: uint
doc: >
Semantic tag of the hit component.
[Semantic tag](https://carla.readthedocs.io/en/latest/ref_sensors/#semantic-segmentation-camera) of the hit component.
# - METHODS ----------------------------
methods:
- def_name: __str__
@ -289,6 +294,7 @@
The second actor involved in the collision.
- var_name: normal_impulse
type: carla.Vector3D
var_units: N*m
doc: >
Normal impulse resulting of the collision.
@ -309,6 +315,7 @@
The actor or object considered to be an obstacle.
- var_name: distance
type: float
var_units: meters
doc: >
Distance between `actor` and `other`.
# - METHODS ----------------------------
@ -345,14 +352,17 @@
instance_variables:
- var_name: altitude
type: float
var_units: meters
doc: >
Height regarding ground level.
- var_name: latitude
type: float
var_units: degrees
doc: >
North/South value of a point on the map.
- var_name: longitude
type: float
var_units: degrees
doc: >
West/East value of a point on the map.
# - METHODS ----------------------------
@ -369,16 +379,19 @@
instance_variables:
- var_name: accelerometer
type: carla.Vector3D
var_units: m*s<sup>2</sup>
doc: >
Linear acceleration in m/s^2.
Linear acceleration.
- var_name: compass
type: float
var_units: radians
doc: >
Orientation with regard to the North ((0.0, -1.0, 0.0) in Unreal Engine) in radians.
Orientation with regard to the North ([0.0, -1.0, 0.0] in Unreal Engine).
- var_name: gyroscope
type: carla.Vector3D
var_units: rad/s
doc: >
Angular velocity in rad/sec.
Angular velocity.
# - METHODS ----------------------------
methods:
- def_name: __str__
@ -428,23 +441,27 @@
instance_variables:
- var_name: altitude
type: float
var_units: radians
doc: >
Altitude angle of the detection in radians.
Altitude angle of the detection.
# --------------------------------------
- var_name: azimuth
type: float
var_units: radians
doc: >
Azimuth angle of the detection in radians.
Azimuth angle of the detection.
# --------------------------------------
- var_name: depth
type: float
var_units: meters
doc: >
Distance in meters from the sensor to the detection position.
Distance from the sensor to the detection position.
# --------------------------------------
- var_name: velocity
type: float
var_units: m/s
doc: >
The velocity of the detected object towards the sensor in m/s.
The velocity of the detected object towards the sensor.
# - METHODS ----------------------------
methods:
- def_name: __str__
@ -688,8 +705,9 @@
instance_variables:
- var_name: fov
type: float
var_units: degrees
doc: >
Horizontal field of view of the image in degrees.
Horizontal field of view of the image.
# --------------------------------------
- var_name: height
type: int

4
PythonAPI/docs/snapshot.yml
View File

@ -19,6 +19,7 @@
Simulation frame in which the snapshot was taken.
- var_name: timestamp
type: carla.Timestamp
var_units: seconds
doc: >
Precise moment in time when snapshot was taken. This class works in seconds as given by the operative system.
# - METHODS ----------------------------
@ -79,11 +80,13 @@
methods:
- def_name: get_acceleration
return: carla.Vector3D
return_units: m/s<sup>2</sup>
doc: >
Returns the acceleration vector registered for an actor in that tick.
# --------------------------------------
- def_name: get_angular_velocity
return: carla.Vector3D
return_units: rad/s
doc: >
Returns the angular velocity vector registered for an actor in that tick.
# --------------------------------------
@ -94,6 +97,7 @@
# --------------------------------------
- def_name: get_velocity
return: carla.Vector3D
return_units: m/s
doc: >
Returns the velocity vector registered for an actor in that tick.
# --------------------------------------

12
PythonAPI/docs/weather.yml
View File

@ -32,13 +32,15 @@
# --------------------------------------
- var_name: sun_azimuth_angle
type: float
var_units: degrees
doc: >
The azimuth angle of the sun in degrees. Values range from 0 to 360. Zero is an origin point in a sphere determined by Unreal Engine.
The azimuth angle of the sun. Values range from 0 to 360. Zero is an origin point in a sphere determined by Unreal Engine.
# --------------------------------------
- var_name: sun_altitude_angle
type: float
var_units: degrees
doc: >
Altitude angle of the sun in degrees. Values range from -90 to 90 corresponding to midnight and midday each.
Altitude angle of the sun. Values range from -90 to 90 corresponding to midnight and midday each.
# --------------------------------------
- var_name: fog_density
type: float
@ -47,8 +49,9 @@
# --------------------------------------
- var_name: fog_distance
type: float
var_units: meters
doc: >
Fog start distance (in meters). Values range from 0 to infinite.
Fog start distance. Values range from 0 to infinite.
# --------------------------------------
- var_name: wetness
type: float
@ -87,11 +90,13 @@
- param_name: sun_azimuth_angle
type: float
default: 0.0
param_units: degrees
doc: >
0 is an arbitrary North, 180 its corresponding South.
- param_name: sun_altitude_angle
type: float
default: 0.0
param_units: degrees
doc: >
90 is midday, -90 is midnight.
- param_name: fog_density
@ -102,6 +107,7 @@
- param_name: fog_distance
type: float
default: 0.0
param_units: meters
doc: >
Distance where the fog starts in meters.
- param_name: wetness

64
PythonAPI/docs/world.yml
View File

@ -15,14 +15,17 @@
The number of frames elapsed since the simulator was launched.
- var_name: elapsed_seconds
type: float
var_units: seconds
doc: >
Simulated seconds elapsed since the beginning of the current episode.
- var_name: delta_seconds
type: float
var_units: seconds
doc: >
Simulated seconds elapsed since the previous frame.
- var_name: platform_timestamp
type: float
var_units: seconds
doc: >
Time register of the frame at which this measurement was taken given by the OS in seconds.
# - METHODS ----------------------------
@ -33,20 +36,25 @@
type: int
- param_name: elapsed_seconds
type: float
param_units: seconds
- param_name: delta_seconds
type: float
param_units: seconds
- param_name: platform_timestamp
type: float
param_units: seconds
# --------------------------------------
- def_name: __eq__
params:
- param_name: other
type: carla.Timestamp
param_units: seconds
# --------------------------------------
- def_name: __ne__
params:
- param_name: other
type: carla.Timestamp
param_units: seconds
# --------------------------------------
- def_name: __str__
# --------------------------------------
@ -131,8 +139,9 @@
- param_name: fixed_delta_seconds
type: float
default: 0.0
param_units: seconds
doc: >
Set this time in seconds to get a fixed time-step in between frames. 0.0 means variable time-step and it is the default mode.
Set a fixed time-step in between frames. <code>0.0</code> means variable time-step and it is the default mode.
doc: >
Creates an object containing desired settings that could later be applied through carla.World and its method **<font color="#7fb800">apply_settings()</font>**.
# --------------------------------------
@ -226,8 +235,9 @@
- param_name: seconds
type: float
default: 10.0
param_units: seconds
doc: >
Maximum time in seconds the server should wait for a tick. It is set to 10.0 by default.
Maximum time the server should wait for a tick. It is set to <code>10.0</code> by default.
doc: >
This method only has effect on synchronous mode, when both client and server move together. The client tells the server when to step to the next frame and returns the id of the newly started frame.
# --------------------------------------
@ -237,8 +247,9 @@
- param_name: seconds
type: float
default: 10.0
param_units: seconds
doc: >
Maximum time in seconds the server should wait for a tick. It is set to 10.0 by default.
Maximum time the server should wait for a tick. It is set to <code>10.0</code> by default.
doc: >
The client tells the server to pause the simulation until a **<font color="#7fb800">World.tick()</font>** is received.
# --------------------------------------
@ -411,20 +422,24 @@
params:
- param_name: begin
type: carla.Location
param_units: meters
doc: >
Point in the coordinate system where the arrow starts.
- param_name: end
type: carla.Location
param_units: meters
doc: >
Point in the coordinate system where the arrow ends and points towards to.
- param_name: thickness
type: float
default: 0.1f
default: 0.1
param_units: meters
doc: >
Density of the line.
- param_name: arrow_size
type: float
default: 0.1f
default: 0.1
param_units: meters
doc: >
Size of the tip of the arrow.
- param_name: color
@ -434,9 +449,10 @@
RGB code to color the object. Red by default.
- param_name: life_time
type: float
default: -1.0f
default: -1.0
param_units: seconds
doc: >
Lifespan in seconds for the shape. By default it only lasts one frame. Set this to 0 for permanent shapes.
Shape's lifespan. By default it only lasts one frame. Set this to <code>0</code> for permanent shapes.
doc: >
Draws an arrow from `begin` to `end` pointing in that direction.
@ -449,11 +465,13 @@
Object containing a location and the length of a box for every axis.
- param_name: rotation
type: carla.Rotation
param_units: degrees
doc: >
Orientation of the box according to Unreal Engine's axis system.
- param_name: thickness
type: float
default: 0.1f
default: 0.1
param_units: meters
doc: >
Density of the lines that define the box.
- param_name: color
@ -463,9 +481,10 @@
RGB code to color the object. Red by default.
- param_name: life_time
type: float
default: -1.0f
default: -1.0
param_units: seconds
doc: >
Lifespan in seconds for the shape. By default it only lasts one frame. Set this to 0 for permanent shapes.
Shape's lifespan. By default it only lasts one frame. Set this to <code>0</code> for permanent shapes.
doc: >
Draws a box, ussually to act for object colliders.
@ -474,15 +493,18 @@
params:
- param_name: begin
type: carla.Location
param_units: meters
doc: >
Point in the coordinate system where the line starts.
- param_name: end
type: carla.Location
param_units: meters
doc: >
Spot in the coordinate system where the line ends.
- param_name: thickness
type: float
default: 0.1f
default: 0.1
param_units: meters
doc: >
Density of the line.
- param_name: color
@ -492,9 +514,10 @@
RGB code to color the object. Red by default.
- param_name: life_time
type: float
default: -1.0f
default: -1.0
param_units: seconds
doc: >
Lifespan in seconds for the shape. By default it only lasts one frame. Set this to 0 for permanent shapes.
Shape's lifespan. By default it only lasts one frame. Set this to <code>0</code> for permanent shapes.
doc: >
Draws a line in between `begin` and `end`.
# --------------------------------------
@ -502,11 +525,13 @@
params:
- param_name: location
type: carla.Location
param_units: meters
doc: >
Spot in the coordinate system to center the object.
- param_name: size
type: float
default: 0.1f
default: 0.1
param_units: meters
doc: >
Density of the point.
- param_name: color
@ -516,9 +541,10 @@
RGB code to color the object. Red by default.
- param_name: life_time
type: float
default: -1.0f
default: -1.0
param_units: seconds
doc: >
Lifespan in seconds for the shape. By default it only lasts one frame. Set this to 0 for permanent shapes.
Shape's lifespan. By default it only lasts one frame. Set this to <code>0</code> for permanent shapes.
doc: >
Draws a point `location`.
# --------------------------------------
@ -526,6 +552,7 @@
params:
- param_name: location
type: carla.Location
param_units: meters
doc: >
Spot in the simulation where the text will be centered.
- param_name: text
@ -544,7 +571,10 @@
RGB code to color the string. Red by default.
- param_name: life_time
type: float
default: -1.0f
default: -1.0
param_units: seconds
doc: >
Shape's lifespan. By default it only lasts one frame. Set this to <code>0</code> for permanent shapes.
doc: >
Draws a string in a given location of the simulation which can only be seen server-side.
# --------------------------------------