diff --git a/Docs/python_api.md b/Docs/python_api.md index e70923a70..f4dc3c06b 100644 --- a/Docs/python_api.md +++ b/Docs/python_api.md @@ -22,11 +22,11 @@ The identifier of the blueprint this actor was based on, e.g. "vehicle.ford.must - **add_impulse**(**self**, **impulse**) Adds an impulse to the actor. The parameter `impulse` determines magnitude and global axis where it is applied. - **Parameters:** - - `impulse` (_[carla.Vector3D](#carla.Vector3D)_) + - `impulse` (_[carla.Vector3D](#carla.Vector3D) – N * s_) - **add_angular_impulse**(**self**, **impulse**) Adds an angular impulse to the actor. The parameter `impulse` determines magnitude and global axis where it is applied. - **Parameters:** - - `impulse` (_[carla.Vector3D](#carla.Vector3D)_) + - `impulse` (_[carla.Vector3D](#carla.Vector3D) – N * m * s_) - **destroy**(**self**) Tells the simulator to destroy this actor and returns True if it was successful. It has no effect if it was already destroyed. - **Return:** _bool_ @@ -36,14 +36,14 @@ _
Getters
- **get_acceleration**(**self**) Returns the actor's 3D acceleration vector the client recieved during last tick. The method does not call the simulator. - - **Return:** _[carla.Vector3D](#carla.Vector3D)_ + - **Return:** _[carla.Vector3D](#carla.Vector3D) – m/s2_ - **get_angular_velocity**(**self**) Returns the actor's angular velocity vector the client recieved during last tick. The method does not call the simulator. - - **Return:** _[carla.Vector3D](#carla.Vector3D)_ + - **Return:** _[carla.Vector3D](#carla.Vector3D) – rad/s_ - **Setter:** _[carla.Actor.set_angular_velocity](#carla.Actor.set_angular_velocity)_ - **get_location**(**self**) Returns the actor's location the client recieved during last tick. The method does not call the simulator. - - **Return:** _[carla.Location](#carla.Location)_ + - **Return:** _[carla.Location](#carla.Location) – meters_ - **Setter:** _[carla.Actor.set_location](#carla.Actor.set_location)_ - **get_transform**(**self**) Returns the actor's transform (location and rotation) the client recieved during last tick. The method does not call the simulator. @@ -51,7 +51,7 @@ Returns the actor's transform (location and rotation) the client recieved during - **Setter:** _[carla.Actor.set_transform](#carla.Actor.set_transform)_ - **get_velocity**(**self**) Returns the actor's velocity vector the client recieved during last tick. The method does not call the simulator. - - **Return:** _[carla.Vector3D](#carla.Vector3D)_ + - **Return:** _[carla.Vector3D](#carla.Vector3D) – m/s_ - **Setter:** _[carla.Actor.set_velocity](#carla.Actor.set_velocity)_ - **get_world**(**self**) Returns the world this actor belongs to. @@ -66,7 +66,7 @@ Changes the actor's angular velocity vector. - **set_location**(**self**, **location**) Teleports the actor to a given location. - **Parameters:** - - `location` (_[carla.Location](#carla.Location)_) + - `location` (_[carla.Location](#carla.Location) – meters_) - **Getter:** _[carla.Actor.get_location](#carla.Actor.get_location)_ - **set_simulate_physics**(**self**, **enabled**=True) Enables or disables the simulation of physics on this actor. @@ -235,16 +235,16 @@ An identifier for the snapshot itself.
Getters
- **get_acceleration**(**self**) Returns the acceleration vector registered for an actor in that tick. - - **Return:** _[carla.Vector3D](#carla.Vector3D)_ + - **Return:** _[carla.Vector3D](#carla.Vector3D) – m/s2_ - **get_angular_velocity**(**self**) Returns the angular velocity vector registered for an actor in that tick. - - **Return:** _[carla.Vector3D](#carla.Vector3D)_ + - **Return:** _[carla.Vector3D](#carla.Vector3D) – rad/s_ - **get_transform**(**self**) Returns the actor's transform (location and rotation) for an actor in that tick. - **Return:** _[carla.Transform](#carla.Transform)_ - **get_velocity**(**self**) Returns the velocity vector registered for an actor in that tick. - - **Return:** _[carla.Vector3D](#carla.Vector3D)_ + - **Return:** _[carla.Vector3D](#carla.Vector3D) – m/s_ --- @@ -295,21 +295,21 @@ Parses the identifiers for every blueprint to string. Helper class defining a box location and its dimensions that will later be used by [carla.DebugHelper](#carla.DebugHelper) or a [carla.Client](#carla.Client) to draw shapes and detect collisions. Bounding boxes normally act for object colliders. Check out this [recipe](ref_code_recipes.md#debug-bounding-box-recipe) where the user takes a snapshot of the world and then proceeds to draw bounding boxes for traffic lights.

Instance Variables

-- **extent** (_[carla.Vector3D](#carla.Vector3D)_) +- **extent** (_[carla.Vector3D](#carla.Vector3D) – meters_) 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. -- **location** (_[carla.Location](#carla.Location)_) +- **location** (_[carla.Location](#carla.Location) – meters_) The center of the bounding box relative to its parent actor.

Methods

- **\__init__**(**self**, **location**, **extent**) - **Parameters:** - - `location` (_[carla.Location](#carla.Location)_) – Point to center the box. - - `extent` (_[carla.Vector3D](#carla.Vector3D)_) – Vector containing half the size of the box for every axis. + - `location` (_[carla.Location](#carla.Location)_) – Center of the box, relative to its parent. + - `extent` (_[carla.Vector3D](#carla.Vector3D) – meters_) – Vector containing half the size of the box for every axis. - **contains**(**self**, **world_point**, **transform**) Returns **True** if a point passed in world space is inside this bounding box. - **Parameters:** - - `world_point` (_[carla.Location](#carla.Location)_) – The point in world space to be checked. + - `world_point` (_[carla.Location](#carla.Location) – meters_) – The point in world space to be checked. - `transform` (_[carla.Transform](#carla.Transform)_) – Contains location and rotation needed to convert this object's local space to world space. - **Return:** _bool_ @@ -374,8 +374,8 @@ Reload the current world, note that a new world is created with default settings Load a new world with default settings using `map_name` map. All actors present in the current world will be destroyed, __but__ traffic manager instances will stay alive. - **Parameters:** - `name` (_str_) – Name of the file containing the information of the simulation. - - `start` (_float_) – 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. - - `duration` (_float_) – Time in seconds that will be reenacted using the information `name` file. If the end is reached, the simulation will continue. + - `start` (_float – seconds_) – Time where to start playing the simulation. Negative is read as beginning from the end, being -10 just 10 seconds before the recording finished. + - `duration` (_float – seconds_) – Time that will be reenacted using the information `name` file. If the end is reached, the simulation will continue. - `follow_id` (_int_) – ID of the actor to follow. If this is 0 then camera is disabled. - **stop_replayer**(**self**, **keep_actors**) Stop current replayer. @@ -385,8 +385,8 @@ Stop current replayer. The terminal will show the information registered for actors considered blocked. An actor is considered blocked when it does not move a minimum distance in a period of time, being these `min_distance` and `min_time`. - **Parameters:** - `filename` (_str_) – Name of the recorded file to load. - - `min_time` (_float_) – Minimum time in seconds the actor has to move a minimum distance before being considered blocked. Default is 60 seconds. - - `min_distance` (_float_) – Minimum distance in centimeters the actor has to move to not be considered blocked. Default is 100 centimeters. + - `min_time` (_float – seconds_) – Minimum time the actor has to move a minimum distance before being considered blocked. Default is 60 seconds. + - `min_distance` (_float – centimeters_) – Minimum distance the actor has to move to not be considered blocked. Default is 100 centimeters. - **Return:** _string_ - **show_recorder_collisions**(**self**, **filename**, **category1**, **category2**) The terminal will show the collisions registered by the recorder. These can be filtered by specifying the type of actor involved. The categories will be specified in `category1` and `category2` as follows: @@ -448,9 +448,9 @@ When used, the time speed of the reenacted simulation is modified at will. It ca - **Parameters:** - `time_factor` (_float_) – 1.0 means normal time speed. Greater than 1.0 means fast motion (2.0 would be double speed) and lesser means slow motion (0.5 would be half speed). - **set_timeout**(**self**, **seconds**) -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. - **Parameters:** - - `seconds` (_float_) – New timeout value in seconds. Default is 5 seconds. + - `seconds` (_float – seconds_) – New timeout value. Default is 5 seconds. --- @@ -462,7 +462,7 @@ Sets in seconds the maxixum time a network call is allowed before blocking it an The actor the sensor is attached to, the one that measured the collision. - **other_actor** (_[carla.Actor](#carla.Actor)_) The second actor involved in the collision. -- **normal_impulse** (_[carla.Vector3D](#carla.Vector3D)_) +- **normal_impulse** (_[carla.Vector3D](#carla.Vector3D) – N*m_) Normal impulse resulting of the collision. --- @@ -535,8 +535,8 @@ Polarity of the event. __True__ for positive and __False__ for negative. Class that defines a stream of events in [[carla.DVSEvent](#carla.DVSEvent)](#[carla.DVSEvent](#carla.DVSEvent)). Such stream is an array of arbitrary size depending on the number of events. This class also stores the field of view, the height and width of the image and the timestamp from convenience. Learn more about them [here](ref_sensors.md).

Instance Variables

-- **fov** (_float_) -Horizontal field of view of the image in degrees. +- **fov** (_float – degrees_) +Horizontal field of view of the image. - **height** (_int_) Image height in pixels. - **width** (_int_) @@ -570,46 +570,46 @@ Returns an array with the polarity of all the events in the stream. Helper class part of [carla.World](#carla.World) that defines methods for creating debug shapes. By default, shapes last one second. They can be permanent, but take into account the resources needed to do so. Check out this [recipe](ref_code_recipes.md#debug-bounding-box-recipe) where the user takes a snapshot of the world and then proceeds to draw bounding boxes for traffic lights.

Methods

-- **draw_arrow**(**self**, **begin**, **end**, **thickness**=0.1f, **arrow_size**=0.1f, **color**=(255,0,0), **life_time**=-1.0f) +- **draw_arrow**(**self**, **begin**, **end**, **thickness**=0.1, **arrow_size**=0.1, **color**=(255,0,0), **life_time**=-1.0) Draws an arrow from `begin` to `end` pointing in that direction. - **Parameters:** - - `begin` (_[carla.Location](#carla.Location)_) – Point in the coordinate system where the arrow starts. - - `end` (_[carla.Location](#carla.Location)_) – Point in the coordinate system where the arrow ends and points towards to. - - `thickness` (_float_) – Density of the line. - - `arrow_size` (_float_) – Size of the tip of the arrow. + - `begin` (_[carla.Location](#carla.Location) – meters_) – Point in the coordinate system where the arrow starts. + - `end` (_[carla.Location](#carla.Location) – meters_) – Point in the coordinate system where the arrow ends and points towards to. + - `thickness` (_float – meters_) – Density of the line. + - `arrow_size` (_float – meters_) – Size of the tip of the arrow. - `color` (_[carla.Color](#carla.Color)_) – RGB code to color the object. Red by default. - - `life_time` (_float_) – Lifespan in seconds for the shape. By default it only lasts one frame. Set this to 0 for permanent shapes. -- **draw_box**(**self**, **box**, **rotation**, **thickness**=0.1f, **color**=(255,0,0), **life_time**=-1.0f) + - `life_time` (_float – seconds_) – Shape's lifespan. By default it only lasts one frame. Set this to 0 for permanent shapes. +- **draw_box**(**self**, **box**, **rotation**, **thickness**=0.1, **color**=(255,0,0), **life_time**=-1.0) Draws a box, ussually to act for object colliders. - **Parameters:** - `box` (_[carla.BoundingBox](#carla.BoundingBox)_) – Object containing a location and the length of a box for every axis. - - `rotation` (_[carla.Rotation](#carla.Rotation)_) – Orientation of the box according to Unreal Engine's axis system. - - `thickness` (_float_) – Density of the lines that define the box. + - `rotation` (_[carla.Rotation](#carla.Rotation) – degrees_) – Orientation of the box according to Unreal Engine's axis system. + - `thickness` (_float – meters_) – Density of the lines that define the box. - `color` (_[carla.Color](#carla.Color)_) – RGB code to color the object. Red by default. - - `life_time` (_float_) – Lifespan in seconds for the shape. By default it only lasts one frame. Set this to 0 for permanent shapes. -- **draw_line**(**self**, **begin**, **end**, **thickness**=0.1f, **color**=(255,0,0), **life_time**=-1.0f) + - `life_time` (_float – seconds_) – Shape's lifespan. By default it only lasts one frame. Set this to 0 for permanent shapes. +- **draw_line**(**self**, **begin**, **end**, **thickness**=0.1, **color**=(255,0,0), **life_time**=-1.0) Draws a line in between `begin` and `end`. - **Parameters:** - - `begin` (_[carla.Location](#carla.Location)_) – Point in the coordinate system where the line starts. - - `end` (_[carla.Location](#carla.Location)_) – Spot in the coordinate system where the line ends. - - `thickness` (_float_) – Density of the line. + - `begin` (_[carla.Location](#carla.Location) – meters_) – Point in the coordinate system where the line starts. + - `end` (_[carla.Location](#carla.Location) – meters_) – Spot in the coordinate system where the line ends. + - `thickness` (_float – meters_) – Density of the line. - `color` (_[carla.Color](#carla.Color)_) – RGB code to color the object. Red by default. - - `life_time` (_float_) – Lifespan in seconds for the shape. By default it only lasts one frame. Set this to 0 for permanent shapes. -- **draw_point**(**self**, **location**, **size**=0.1f, **color**=(255,0,0), **life_time**=-1.0f) + - `life_time` (_float – seconds_) – Shape's lifespan. By default it only lasts one frame. Set this to 0 for permanent shapes. +- **draw_point**(**self**, **location**, **size**=0.1, **color**=(255,0,0), **life_time**=-1.0) Draws a point `location`. - **Parameters:** - - `location` (_[carla.Location](#carla.Location)_) – Spot in the coordinate system to center the object. - - `size` (_float_) – Density of the point. + - `location` (_[carla.Location](#carla.Location) – meters_) – Spot in the coordinate system to center the object. + - `size` (_float – meters_) – Density of the point. - `color` (_[carla.Color](#carla.Color)_) – RGB code to color the object. Red by default. - - `life_time` (_float_) – Lifespan in seconds for the shape. By default it only lasts one frame. Set this to 0 for permanent shapes. -- **draw_string**(**self**, **location**, **text**, **draw_shadow**=False, **color**=(255,0,0), **life_time**=-1.0f) + - `life_time` (_float – seconds_) – Shape's lifespan. By default it only lasts one frame. Set this to 0 for permanent shapes. +- **draw_string**(**self**, **location**, **text**, **draw_shadow**=False, **color**=(255,0,0), **life_time**=-1.0) Draws a string in a given location of the simulation which can only be seen server-side. - **Parameters:** - - `location` (_[carla.Location](#carla.Location)_) – Spot in the simulation where the text will be centered. + - `location` (_[carla.Location](#carla.Location) – meters_) – Spot in the simulation where the text will be centered. - `text` (_str_) – Text intended to be shown in the world. - `draw_shadow` (_bool_) – Casts a shadow for the string that could help in visualization. It is disabled by default. - `color` (_[carla.Color](#carla.Color)_) – RGB code to color the string. Red by default. - - `life_time` (_float_) + - `life_time` (_float – seconds_) – Shape's lifespan. By default it only lasts one frame. Set this to 0 for permanent shapes. --- @@ -642,19 +642,19 @@ Quotient between current RPM and MaxRPM where the autonomous gear box should shi Class that contains geographical coordinates simulated data. The [carla.Map](#carla.Map) can convert simulation locations by using the tag in the OpenDRIVE file.

Instance Variables

-- **latitude** (_float_) +- **latitude** (_float – degrees_) North/South value of a point on the map. -- **longitude** (_float_) +- **longitude** (_float – degrees_) West/East value of a point on the map. -- **altitude** (_float_) +- **altitude** (_float – meters_) Height regarding ground level.

Methods

- **\__init__**(**self**, **latitude**=0.0, **longitude**=0.0, **altitude**=0.0) - **Parameters:** - - `latitude` (_float_) - - `longitude` (_float_) - - `altitude` (_float_) + - `latitude` (_float – degrees_) + - `longitude` (_float – degrees_) + - `altitude` (_float – meters_)
Dunder methods
- **\__eq__**(**self**, **other**=[carla.GeoLocation](#carla.GeoLocation)) @@ -667,11 +667,11 @@ Height regarding ground level.
Inherited from _[carla.SensorData](#carla.SensorData)_

Class that defines the Gnss data registered by a sensor.other.gnss. It essentially reports its position with the position of the sensor and an OpenDRIVE geo-reference.

Instance Variables

-- **altitude** (_float_) +- **altitude** (_float – meters_) Height regarding ground level. -- **latitude** (_float_) +- **latitude** (_float – degrees_) North/South value of a point on the map. -- **longitude** (_float_) +- **longitude** (_float – degrees_) West/East value of a point on the map.

Methods

@@ -685,12 +685,12 @@ West/East value of a point on the map.
Inherited from _[carla.SensorData](#carla.SensorData)_

Class that defines the data registered by a sensor.other.imu, regarding the sensor's transformation according to the current [carla.World](#carla.World). It essentially acts as accelerometer, gyroscope and compass.

Instance Variables

-- **accelerometer** (_[carla.Vector3D](#carla.Vector3D)_) -Linear acceleration in m/s^2. -- **compass** (_float_) -Orientation with regard to the North ((0.0, -1.0, 0.0) in Unreal Engine) in radians. -- **gyroscope** (_[carla.Vector3D](#carla.Vector3D)_) -Angular velocity in rad/sec. +- **accelerometer** (_[carla.Vector3D](#carla.Vector3D) – m*s2_) +Linear acceleration. +- **compass** (_float – radians_) +Orientation with regard to the North ([0.0, -1.0, 0.0] in Unreal Engine). +- **gyroscope** (_[carla.Vector3D](#carla.Vector3D) – rad/s_) +Angular velocity.

Methods

@@ -703,8 +703,8 @@ Angular velocity in rad/sec.
Inherited from _[carla.SensorData](#carla.SensorData)_

Class that defines an image of 32-bit BGRA colors that will be used as initial data retrieved by camera sensors. There are different camera sensors (currently three, RGB, depth and semantic segmentation) and each of these makes different use for the images. Learn more about them [here](ref_sensors.md).

Instance Variables

-- **fov** (_float_) -Horizontal field of view of the image in degrees. +- **fov** (_float – degrees_) +Horizontal field of view of the image. - **height** (_int_) Image height in pixels. - **width** (_int_) @@ -759,11 +759,11 @@ Landmarks will be accessed by [carla.Waypoint](#carla.Waypoint) objects trying t - **road_id** (_int_) The OpenDRIVE ID of the road where this landmark is defined. Due to OpenDRIVE road definitions, this road may be different from the road the landmark is currently affecting. It is mostly the case in junctions where the road diverges in different routes. Example: a traffic light is defined in one of the divergent roads in a junction, but it affects all the possible routes. -- **distance** (_float_) +- **distance** (_float – meters_) Distance between the landmark and the waypoint creating the object (querying `get_landmarks` or `get_landmarks_of_type`). -- **s** (_float_) +- **s** (_float – meters_) Distance where the landmark is positioned along the geometry of the road `road_id`. -- **t** (_float_) +- **t** (_float – meters_) Lateral distance where the landmark is positioned from the edge of the road `road_id`. - **id** (_str_) Unique ID of the landmark in the OpenDRIVE file. @@ -771,9 +771,9 @@ Unique ID of the landmark in the OpenDRIVE file. Name of the landmark in the in the OpenDRIVE file. - **is_dynamic** (_bool_) Indicates if the landmark has state changes over time such as traffic lights. -- **orientation** (_[carla.LandmarkOrientation](#carla.LandmarkOrientation)_) +- **orientation** (_[carla.LandmarkOrientation](#carla.LandmarkOrientation) – degrees_) Indicates which lanes the landmark is facing towards to. -- **z_offset** (_float_) +- **z_offset** (_float – meters_) Height where the landmark is placed. - **country** (_str_) Country code where the landmark is defined (default to OpenDRIVE is Germany 2017). @@ -785,18 +785,18 @@ Subtype identificator of the landmark according to the country code. Value printed in the signal (e.g. speed limit, maximum weight, etc). - **unit** (_str_) Units of measurement for the attribute `value`. -- **height** (_float_) +- **height** (_float – meters_) Total height of the signal. -- **width** (_float_) +- **width** (_float – meters_) Total width of the signal. - **text** (_str_) Additional text in the signal. -- **h_offset** (_float_) +- **h_offset** (_float – meters_) Orientation offset of the signal relative to the the definition of `road_id` at `s` in OpenDRIVE. -- **pitch** (_float_) -Pitch rotation of the signal. +- **pitch** (_float – meters_) +Pitch rotation (Y-axis) of the signal. - **roll** (_float_) -Roll rotation of the signal. +Roll rotation (X-axis) of the signal. - **waypoint** (_[carla.Waypoint](#carla.Waypoint)_) A waypoint placed in the lane of the one that made the query and at the `s` of the landmark. It is the first waypoint for which the landmark will be effective. - **transform** (_[carla.Transform](#carla.Transform)_) @@ -1015,10 +1015,10 @@ Every type except for NONE. Data contained inside a [carla.LidarMeasurement](#carla.LidarMeasurement). Each of these represents one of the points in the cloud with its location and its asociated intensity.

Instance Variables

-- **point** (_[carla.Location](#carla.Location)_) +- **point** (_[carla.Location](#carla.Location) – meters_) Point in xyz coordinates. - **intensity** (_float_) -Computed intensity for this point. +Computed intensity for this point as a scalar value between [0.0 , 1.0].

Methods

@@ -1033,8 +1033,8 @@ Computed intensity for this point.

Instance Variables

- **channels** (_int_) Number of lasers shot. -- **horizontal_angle** (_float_) -Horizontal angle the LIDAR is rotated at the time of the measurement (in radians). +- **horizontal_angle** (_float – radians_) +Horizontal angle the LIDAR is rotated at the time of the measurement. - **raw_data** (_bytes_) Received list of 4D points. Each point consists of [x,y,z] coordiantes plus the intensity computed for that point. @@ -1068,11 +1068,11 @@ Lights are automatically turned on when the simulator enters night mode (sun alt Color of the light. - **id** (_int_) Identifier of the light. -- **intensity** (_float_) -Intensity of the light in lumens. +- **intensity** (_float – lumens_) +Intensity of the light. - **is_on** (_bool_) Switch of the light. It is __True__ when the light is on. When the night mode starts, this is set to __True__. -- **location** (_[carla.Location](#carla.Location)_) +- **location** (_[carla.Location](#carla.Location) – meters_) Position of the light. - **light_group** (_[carla.LightGroup](#carla.LightGroup)_) Group the light belongs to. @@ -1093,7 +1093,7 @@ Changes the color of the light to `color`. - **set_intensity**(**self**, **intensity**) Changes the intensity of the light to `intensity`. - **Parameters:** - - `intensity` (_float_) + - `intensity` (_float – lumens_) - **set_light_group**(**self**, **light_group**) Changes the light to the group `light_group`. - **Parameters:** @@ -1156,7 +1156,7 @@ Returns a list with the colors of every element in `lights`. Returns a list with the intensity of every element in `lights`. - **Parameters:** - `lights` (_list([carla.Light](#carla.Light))_) – List of lights to be queried. - - **Return:** _list(float)_ + - **Return:** _list(float) – lumens_ - **Setter:** _[carla.LightManager.set_intensity](#carla.LightManager.set_intensity)_ - **get_light_group**(**self**, **lights**) Returns a list with the group of every element in `lights`. @@ -1202,13 +1202,13 @@ Changes the color of each element in `lights` to the corresponding in `colors`. Changes the intensity of every element in `lights` to `intensity`. - **Parameters:** - `lights` (_list([carla.Light](#carla.Light))_) – List of lights to be changed. - - `intensity` (_float_) – Intensity to be applied. + - `intensity` (_float – lumens_) – Intensity to be applied. - **Getter:** _[carla.LightManager.get_intensity](#carla.LightManager.get_intensity)_ - **set_intensities**(**self**, **lights**, **intensities**) Changes the intensity of each element in `lights` to the corresponding in `intensities`. - **Parameters:** - `lights` (_list([carla.Light](#carla.Light))_) – List of lights to be changed. - - `intensities` (_list(float)_) – List of intensities to be applied. + - `intensities` (_list(float) – lumens_) – List of intensities to be applied. - **set_light_group**(**self**, **lights**, **light_group**) Changes the group of every element in `lights` to `light_group`. - **Parameters:** @@ -1238,8 +1238,8 @@ Changes the state of the attributes of each element in `lights` to the correspon This class represents all the light variables except the identifier and the location, which are should to be static. Using this class allows to manage all the parametrization of the light in one call.

Instance Variables

-- **intensity** (_float_) -Intensity of a light in lumens. +- **intensity** (_float – lumens_) +Intensity of a light. - **color** (_[carla.Color](#carla.Color)_) Color of a light. - **group** (_[carla.LightGroup](#carla.LightGroup)_) @@ -1250,7 +1250,7 @@ Switch of a light. It is __True__ when the light is on.

Methods

- **\__init__**(**self**, **intensity**=0.0, **color**=[carla.Color](#carla.Color)(), **group**=[carla.LightGroup.None](#carla.LightGroup.None), **active**=False) - **Parameters:** - - `intensity` (_float_) – Intensity of the light in lumens. Default is `0.0`. + - `intensity` (_float – lumens_) – Intensity of the light. Default is `0.0`. - `color` (_[carla.Color](#carla.Color)_) – Color of the light. Default is black. - `group` (_[carla.LightGroup](#carla.LightGroup)_) – Group the light belongs to. Default is the generic group `None`. - `active` (_bool_) – Swith of the light. Default is `False`, light is off. @@ -1261,12 +1261,12 @@ Switch of a light. It is __True__ when the light is on.
Inherited from _[carla.Vector3D](#carla.Vector3D)_

Represents a spot in the world.

Instance Variables

-- **x** (_float_) -Distance in meters from origin to spot on X axis. -- **y** (_float_) -Distance in meters from origin to spot on Y axis. -- **z** (_float_) -Distance in meters from origin to spot on Z axis. +- **x** (_float – meters_) +Distance from origin to spot on X axis. +- **y** (_float – meters_) +Distance from origin to spot on Y axis. +- **z** (_float – meters_) +Distance from origin to spot on Z axis.

Methods

- **\__init__**(**self**, **x**=0.0, **y**=0.0, **z**=0.0) @@ -1275,10 +1275,10 @@ Distance in meters from origin to spot on Z axis. - `y` (_float_) - `z` (_float_) - **distance**(**self**, **location**) -Returns Euclidean distance in meters from this location to another one. +Returns Euclidean distance from this location to another one. - **Parameters:** - `location` (_[carla.Location](#carla.Location)_) – The other point to compute the distance with. - - **Return:** _float_ + - **Return:** _float – meters_
Dunder methods
- **\__eq__**(**self**, **other**=[carla.Location](#carla.Location)) @@ -1310,7 +1310,7 @@ Constructor for this class. Though a map is automatically generated when initial - **generate_waypoints**(**self**, **distance**) 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. - **Parameters:** - - `distance` (_float_) – Approximate distance between waypoints. + - `distance` (_float – meters_) – Approximate distance between waypoints. - **Return:** _list([carla.Waypoint](#carla.Waypoint))_ - **save_to_disk**(**self**, **path**) Saves the .xodr OpenDRIVE file of the current map to disk. @@ -1354,7 +1354,7 @@ Returns a list of tuples describing a minimal graph of the topology of the OpenD 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 None 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. - **Parameters:** - - `location` (_[carla.Location](#carla.Location)_) – Location used as reference for the [carla.Waypoint](#carla.Waypoint). + - `location` (_[carla.Location](#carla.Location) – meters_) – Location used as reference for the [carla.Waypoint](#carla.Waypoint). - `project_to_road` (_bool_) – 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`. None means said location does not belong to a road. - `lane_type` (_[carla.LaneType](#carla.LaneType)_) – Limits the search for nearest lane to one or various lane types that can be flagged. - **Return:** _[carla.Waypoint](#carla.Waypoint)_ @@ -1363,7 +1363,7 @@ Returns a waypoint if all the parameters passed are correct. Otherwise, returns - **Parameters:** - `road_id` (_int_) – ID of the road to get the waypoint. - `lane_id` (_int_) – ID of the lane to get the waypoint. - - `s` (_float_) – Specify the length from the road start. + - `s` (_float – meters_) – Specify the length from the road start. - **Return:** _[carla.Waypoint](#carla.Waypoint)_
Dunder methods
@@ -1379,7 +1379,7 @@ Returns a waypoint if all the parameters passed are correct. Otherwise, returns The actor the sensor is attached to. - **other_actor** (_[carla.Actor](#carla.Actor)_) The actor or object considered to be an obstacle. -- **distance** (_float_) +- **distance** (_float – meters_) Distance between `actor` and `other`.

Methods

@@ -1429,13 +1429,13 @@ Helper class that contains the parameterization that will be used by [carla.Osm2

Instance Variables

- **use_offsets** (_bool_) Enables the use of offset for the conversion. The offset will move the origin position of the map. Default value is __False__. -- **offset_x** (_float_) +- **offset_x** (_float – meters_) Offset in the X axis. Default value is __0.0__. -- **offset_y** (_float_) +- **offset_y** (_float – meters_) Offset in the Y axis. Default value is __0.0__. -- **default_lane_width** (_float_) +- **default_lane_width** (_float – meters_) Width of the lanes described in the resulting XODR map. Default value is __4.0__. -- **elevation_layer_height** (_float_) +- **elevation_layer_height** (_float – meters_) Defines the height separating two different [OpenStreetMap layers](https://wiki.openstreetmap.org/wiki/Key:layer). Default value is __0.0__. --- @@ -1444,14 +1444,14 @@ Defines the height separating two different [OpenStreetMap layers](https://wiki. Data contained inside a [carla.RadarMeasurement](#carla.RadarMeasurement). Each of these represents one of the points in the cloud that a sensor.other.radar registers and contains the distance, angle and velocity in relation to the radar.

Instance Variables

-- **altitude** (_float_) -Altitude angle of the detection in radians. -- **azimuth** (_float_) -Azimuth angle of the detection in radians. -- **depth** (_float_) -Distance in meters from the sensor to the detection position. -- **velocity** (_float_) -The velocity of the detected object towards the sensor in m/s. +- **altitude** (_float – radians_) +Altitude angle of the detection. +- **azimuth** (_float – radians_) +Azimuth angle of the detection. +- **depth** (_float – meters_) +Distance from the sensor to the detection position. +- **velocity** (_float – m/s_) +The velocity of the detected object towards the sensor.

Methods

@@ -1488,34 +1488,34 @@ Class that represents a 3D rotation and therefore, an orientation in space. ![UE4_Rotation](https://d26ilriwvtzlb.cloudfront.net/8/83/BRMC_9.jpg) _Unreal Engine's standard (from [UE4 docs](https://wiki.unrealengine.com/Blueprint_Rotating_Movement_Component))_.

Instance Variables

-- **pitch** (_float_) -Degrees around the Y-axis. -- **yaw** (_float_) -Degrees around the Z-axis. -- **roll** (_float_) -Degrees around the X-axis. +- **pitch** (_float – degrees_) +Y-axis rotation angle. +- **yaw** (_float – degrees_) +Z-axis rotation angle. +- **roll** (_float – degrees_) +X-axis rotation angle.

Methods

- **\__init__**(**self**, **pitch**=0.0, **yaw**=0.0, **roll**=0.0) - **Parameters:** - - `pitch` (_float_) – Y rotation in degrees. - - `yaw` (_float_) – Z rotation in degrees. - - `roll` (_float_) – X rotation in degrees. + - `pitch` (_float – degrees_) – Y-axis rotation angle. + - `yaw` (_float – degrees_) – Z-axis rotation angle. + - `roll` (_float – degrees_) – X-axis rotation angle.
Getters
- **get_forward_vector**(**self**) -Computes the vector pointing forward according to the orientation of each axis. +Computes the vector pointing forward according to the rotation of the object. - **Return:** _[carla.Vector3D](#carla.Vector3D)_ - **get_right_vector**(**self**) -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. - **Return:** _[carla.Vector3D](#carla.Vector3D)_ - **get_up_vector**(**self**) -Computes the vector pointing upwards according to the orientation of each axis. +Computes the vector pointing upwards according to the rotation of the object. - **Return:** _[carla.Vector3D](#carla.Vector3D)_
Dunder methods
- **\__eq__**(**self**, **other**=[carla.Rotation](#carla.Rotation)) -Returns __True__ if both rotations represent the same orientation of each axis. +Returns __True__ if both rotations represent the same orientation for every axis. - **Return:** _bool_ - **\__ne__**(**self**, **other**=[carla.Rotation](#carla.Rotation)) Returns __True__ if both rotations represent the same orientation for every axis. @@ -1723,14 +1723,14 @@ Sets the log level. Data contained inside a [carla.SemanticLidarMeasurement](#carla.SemanticLidarMeasurement). Each of these represents one of the points in the cloud with its location, the cosine of the incident angle, index of the object hit, and its semantic tag.

Instance Variables

-- **point** (_[carla.Location](#carla.Location)_) +- **point** (_[carla.Location](#carla.Location) – meters_) [x,y,z] coordinates of the point. - **cos_inc_angle** (_float_) Cosine of the incident angle between the ray, and the normal of the hit object. - **object_idx** (_uint_) -Carla index of the hit actor. +[CARLA index](https://[carla.readthedocs.io](#carla.readthedocs.io)/en/latest/ref_sensors/#semantic-segmentation-camera) of the hit actor. - **object_tag** (_uint_) -Semantic tag of the hit component. +[Semantic tag](https://[carla.readthedocs.io](#carla.readthedocs.io)/en/latest/ref_sensors/#semantic-segmentation-camera) of the hit component.

Methods

@@ -1823,7 +1823,7 @@ Base class for all the objects containing data generated by a [carla.Sensor](#ca

Instance Variables

- **frame** (_int_) Frame count when the data was generated. -- **timestamp** (_float_) +- **timestamp** (_float – seconds_) Simulation-time when the data was generated. - **transform** (_[carla.Transform](#carla.Transform)_) Sensor's transform when the data was generated. @@ -1836,20 +1836,20 @@ Class that contains time information for simulated data. This information is aut

Instance Variables

- **frame** (_int_) The number of frames elapsed since the simulator was launched. -- **elapsed_seconds** (_float_) +- **elapsed_seconds** (_float – seconds_) Simulated seconds elapsed since the beginning of the current episode. -- **delta_seconds** (_float_) +- **delta_seconds** (_float – seconds_) Simulated seconds elapsed since the previous frame. -- **platform_timestamp** (_float_) +- **platform_timestamp** (_float – seconds_) Time register of the frame at which this measurement was taken given by the OS in seconds.

Methods

- **\__init__**(**self**, **frame**, **elapsed_seconds**, **delta_seconds**, **platform_timestamp**) - **Parameters:** - `frame` (_int_) - - `elapsed_seconds` (_float_) - - `delta_seconds` (_float_) - - `platform_timestamp` (_float_) + - `elapsed_seconds` (_float – seconds_) + - `delta_seconds` (_float – seconds_) + - `platform_timestamp` (_float – seconds_)
Dunder methods
- **\__eq__**(**self**, **other**=[carla.Timestamp](#carla.Timestamp)) @@ -1883,7 +1883,7 @@ _
Getters
- **get_elapsed_time**(**self**) The client returns the time in seconds since current light state started according to last tick. The method does not call the simulator. - - **Return:** _float_ + - **Return:** _float – seconds_ - **get_group_traffic_lights**(**self**) Returns all traffic lights in the group this one belongs to. - **Return:** _list([carla.TrafficLight](#carla.TrafficLight))_ @@ -1897,16 +1897,16 @@ The client returns the state of the traffic light according to last tick. The me - **Return:** _[carla.TrafficLightState](#carla.TrafficLightState)_ - **Setter:** _[carla.TrafficLight.set_state](#carla.TrafficLight.set_state)_ - **get_green_time**(**self**) -The client returns the seconds set for the traffic light to be green according to last tick. The method does not call the simulator. - - **Return:** _float_ +The client returns the time set for the traffic light to be green, according to last tick. The method does not call the simulator. + - **Return:** _float – seconds_ - **Setter:** _[carla.TrafficLight.set_green_time](#carla.TrafficLight.set_green_time)_ - **get_red_time**(**self**) -The client returns the seconds set for the traffic light to be red according to last tick. The method does not call the simulator. - - **Return:** _float_ +The client returns the time set for the traffic light to be red, according to last tick. The method does not call the simulator. + - **Return:** _float – seconds_ - **Setter:** _[carla.TrafficLight.set_red_time](#carla.TrafficLight.set_red_time)_ - **get_yellow_time**(**self**) -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. - - **Return:** _float_ +The client returns the time set for the traffic light to be yellow, according to last tick. The method does not call the simulator. + - **Return:** _float – seconds_ - **Setter:** _[carla.TrafficLight.set_yellow_time](#carla.TrafficLight.set_yellow_time)_
Setters
@@ -1917,17 +1917,17 @@ Sets a given state to a traffic light actor. - **Getter:** _[carla.TrafficLight.get_state](#carla.TrafficLight.get_state)_ - **set_green_time**(**self**, **green_time**) - **Parameters:** - - `green_time` (_float_) – Sets a given time (in seconds) for the green light to be active. + - `green_time` (_float – seconds_) – Sets a given time for the green light to be active. - **Getter:** _[carla.TrafficLight.get_green_time](#carla.TrafficLight.get_green_time)_ - **set_red_time**(**self**, **red_time**) -Sets a given time (in seconds) for the red state to be active. +Sets a given time for the red state to be active. - **Parameters:** - - `red_time` (_float_) + - `red_time` (_float – seconds_) - **Getter:** _[carla.TrafficLight.get_red_time](#carla.TrafficLight.get_red_time)_ - **set_yellow_time**(**self**, **yellow_time**) -Sets a given time (in seconds) for the yellow light to be active. +Sets a given time for the yellow light to be active. - **Parameters:** - - `yellow_time` (_float_) + - `yellow_time` (_float – seconds_) - **Getter:** _[carla.TrafficLight.get_yellow_time](#carla.TrafficLight.get_yellow_time)_
Dunder methods
@@ -1967,7 +1967,7 @@ Tunes on/off collisions between a vehicle and another specific actor. In order t Sets the minimum distance in meters that a vehicle has to keep with the others. The distance is in meters and will affect the minimum moving distance. It is computed from front to back of the vehicle objects. - **Parameters:** - `actor` (_[carla.Actor](#carla.Actor)_) – Vehicle whose minimum distance is being changed. - - `distance` (_float_) – Meters between both vehicles. + - `distance` (_float – meters_) – Meters between both vehicles. - **force_lane_change**(**self**, **actor**, **direction**) Forces a vehicle to change either to the lane on its left or right, if existing, as indicated in `direction`. This method applies the lane change no matter what, disregarding possible collisions. - **Parameters:** @@ -1976,7 +1976,7 @@ Forces a vehicle to change either to the lane on its left or right, if existing, - **global_distance_to_leading_vehicle**(**self**, **distance**) Sets the minimum distance in meters that vehicles have to keep with the rest. The distance is in meters and will affect the minimum moving distance. It is computed from center to center of the vehicle objects. - **Parameters:** - - `distance` (_float_) – Meters between vehicles. + - `distance` (_float – meters_) – Meters between vehicles. - **global_percentage_speed_difference**(**self**, **percentage**) Sets the difference the vehicle's intended speed and its current speed limit. Speed limits can be exceeded by setting the `perc` to a negative value. Default is 30. Exceeding a speed limit can be done using negative percentages. @@ -2019,7 +2019,7 @@ Enables or disables the hybrid physics mode. In this mode, vehicle's farther tha - **set_hybrid_mode_radius**(**self**, **r**=70.0) With hybrid physics on, changes the radius of the area of influence where physics are enabled. - **Parameters:** - - `r` (_float_) – New radius where physics are enabled. + - `r` (_float – meters_) – New radius where physics are enabled. --- @@ -2053,13 +2053,13 @@ Translates a 3D point from local to global coordinates using the current transfo
Getters
- **get_forward_vector**(**self**) -Computes a forward vector using its rotation. +Computes a forward vector using the rotation of the object. - **Return:** _[carla.Vector3D](#carla.Vector3D)_ - **get_right_vector**(**self**) -Computes a right vector using its rotation. +Computes a right vector using the rotatio of the object. - **Return:** _[carla.Vector3D](#carla.Vector3D)_ - **get_up_vector**(**self**) -Computes an up vector using its rotation. +Computes an up vector using the rotation of the object. - **Return:** _[carla.Vector3D](#carla.Vector3D)_ - **get_matrix**(**self**) Computes the 4-matrix representation of the transformation. @@ -2182,7 +2182,7 @@ The simulator returns the last physics control applied to this vehicle. - **Warning:** _This function does call the simulator to retrieve the value._ - **get_speed_limit**(**self**) 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. - - **Return:** _float_ + - **Return:** _float – m/s_ - **get_traffic_light**(**self**) Retrieves the traffic light actor affecting this vehicle (if any) according to last tick. The method does not call the simulator. - **Return:** _[carla.TrafficLight](#carla.TrafficLight)_ @@ -2229,9 +2229,9 @@ States which gear is the vehicle running on.

Methods

- **\__init__**(**self**, **throttle**=0.0, **steer**=0.0, **brake**=0.0, **hand_brake**=False, **reverse**=False, **manual_gear_shift**=False, **gear**=0) - **Parameters:** - - `throttle` (_float_) - - `steer` (_float_) - - `brake` (_float_) + - `throttle` (_float_) – Scalar value between [0.0,1.0]. + - `steer` (_float_) – Scalar value between [0.0,1.0]. + - `brake` (_float_) – Scalar value between [0.0,1.0]. - `hand_brake` (_bool_) - `reverse` (_bool_) - `manual_gear_shift` (_bool_) @@ -2276,7 +2276,7 @@ Summarizes the parameters that will be used to simulate a [carla.Vehicle](#carla Curve that indicates the torque measured in Nm for a specific RPM of the vehicle's engine. - **max_rpm** (_float_) The maximum RPM of the vehicle's engine. -- **moi** (_float_) +- **moi** (_float – kg*m2_) The moment of inertia of the vehicle's engine. - **damping_rate_full_throttle** (_float_) Damping ratio when the throttle is maximum. @@ -2286,20 +2286,20 @@ Damping ratio when the throttle is zero with clutch engaged. Damping ratio when the throttle is zero with clutch disengaged. - **use_gear_autobox** (_bool_) If True, the vehicle will have an automatic transmission. -- **gear_switch_time** (_float_) +- **gear_switch_time** (_float – seconds_) Switching time between gears. -- **clutch_strength** (_float_) -The clutch strength of the vehicle in Kgm^2/s. +- **clutch_strength** (_float – kg*m2/s_) +Clutch strength of the vehicle. - **final_ratio** (_float_) -The fixed ratio from transmission to wheels. +Fixed ratio from transmission to wheels. - **forward_gears** (_list([carla.GearPhysicsControl](#carla.GearPhysicsControl))_) List of objects defining the vehicle's gears. -- **mass** (_float_) -The mass of the vehicle in Kg. +- **mass** (_float – kilograms_) +Mass of the vehicle. - **drag_coefficient** (_float_) Drag coefficient of the vehicle's chassis. -- **center_of_mass** (_[carla.Vector3D](#carla.Vector3D)_) -The center of mass of the vehicle. +- **center_of_mass** (_[carla.Vector3D](#carla.Vector3D) – meters_) +Center of mass of the vehicle. - **steering_curve** (_list([carla.Vector2D](#carla.Vector2D))_) Curve that indicates the maximum steering for a specific forward speed. - **wheels** (_list([carla.WheelPhysicsControl](#carla.WheelPhysicsControl))_) @@ -2311,13 +2311,13 @@ VehiclePhysicsControl constructor. - **Parameters:** - `torque_curve` (_list([carla.Vector2D](#carla.Vector2D))_) - `max_rpm` (_float_) - - `moi` (_float_) + - `moi` (_float – kg*m2_) - `damping_rate_full_throttle` (_float_) - `damping_rate_zero_throttle_clutch_engaged` (_float_) - `damping_rate_zero_throttle_clutch_disengaged` (_float_) - `use_gear_autobox` (_bool_) - - `gear_switch_time` (_float_) - - `clutch_strength` (_float_) + - `gear_switch_time` (_float – seconds_) + - `clutch_strength` (_float – kg*m2/s_) - `final_ratio` (_float_) - `forward_gears` (_list([carla.GearPhysicsControl](#carla.GearPhysicsControl))_) - `drag_coefficient` (_float_) @@ -2366,7 +2366,7 @@ The client returns the control applied to this walker during last tick. The meth - **go_to_location**(**self**, **destination**) Sets the destination that the pedestrian will reach. - **Parameters:** - - `destination` (_[carla.Location](#carla.Location)_) + - `destination` (_[carla.Location](#carla.Location) – meters_) - **start**(**self**) Enables AI control for its parent walker. - **stop**(**self**) @@ -2376,7 +2376,7 @@ Disables AI control for its parent walker.
- **set_max_speed**(**self**, **speed**=1.4) Sets a speed for the walker in meters per second. - **Parameters:** - - `speed` (_float_) – speed in m/s. An easy walking speed is set by default. + - `speed` (_float – m/s_) – An easy walking speed is set by default.
Dunder methods
- **\__str__**(**self**) @@ -2392,7 +2392,7 @@ List of tuples where the first value is the bone's name and the second value sto

Methods

- **\__init__**(**self**, **list(name,transform)**) -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. - **Parameters:** - `list(name,transform)` (_tuple_) @@ -2409,7 +2409,7 @@ This class defines specific directions that can be commanded to a [carla.Walker]

Instance Variables

- **direction** (_[carla.Vector3D](#carla.Vector3D)_) Vector using global coordinates that will correspond to the direction of the walker. -- **speed** (_float_) +- **speed** (_float – m/s_) A scalar value to control the walker's speed. - **jump** (_bool_) If True, the walker will perform a jump. @@ -2464,23 +2464,23 @@ The left lane marking information based on the direction of the Waypoint. 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. - **Parameters:** - - `distance` (_float_) – The approximate distance where to get the next waypoints. + - `distance` (_float – meters_) – The approximate distance where to get the next waypoints. - **Return:** _list([carla.Waypoint](#carla.Waypoint))_ - **next_until_lane_end**(**self**, **distance**) Returns a list of waypoints from this to the end of the lane separated by a certain `distance`. - **Parameters:** - - `distance` (_float_) – The approximate distance between waypoints. + - `distance` (_float – meters_) – The approximate distance between waypoints. - **Return:** _list([carla.Waypoint](#carla.Waypoint))_ - **previous**(**self**, **distance**) 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 **next()**, 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. - **Parameters:** - - `distance` (_float_) – The approximate distance where to get the previous waypoints. + - `distance` (_float – meters_) – The approximate distance where to get the previous waypoints. - **Return:** _list([carla.Waypoint](#carla.Waypoint))_ - **previous_until_lane_start**(**self**, **distance**) Returns a list of waypoints from this to the start of the lane separated by a certain `distance`. - **Parameters:** - - `distance` (_float_) – The approximate distance between waypoints. + - `distance` (_float – meters_) – The approximate distance between waypoints. - **Return:** _list([carla.Waypoint](#carla.Waypoint))_
Getters
@@ -2490,13 +2490,13 @@ If the waypoint belongs to a junction this function returns the asociated juncti - **get_landmarks**(**self**, **distance**, **stop_at_junction**=False) Returns a list of landmarks in the road from the current waypoint until the specified distance. - **Parameters:** - - `distance` (_float_) – The maximum distance to search for landmarks from the current waypoint. + - `distance` (_float – meters_) – The maximum distance to search for landmarks from the current waypoint. - `stop_at_junction` (_bool_) – Enables or disables the landmark search through junctions. - **Return:** _list([carla.Landmark](#carla.Landmark))_ - **get_landmarks_of_type**(**self**, **distance**, **type**, **stop_at_junction**=False) Returns a list of landmarks in the road of a specified type from the current waypoint until the specified distance. - **Parameters:** - - `distance` (_float_) – The maximum distance to search for landmarks from the current waypoint. + - `distance` (_float – meters_) – The maximum distance to search for landmarks from the current waypoint. - `type` (_str_) – The type of landmarks to search. - `stop_at_junction` (_bool_) – Enables or disables the landmark search through junctions. - **Return:** _list([carla.Landmark](#carla.Landmark))_ @@ -2527,14 +2527,14 @@ Rain intensity values range from 0 to 100, being 0 none at all and 100 a heavy r Determines the creation of puddles. Values range from 0 to 100, being 0 none at all and 100 a road completely capped with water. Puddles are created with static noise, meaning that they will always appear at the same locations. - **wind_intensity** (_float_) Controls the strenght of the wind with values from 0, no wind at all, to 100, a strong wind. The wind does affect rain direction and leaves from trees, so this value is restricted to avoid animation issues. -- **sun_azimuth_angle** (_float_) -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. -- **sun_altitude_angle** (_float_) -Altitude angle of the sun in degrees. Values range from -90 to 90 corresponding to midnight and midday each. +- **sun_azimuth_angle** (_float – degrees_) +The azimuth angle of the sun. Values range from 0 to 360. Zero is an origin point in a sphere determined by Unreal Engine. +- **sun_altitude_angle** (_float – degrees_) +Altitude angle of the sun. Values range from -90 to 90 corresponding to midnight and midday each. - **fog_density** (_float_) Fog concentration or thickness. It only affects the RGB camera sensor. Values range from 0 to 100. -- **fog_distance** (_float_) -Fog start distance (in meters). Values range from 0 to infinite. +- **fog_distance** (_float – meters_) +Fog start distance. Values range from 0 to infinite. - **wetness** (_float_) Wetness intensity. It only affects the RGB camera sensor. Values range from 0 to 100. - **fog_falloff** (_float_) @@ -2548,10 +2548,10 @@ Method to initialize an object defining weather conditions. This class has some - `precipitation` (_float_) – 0 is no rain at all, 100 a heavy rain. - `precipitation_deposits` (_float_) – 0 means no puddles on the road, 100 means roads completely capped by rain. - `wind_intensity` (_float_) – 0 is calm, 100 a strong wind. - - `sun_azimuth_angle` (_float_) – 0 is an arbitrary North, 180 its corresponding South. - - `sun_altitude_angle` (_float_) – 90 is midday, -90 is midnight. + - `sun_azimuth_angle` (_float – degrees_) – 0 is an arbitrary North, 180 its corresponding South. + - `sun_altitude_angle` (_float – degrees_) – 90 is midday, -90 is midnight. - `fog_density` (_float_) – Concentration or thickness of the fog, from 0 to 100. - - `fog_distance` (_float_) – Distance where the fog starts in meters. + - `fog_distance` (_float – meters_) – Distance where the fog starts in meters. - `wetness` (_float_) – Humidity percentages of the road, from 0 to 100. - `fog_falloff` (_float_) – Density (specific mass) of the fog, from 0 to infinity. - **Note:** _ClearNoon, CloudyNoon, WetNoon, WetCloudyNoon, SoftRainNoon, MidRainyNoon, HardRainNoon, ClearSunset, CloudySunset, WetSunset, WetCloudySunset, SoftRainSunset, MidRainSunset, HardRainSunset. @@ -2576,14 +2576,14 @@ Class that defines specific physical parameters for wheel objects that will be p A scalar value that indicates the friction of the wheel. - **damping_rate** (_float_) Damping rate of the wheel. -- **max_steer_angle** (_float_) -Maximum angle in degrees that the wheel can steer. -- **radius** (_float_) -Radius of the wheel in centimeters. -- **max_brake_torque** (_float_) -Maximum brake torque in Nm. -- **max_handbrake_torque** (_float_) -Maximum handbrake torque in Nm. +- **max_steer_angle** (_float – degrees_) +Maximum angle that the wheel can steer. +- **radius** (_float – centimeters_) +Radius of the wheel. +- **max_brake_torque** (_float – N*m_) +Maximum brake torque. +- **max_handbrake_torque** (_float – N*m_) +Maximum handbrake torque. - **position** (_[carla.Vector3D](#carla.Vector3D)_) World position of the wheel. This is a read-only parameter. @@ -2592,11 +2592,11 @@ World position of the wheel. This is a read-only parameter. - **Parameters:** - `tire_friction` (_float_) - `damping_rate` (_float_) - - `max_steer_angle` (_float_) - - `radius` (_float_) - - `max_brake_torque` (_float_) - - `max_handbrake_torque` (_float_) - - `position` (_[carla.Vector3D](#carla.Vector3D)_) + - `max_steer_angle` (_float – degrees_) + - `radius` (_float – centimerers_) + - `max_brake_torque` (_float – N*m_) + - `max_handbrake_torque` (_float – N*m_) + - `position` (_[carla.Vector3D](#carla.Vector3D) – meters_)
Dunder methods
- **\__eq__**(**self**, **other**=[carla.WheelPhysicsControl](#carla.WheelPhysicsControl)) @@ -2632,12 +2632,12 @@ Stops the callback for `callback_id` started with **on_tic - **tick**(**self**, **seconds**=10.0) 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. - **Parameters:** - - `seconds` (_float_) – Maximum time in seconds the server should wait for a tick. It is set to 10.0 by default. + - `seconds` (_float – seconds_) – Maximum time the server should wait for a tick. It is set to 10.0 by default. - **Return:** _int_ - **wait_for_tick**(**self**, **seconds**=10.0) The client tells the server to pause the simulation until a **World.tick()** is received. - **Parameters:** - - `seconds` (_float_) – Maximum time in seconds the server should wait for a tick. It is set to 10.0 by default. + - `seconds` (_float – seconds_) – Maximum time the server should wait for a tick. It is set to 10.0 by default. - **Return:** _[carla.WorldSnapshot](#carla.WorldSnapshot)_ - **spawn_actor**(**self**, **blueprint**, **transform**, **attach_to**=None, **attachment**=Rigid) The method will create, return and spawn an actor into the world. The actor will need an available blueprint to be created and a transform (location and rotation). It can also be attached to a parent with a certain attachment type. @@ -2743,7 +2743,7 @@ Creates an object containing desired settings that could later be applied throug - **Parameters:** - `synchronous_mode` (_bool_) – Set this to true to enable client-server synchrony. - `no_rendering_mode` (_bool_) – Set this to true to completely disable rendering in the simulation. - - `fixed_delta_seconds` (_float_) – 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. + - `fixed_delta_seconds` (_float – seconds_) – Set a fixed time-step in between frames. 0.0 means variable time-step and it is the default mode.
Dunder methods
- **\__eq__**(**self**, **other**=[carla.WorldSettings](#carla.WorldSettings)) @@ -2766,7 +2766,7 @@ This snapshot comprises all the information for every actor on scene at a certai A value unique for every snapshot to differenciate them. - **frame** (_int_) Simulation frame in which the snapshot was taken. -- **timestamp** (_[carla.Timestamp](#carla.Timestamp)_) +- **timestamp** (_[carla.Timestamp](#carla.Timestamp) – seconds_) Precise moment in time when snapshot was taken. This class works in seconds as given by the operative system.

Methods

@@ -2802,14 +2802,14 @@ Command adaptation of **add_angular_impulse()** in

Instance Variables

- **actor_id** (_int_) Actor affected by the command. -- **impulse** (_[carla.Vector3D](#carla.Vector3D)_) +- **impulse** (_[carla.Vector3D](#carla.Vector3D) – N * m * s_) Angular impulse applied to the actor. Determines magnitude and global axis where it is applied.

Methods

- **\__init__**(**self**, **actor**, **impulse**) - **Parameters:** - `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to. - - `impulse` (_[carla.Vector3D](#carla.Vector3D)_) + - `impulse` (_[carla.Vector3D](#carla.Vector3D) – N * m * s_) --- @@ -2819,14 +2819,14 @@ Command adaptation of **set_angular_velocity()** in

Instance Variables

- **actor_id** (_int_) Actor affected by the command. -- **angular_velocity** (_[carla.Vector3D](#carla.Vector3D)_) +- **angular_velocity** (_[carla.Vector3D](#carla.Vector3D) – rad/s_) The 3D angular velocity that will be applied to the actor.

Methods

- **\__init__**(**self**, **actor**, **angular_velocity**) - **Parameters:** - `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to. - - `angular_velocity` (_[carla.Vector3D](#carla.Vector3D)_) + - `angular_velocity` (_[carla.Vector3D](#carla.Vector3D) – rad/s_) --- @@ -2836,14 +2836,14 @@ Command adaptation of **add_impulse()** in [carla.A

Instance Variables

- **actor_id** (_int_) Actor affected by the command. -- **impulse** (_[carla.Vector3D](#carla.Vector3D)_) +- **impulse** (_[carla.Vector3D](#carla.Vector3D) – N * s_) Impulse applied to the actor.

Methods

- **\__init__**(**self**, **actor**, **impulse**) - **Parameters:** - `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to. - - `impulse` (_[carla.Vector3D](#carla.Vector3D)_) + - `impulse` (_[carla.Vector3D](#carla.Vector3D) – N * s_) --- @@ -2887,7 +2887,7 @@ Command adaptation of **set_velocity()** in [carla.

Instance Variables

- **actor_id** (_int_) Actor affected by the command. -- **velocity** (_[carla.Vector3D](#carla.Vector3D)_) +- **velocity** (_[carla.Vector3D](#carla.Vector3D) – m/s_) The 3D velocity applied to the actor.

Methods

@@ -2923,7 +2923,7 @@ Apply a state to the walker actor. Specially useful to initialize an actor them Walker actor affected by the command. - **transform** (_[carla.Transform](#carla.Transform)_) Transform to be applied. -- **speed** (_float_) +- **speed** (_float – m/s_) Speed to be applied.

Methods

@@ -2931,7 +2931,7 @@ Speed to be applied. - **Parameters:** - `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to. - `transform` (_[carla.Transform](#carla.Transform)_) - - `speed` (_float_) + - `speed` (_float – m/s_) --- diff --git a/PythonAPI/docs/actor.yml b/PythonAPI/docs/actor.yml index 93f873733..f5c9dcab1 100644 --- a/PythonAPI/docs/actor.yml +++ b/PythonAPI/docs/actor.yml @@ -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/s2 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__ # -------------------------------------- diff --git a/PythonAPI/docs/client.yml b/PythonAPI/docs/client.yml index be27b385a..ff1bca3ed 100644 --- a/PythonAPI/docs/client.yml +++ b/PythonAPI/docs/client.yml @@ -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 diff --git a/PythonAPI/docs/commands.yml b/PythonAPI/docs/commands.yml index 78a606f66..e7ac3341e 100644 --- a/PythonAPI/docs/commands.yml +++ b/PythonAPI/docs/commands.yml @@ -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 diff --git a/PythonAPI/docs/control.yml b/PythonAPI/docs/control.yml index 4385d213a..46ca5fe73 100644 --- a/PythonAPI/docs/control.yml +++ b/PythonAPI/docs/control.yml @@ -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*m2 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*m2/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*m2 - 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*m2/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: diff --git a/PythonAPI/docs/doc_gen.py b/PythonAPI/docs/doc_gen.py index b0cd9de01..7a271564e 100755 --- a/PythonAPI/docs/doc_gen.py +++ b/PythonAPI/docs/doc_gen.py @@ -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 = ' – '+create_hyperlinks(param['param_units']+'') + 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 = ' – '+create_hyperlinks(method['return_units']+'') + 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 = ' – '+create_hyperlinks(method['return_units']+'') + 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 = ' – '+create_hyperlinks(inst_var['var_units']+'') + 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)) + diff --git a/PythonAPI/docs/geom.yml b/PythonAPI/docs/geom.yml index 1321fcc5a..8be2ad7ec 100644 --- a/PythonAPI/docs/geom.yml +++ b/PythonAPI/docs/geom.yml @@ -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: diff --git a/PythonAPI/docs/light_manager.yml b/PythonAPI/docs/light_manager.yml index e3267b3a0..3455644a8 100644 --- a/PythonAPI/docs/light_manager.yml +++ b/PythonAPI/docs/light_manager.yml @@ -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. # -------------------------------------- diff --git a/PythonAPI/docs/map.yml b/PythonAPI/docs/map.yml index 88cbaad0a..994d8876b 100644 --- a/PythonAPI/docs/map.yml +++ b/PythonAPI/docs/map.yml @@ -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 s value of the current position. - var_name: is_junction @@ -330,6 +334,7 @@ True 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 s. - 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 @@ Example: a traffic light is defined in one of the divergent roads in a junction, but it affects all the possible routes - 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: > diff --git a/PythonAPI/docs/osm2odr.yml b/PythonAPI/docs/osm2odr.yml index 365992e6b..598db3d33 100644 --- a/PythonAPI/docs/osm2odr.yml +++ b/PythonAPI/docs/osm2odr.yml @@ -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__. diff --git a/PythonAPI/docs/sensor_data.yml b/PythonAPI/docs/sensor_data.yml index 1a334992d..6897d85a7 100644 --- a/PythonAPI/docs/sensor_data.yml +++ b/PythonAPI/docs/sensor_data.yml @@ -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*s2 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 diff --git a/PythonAPI/docs/snapshot.yml b/PythonAPI/docs/snapshot.yml index e94c5b563..04c310e30 100644 --- a/PythonAPI/docs/snapshot.yml +++ b/PythonAPI/docs/snapshot.yml @@ -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/s2 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. # -------------------------------------- diff --git a/PythonAPI/docs/weather.yml b/PythonAPI/docs/weather.yml index 9794239bf..52e22e372 100644 --- a/PythonAPI/docs/weather.yml +++ b/PythonAPI/docs/weather.yml @@ -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 diff --git a/PythonAPI/docs/world.yml b/PythonAPI/docs/world.yml index dcd374c68..cd9d519ff 100644 --- a/PythonAPI/docs/world.yml +++ b/PythonAPI/docs/world.yml @@ -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. 0.0 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 **apply_settings()**. # -------------------------------------- @@ -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 10.0 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 10.0 by default. doc: > The client tells the server to pause the simulation until a **World.tick()** 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 0 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 0 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 0 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 0 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 0 for permanent shapes. doc: > Draws a string in a given location of the simulation which can only be seen server-side. # --------------------------------------