From 994110047e7e5c314484a109f493fa23d22143eb Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Sun, 21 Oct 2018 23:29:12 +0200
Subject: [PATCH] Fix set actor transform broken for attached actors

---
 PythonAPI/manual_control.py                              | 9 +++++----
 .../Carla/Source/Carla/Server/TheNewCarlaServer.cpp      | 8 ++++----
 2 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/PythonAPI/manual_control.py b/PythonAPI/manual_control.py
index 74222a3c3..6b59f0dfa 100755
--- a/PythonAPI/manual_control.py
+++ b/PythonAPI/manual_control.py
@@ -342,8 +342,8 @@ class CameraManager(object):
         self._recording = False
         self._camera_transforms = [
             carla.Transform(carla.Location(x=1.6, z=1.7)),
-            carla.Transform(carla.Location(x=-4.5, z=2.8), carla.Rotation(pitch=-15))]
-        self._current_transform = self._camera_transforms[0]
+            carla.Transform(carla.Location(x=-5.5, z=2.8), carla.Rotation(pitch=-15))]
+        self._transform_index = 0
         self._sensors = [
             ['sensor.camera.rgb', cc.None, 'Camera RGB'],
             ['sensor.camera.depth', cc.None, 'Camera Depth (Raw)'],
@@ -363,7 +363,8 @@ class CameraManager(object):
         self.set_sensor(0)
 
     def toggle_camera(self):
-        self._hud.error('not implemented')
+        self._transform_index = (self._transform_index + 1) % len(self._camera_transforms)
+        self.sensor.set_transform(self._camera_transforms[self._transform_index])
 
     def set_sensor(self, index):
         index = index % len(self._sensors)
@@ -375,7 +376,7 @@ class CameraManager(object):
                 self._surface = None
             self.sensor = self._parent.get_world().spawn_actor(
                 self._sensors[index][-1],
-                self._current_transform,
+                self._camera_transforms[self._transform_index],
                 attach_to=self._parent)
             # We need to pass the lambda a weak reference to self to avoid
             # circular reference.
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/TheNewCarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/TheNewCarlaServer.cpp
index 40bc9c0a0..08e6e4892 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/TheNewCarlaServer.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/TheNewCarlaServer.cpp
@@ -283,7 +283,7 @@ void FTheNewCarlaServer::FPimpl::BindActions()
 
   Server.BindSync("set_actor_location", [this](
       cr::Actor Actor,
-      cr::Location Location) -> bool {
+      cr::Location Location) {
     RequireEpisode();
     auto ActorView = Episode->GetActorRegistry().Find(Actor.id);
     if (!ActorView.IsValid() || ActorView.GetActor()->IsPendingKill()) {
@@ -292,7 +292,7 @@ void FTheNewCarlaServer::FPimpl::BindActions()
     // This function only works with teleport physics, to reset speeds we need
     // another method.
     /// @todo print error instead of returning false.
-    return ActorView.GetActor()->SetActorLocation(
+    ActorView.GetActor()->SetActorRelativeLocation(
         Location,
         false,
         nullptr,
@@ -301,7 +301,7 @@ void FTheNewCarlaServer::FPimpl::BindActions()
 
   Server.BindSync("set_actor_transform", [this](
       cr::Actor Actor,
-      cr::Transform Transform) -> bool {
+      cr::Transform Transform) {
     RequireEpisode();
     auto ActorView = Episode->GetActorRegistry().Find(Actor.id);
     if (!ActorView.IsValid() || ActorView.GetActor()->IsPendingKill()) {
@@ -309,7 +309,7 @@ void FTheNewCarlaServer::FPimpl::BindActions()
     }
     // This function only works with teleport physics, to reset speeds we need
     // another method.
-    return ActorView.GetActor()->SetActorTransform(
+    ActorView.GetActor()->SetActorRelativeTransform(
         Transform,
         false,
         nullptr,