diff --git a/Docs/python_api.md b/Docs/python_api.md index 7f3b28576..792162a12 100644 --- a/Docs/python_api.md +++ b/Docs/python_api.md @@ -1,5 +1,4 @@ ## carla.Actor -<<<<<<< HEAD CARLA defines actors as anything that plays a role in the simulation or can be moved around. That includes: pedestrians, vehicles, sensors and traffic signs (considering traffic lights as part of these). Actors are spawned in the simulation by [carla.World](#carla.World) and they need for a [carla.ActorBlueprint](#carla.ActorBlueprint) to be created. These blueprints belong into a library provided by CARLA, find more about them [here](../bp_library/).

Instance Variables

@@ -65,97 +64,10 @@ Teleports the actor to a given transform (location and rotation). Sets the actor's velocity vector. - **Parameters:** - `velocity` (_[carla.Vector3D](#carla.Vector3D)_) -======= -Base class for all actors. -Actor is anything that plays a role in the simulation and can be moved around, examples of actors are vehicles, pedestrians, and sensors. - -

Instance Variables

-- **id** (_int_) -Unique id identifying this actor. Note ids are unique during a given episode. -- **type_id** (_str_) -Id of the blueprint that created this actor, e.g. "vehicle.ford.mustang". -- **parent** (_[carla.Actor](#carla.Actor)_) -Parent actor of this instance, None if this instance is not attached to another actor. -- **semantic_tags** (_list(int)_) -List of semantic tags of all components of this actor, see semantic segmentation sensor for the list of available tags. E.g., a traffic light actor could contain "pole" and "traffic light" tags. -- **is_alive** (_bool_) -Returns whether this object was destroyed using this actor handle. -- **attributes** (_dict_) -Dictionary of attributes of the blueprint that created this actor. - -

Methods

-- **destroy**(**self**) -Tell the simulator to destroy this Actor, and return whether the actor was successfully destroyed. It has no effect if the Actor was already successfully destroyed. - - **Return:** _bool_ - - **Warning:** _This function blocks until the destruction operation is completed by the simulator. -_ -- **get_world**(**self**) -Returns the world this actor belongs to. - - **Return:** _[carla.World](#carla.World)_ -- **get_location**(**self**) -Returns the actor's current location. - - **Return:** _[carla.Location](#carla.Location)_ - - **Note:** _This function does not call the simulator, it returns the location received in the last tick. -_ -- **get_transform**(**self**) -Returns the actor's current transform. - - **Return:** _[carla.Transform](#carla.Transform)_ - - **Note:** _This function does not call the simulator, it returns the transform received in the last tick. -_ -- **get_velocity**(**self**) -Returns the actor's current 3D velocity. - - **Return:** _[carla.Vector3D](#carla.Vector3D)_ - - **Note:** _This function does not call the simulator, it returns the velocity received in the last tick. -_ -- **get_angular_velocity**(**self**) -Returns the actor's current 3D angular velocity. - - **Return:** _[carla.Vector3D](#carla.Vector3D)_ - - **Note:** _This function does not call the simulator, it returns the angular velocity received in the last tick. -_ -- **get_acceleration**(**self**) -Returns the actor's current 3D acceleration. - - **Return:** _[carla.Vector3D](#carla.Vector3D)_ - - **Note:** _This function does not call the simulator, it returns the acceleration received in the last tick. -_ -- **set_location**(**self**, **location**) -Teleport the actor to a given location. - - **Parameters:** - - `location` (_[carla.Location](#carla.Location)_) -- **set_transform**(**self**, **transform**) -Teleport the actor to a given transform. - - **Parameters:** - - `transform` (_[carla.Transform](#carla.Transform)_) -- **set_velocity**(**self**, **velocity**) -Set the actor's velocity. - - **Parameters:** - - `velocity` (_[carla.Vector3D](#carla.Vector3D)_) -- **set_angular_velocity**(**self**, **angular_velocity**) -Set the actor's angular velocity. - - **Parameters:** - - `angular_velocity` (_[carla.Vector3D](#carla.Vector3D)_) -- **add_impulse**(**self**, **impulse**) -Add impulse to the actor. - - **Parameters:** - - `impulse` (_[carla.Vector3D](#carla.Vector3D)_) -- **set_simulate_physics**(**self**, **enabled**=True) -Enable or disable physics simulation on this actor. - - **Parameters:** -<<<<<<< HEAD - - `enabled` (_bool_) -- **\__str__**(**self**) - - **Return:** _str_ ->>>>>>> Python documentation. -======= - - `enabled` (_bool_) -- **\__str__**(**self**) - - **Return:** _str_ ->>>>>>> Fixed docs. --- ## carla.ActorAttribute -<<<<<<< HEAD -<<<<<<< HEAD CARLA provides a library of blueprints for actors that can be accessed as [carla.BlueprintLibrary](#carla.BlueprintLibrary). Each of these blueprints has a series of attributes defined internally. Some of these are modifiable, others are not. A list of recommended values is provided for those that can be set.

Instance Variables

@@ -200,57 +112,10 @@ Returns true if this actor's attribute and `other` are different. - **\__nonzero__**(**self**) Returns true if this actor's attribute is not zero or null. - **Return:** _bool_ -======= -Class that defines an attribute of a [carla.ActorBlueprint](#carla.ActorBlueprint). -======= -Class that defines an attribute of a [carla.ActorBlueprint](#carla.ActorBlueprint). ->>>>>>> Fixed docs. - -

Instance Variables

-- **id** (_str_) -The attribute's identifier. -- **type** (_[carla.ActorAttributeType](#carla.ActorAttributeType)_) -The attribute parameter type. -- **recommended_values** (_list(str)_) -List of recommended values that the attribute may have. -- **is_modifiable** (_bool_) -True if the attribute is modifiable. - -

Methods

-- **as_bool**(**self**) -- **as_int**(**self**) -- **as_float**(**self**) -- **as_str**(**self**) -- **as_color**(**self**) -- **\__eq__**(**self**, **other**) - - **Parameters:** - - `other` (_bool / int / float / str / [carla.Color](#carla.Color) / [carla.ActorAttribute](#carla.ActorAttribute)_) -- **\__ne__**(**self**, **other**) - - **Parameters:** -<<<<<<< HEAD - - `other` (_bool / int / float / str / [carla.Color](#carla.Color) / [carla.ActorAttribute](#carla.ActorAttribute)_) -- **\__nonzero__**(**self**) -- **\__bool__**(**self**) -- **\__int__**(**self**) -- **\__float__**(**self**) -- **\__str__**(**self**) -- **\__str__**(**self**) ->>>>>>> Python documentation. -======= - - `other` (_bool / int / float / str / [carla.Color](#carla.Color) / [carla.ActorAttribute](#carla.ActorAttribute)_) -- **\__nonzero__**(**self**) -- **\__bool__**(**self**) -- **\__int__**(**self**) -- **\__float__**(**self**) -- **\__str__**(**self**) -- **\__str__**(**self**) ->>>>>>> Fixed docs. --- ## carla.ActorAttributeType -<<<<<<< HEAD -<<<<<<< HEAD CARLA provides a library of blueprints for actors in [carla.BlueprintLibrary](#carla.BlueprintLibrary) with different attributes each. This class defines the types those at [carla.ActorAttribute](#carla.ActorAttribute) can be as a series of enum. All this information is managed internally and listed here for a better comprehension of how CARLA works.

Instance Variables

@@ -259,32 +124,10 @@ CARLA provides a library of blueprints for actors in [carla.BlueprintLibrary](#c - **Float** - **RGBColor** - **String** -======= -Class that defines the type of attribute of a [carla.ActorAttribute](#carla.ActorAttribute). - -

Instance Variables

-- **Bool** -- **Int** -- **Float** -- **String** -- **RGBColor** ->>>>>>> Python documentation. -======= -Class that defines the type of attribute of a [carla.ActorAttribute](#carla.ActorAttribute). - -

Instance Variables

-- **Bool** -- **Int** -- **Float** -- **String** -- **RGBColor** ->>>>>>> Fixed docs. --- ## carla.ActorBlueprint -<<<<<<< HEAD -<<<<<<< HEAD CARLA provides a blueprint library for actors that can be consulted through [carla.BlueprintLibrary](#carla.BlueprintLibrary). Each of these consists of an identifier for the blueprint and a series of attributes that may be modifiable or not. This class is the intermediate step between the library and the actor creation. Actors need an actor blueprint to be spawned. These store the information for said blueprint in an object with its attributes and some tags to categorize them. The user can then customize some attributes and eventually spawn the actors through [carla.World](#carla.World).

Instance Variables

@@ -325,65 +168,10 @@ If the `id` attribute is modifiable, changes its value to `value`. - **Parameters:** - `id` (_str_) – The identifier for the attribute that is intended to be changed. - `value` (_str_) – The new value for said attribute. -======= -Class that contains all the necessary information for spawning an Actor. -======= -Class that contains all the necessary information for spawning an Actor. ->>>>>>> Fixed docs. - -

Instance Variables

-- **id** (_str_) -Actor blueprint identifier, e.g. `walker.pedestrian.0001`. -- **tags** (_list(str)_) -List of tags of an actor blueprint e.g. `['0001', 'pedestrian', 'walker']`. - -

Methods

-- **has_tag**(**self**, **tag**) -Returns `true` if an actor blueprint has the tag. - - **Parameters:** - - `tag` (_str_) – e.g. 'walker'. - - **Return:** _bool_ -- **match_tags**(**self**, **wildcard_pattern**) -Test if any of the flags or id matches wildcard_pattern. - - **Parameters:** - - `wildcard_pattern` (_str_) - - **Return:** _bool_ - - **Note:** _The wildcard_pattern follows Unix shell-style wildcards. -_ -- **has_attribute**(**self**, **id**) -Returns `true` if the blueprint contains the specified attribute. - - **Parameters:** - - `id` (_str_) – e.g 'gender'. - - **Return:** _bool_ -- **get_attribute**(**self**, **id**) -Returns the current actor attribute through its id. - - **Parameters:** - - `id` (_str_) - - **Return:** _[carla.ActorAttribute](#carla.ActorAttribute)_ -- **set_attribute**(**self**, **id**, **value**) -Sets an existing attribute to the actor's blueprint. - - **Parameters:** - - `id` (_str_) - - `value` (_str_) - - **Note:** _Attribute can only be set or changed if it is modifiable -<<<<<<< HEAD -_ -- **\__len__**(**self**) -- **\__iter__**(**self**) -- **\__str__**(**self**) ->>>>>>> Python documentation. -======= -_ -- **\__len__**(**self**) -- **\__iter__**(**self**) -- **\__str__**(**self**) ->>>>>>> Fixed docs. --- ## carla.ActorList -<<<<<<< HEAD -<<<<<<< HEAD A class that contains every actor present on the scene and provides access to them. The list is automatically created and updated by the server and it can be returned using [carla.World](#carla.World).

Methods

@@ -410,43 +198,10 @@ Finds an actor using its identifier and returns it or None if it is not p - **Parameters:** - `actor_id` (_int_) - **Return:** _[carla.Actor](#carla.Actor)_ -======= -Class that provides access to actors. -======= -Class that provides access to actors. ->>>>>>> Fixed docs. - -

Methods

-- **find**(**self**, **actor_id**) -Find an actor by ID. - - **Parameters:** - - `actor_id` (_int_) -- **filter**(**self**, **wildcard_pattern**) -Filters a list of Actors with type_id matching wildcard_pattern. - - **Parameters:** - - `wildcard_pattern` (_str_) - - **Note:** _The wildcard_pattern follows Unix shell-style wildcards (fnmatch). -_ -- **\__getitem__**(**self**, **pos**) - - **Parameters:** -<<<<<<< HEAD - - `pos` (_int_) -- **\__len__**(**self**) -- **\__iter__**(**self**) -- **\__str__**(**self**) ->>>>>>> Python documentation. -======= - - `pos` (_int_) -- **\__len__**(**self**) -- **\__iter__**(**self**) -- **\__str__**(**self**) ->>>>>>> Fixed docs. --- ## carla.ActorSnapshot -<<<<<<< HEAD -<<<<<<< HEAD A class that comprises all the information for an actor at a certain moment in time. These objects are contained in a [carla.WorldSnapshot](#carla.WorldSnapshot) and sent to the client once every tick.

Instance Variables

@@ -466,53 +221,10 @@ Returns the actor's transform (location and rotation) for an actor in that tick. - **get_velocity**(**self**) Returns the velocity vector registered for an actor in that tick. - **Return:** _[carla.Vector3D](#carla.Vector3D)_ -======= -Class that provides access to the data of a [carla.Actor](#carla.Actor) in a [carla.WorldSnapshot](#carla.WorldSnapshot). -======= -Class that provides access to the data of a [carla.Actor](#carla.Actor) in a [carla.WorldSnapshot](#carla.WorldSnapshot). ->>>>>>> Fixed docs. - -

Instance Variables

-- **id** (_int_) -The ActorSnapshot's identifier. - -

Methods

-<<<<<<< HEAD -- **get_transform**(**self**) -Returns the actor's current transform. - - **Return:** _[carla.Transform](#carla.Transform)_ -- **get_velocity**(**self**) -Returns the actor's current 3D velocity. - - **Return:** _[carla.Vector3D](#carla.Vector3D)_ -- **get_angular_velocity**(**self**) -Returns the actor's current 3D angular velocity. - - **Return:** _[carla.Vector3D](#carla.Vector3D)_ -- **get_acceleration**(**self**) -Returns the actor's current 3D acceleration. - - **Return:** _[carla.Vector3D](#carla.Vector3D)_ -- **\__self__**(**self**) ->>>>>>> Python documentation. -======= -- **get_transform**(**self**) -Returns the actor's current transform. - - **Return:** _[carla.Transform](#carla.Transform)_ -- **get_velocity**(**self**) -Returns the actor's current 3D velocity. - - **Return:** _[carla.Vector3D](#carla.Vector3D)_ -- **get_angular_velocity**(**self**) -Returns the actor's current 3D angular velocity. - - **Return:** _[carla.Vector3D](#carla.Vector3D)_ -- **get_acceleration**(**self**) -Returns the actor's current 3D acceleration. - - **Return:** _[carla.Vector3D](#carla.Vector3D)_ -- **\__self__**(**self**) ->>>>>>> Fixed docs. --- ## carla.AttachmentType -<<<<<<< HEAD -<<<<<<< HEAD Class that defines attachment options between an actor and its parent. When spawning actors, these can be attached to another actor so their position changes accordingly. This is specially useful for cameras and sensors. [Here](../python_cookbook/#attach-sensors-recipe) is a brief recipe in which we can see how sensors can be attached to a car when spawned. Note that the attachment type is declared as an enum within the class.

Instance Variables

@@ -520,30 +232,10 @@ Class that defines attachment options between an actor and its parent. When spaw With this fixed attatchment the object follow its parent position strictly. - **SpringArm** An attachment that expands or retracts depending on camera situation. SpringArms are an Unreal Engine component so [check this out](../python_cookbook/#attach-sensors-recipe) to learn some more about them. -======= -Class that defines the attachment options. See [carla.World.spawn_actor](#carla.World.spawn_actor).
Check out this [`recipe`](../python_cookbook/#attach-sensors-recipe)! - -

Instance Variables

-- **Rigid** -Standard fixed attachment. -- **SpringArm** -Attachment that expands or retracts based on camera situation. ->>>>>>> Python documentation. -======= -Class that defines the attachment options. See [carla.World.spawn_actor](#carla.World.spawn_actor).
Check out this [`recipe`](../python_cookbook/#attach-sensors-recipe)! - -

Instance Variables

-- **Rigid** -Standard fixed attachment. -- **SpringArm** -Attachment that expands or retracts based on camera situation. ->>>>>>> Fixed docs. --- ## carla.BlueprintLibrary -<<<<<<< HEAD -<<<<<<< HEAD A class that contains the blueprints provided for actor spawning. Its main application is to return [carla.ActorBlueprint](#carla.ActorBlueprint) objects needed to spawn actors. Each blueprint has an identifier and attributes that may or may not be modifiable. The library is automatically created by the server and can be accessed through [carla.World](#carla.World). [Here](../bp_library/) is a reference containing every available blueprint and its specifics. @@ -572,47 +264,10 @@ Returns the blueprint corresponding to that identifier. - **Parameters:** - `id` (_str_) - **Return:** _[carla.ActorBlueprint](#carla.ActorBlueprint)_ -======= -Class that provides access to [blueprints](../bp_library/). -======= -Class that provides access to [blueprints](../bp_library/). ->>>>>>> Fixed docs. - -

Methods

-- **find**(**self**, **id**) -Returns a [carla.ActorBlueprint](#carla.ActorBlueprint) through its id. - - **Parameters:** - - `id` (_str_) - - **Return:** _[carla.ActorBlueprint](#carla.ActorBlueprint)_ -- **filter**(**self**, **wildcard_pattern**) -Filters a list of ActorBlueprint with id or tags matching wildcard_pattern. The pattern is matched against each blueprint's id and tags. - - **Parameters:** - - `wildcard_pattern` (_str_) - - **Return:** _[carla.BlueprintLibrary](#carla.BlueprintLibrary)_ - - **Note:** _The wildcard_pattern follows Unix shell-style wildcards (fnmatch). -_ -- **\__getitem__**(**self**, **pos**) - - **Parameters:** -<<<<<<< HEAD - - `pos` (_int_) - - **Return:** _[carla.ActorBlueprint](#carla.ActorBlueprint)_ -- **\__len__**(**self**) -- **\__iter__**(**self**) -- **\__str__**(**self**) ->>>>>>> Python documentation. -======= - - `pos` (_int_) - - **Return:** _[carla.ActorBlueprint](#carla.ActorBlueprint)_ -- **\__len__**(**self**) -- **\__iter__**(**self**) -- **\__str__**(**self**) ->>>>>>> Fixed docs. --- ## carla.BoundingBox -<<<<<<< HEAD -<<<<<<< HEAD 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](../python_cookbook/#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

@@ -621,399 +276,14 @@ The center of the bounding box relative to its parent actor. - **extent** (_[carla.Vector3D](#carla.Vector3D)_) 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. -======= -Bounding box helper class. - -

Instance Variables

-- **location** (_[carla.Location](#carla.Location)_) -The center of the bounding box relative to its parent actor. -- **extent** (_[carla.Vector3D](#carla.Vector3D)_) -It contains the vector from the center of the bounding box to one of the vertex of the box. -So, if you want to know the _X bounding box size_, you can just do `extent.x * 2`. - -

Methods

-- **\__init__**(**self**, **location**, **extent**) - - **Parameters:** - - `location` (_[carla.Location](#carla.Location)_) - - `extent` (_[carla.Vector3D](#carla.Vector3D)_) -- **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. - - `transform` (_[carla.Transform](#carla.Transform)_) – Contains location and rotation needed to convert this object's local space to world space. - - **Return:** _bool_ -- **get_local_vertices**(**self**) -Returns a list containing the locations of this object's vertices in local space. - - **Return:** _list([carla.Location](#carla.Location))_ -- **get_world_vertices**(**self**, **transform**) -Returns a list containing the locations of this object's vertices in world space. - - **Parameters:** - - `transform` (_[carla.Transform](#carla.Transform)_) – Contains location and rotation needed to convert this object's local space to world space. - - **Return:** _list([carla.Location](#carla.Location))_ -- **\__eq__**(**self**, **other**) - - **Parameters:** - - `other` (_[carla.BoundingBox](#carla.BoundingBox)_) -- **\__ne__**(**self**, **other**) - - **Parameters:** - - `other` (_[carla.BoundingBox](#carla.BoundingBox)_) -- **\__str__**(**self**) - ---- - -## carla.LandmarkOrientation _class_ -Class defining the orientation of a landmark in the road. - -

Instance Variables

-- **Positive** -Positive direction of the road's geometry definition (negative lanes). -- **Negative** -Negative direction of the road's geometry definition (positive lanes). -- **Both** -Affects lanes in both directions of the road. - ---- - -## carla.LandmarkType _class_ -Class containing a set of landmarks using the country code OpenDRIVE. See section 6.10 in the OpenDrive 1.5M specification. - -

Instance Variables

-- **Danger** -Type 101. -- **LanesMerging** -Type 121. -- **CautionPedestrian** -Type 133. -- **CautionBicycle** -Type 138. -- **LevelCrossing** -Type 150. -- **Stop** -Type 206. -- **Yield** -Type 205. -- **MandatoryTurnDirection** -Type 209. -- **MandatoryLeftRightDirection** -Type 211. -- **TwoChoiceTurnDirection** -Type 214. -- **Roundabout** -Type 215. -- **PassRightLeft** -Type 222. -- **AccessForbidden** -Type 250. -- **AccessForbiddenMotorvehicles** -Type 251. -- **AccessForbiddenTrucks** -Type 253. -- **AccessForbiddenBicycle** -Type 254. -- **AccessForbiddenWeight** -Type 263. -- **AccessForbiddenWidth** -Type 264. -- **AccessForbiddenHeight** -Type 265. -- **AccessForbiddenWrongDirection** -Type 267. -- **ForbiddenUTurn** -Type 272. -- **MaximumSpeed** -Type 274. -- **ForbiddenOvertakingMotorvehicles** -Type 276. -- **ForbiddenOvertakingTrucks** -Type 277. -- **AbsoluteNoStop** -Type 283. -- **RestrictedStop** -Type 286. -- **HasWayNextIntersection** -Type 301. -- **PriorityWay** -Type 306. -- **PriorityWayEnd** -Type 307. -- **CityBegin** -Type 310. -- **CityEnd** -Type 311. -- **Highway** -Type 330. -- **RecomendedSpeed** -Type 380. -- **RecomendedSpeedEnd** -Type 381. - ---- - -## carla.LaneChange _class_ -Class that defines the permission to turn either left, right, both or none (meaning only going straight is allowed). This information is stored for every [carla.Waypoint](#carla.Waypoint) according to the OpenDRIVE file. In this [recipe](../python_cookbook/#lanes-recipe) the user creates a waypoint for a current vehicle position and learns which turns are permitted. - -

Instance Variables

-- **NONE** -Traffic rules do not allow turning right or left, only going straight. -- **Both** -Traffic rules allow turning either right or left. -- **Left** -Traffic rules allow turning left. -- **Right** -Traffic rules allow turning right. - ---- - -## carla.LaneMarking _class_ -Class that gathers all the information regarding a lane marking according to [OpenDRIVE 1.4 standard](http://www.opendrive.org/docs/OpenDRIVEFormatSpecRev1.4H.pdf) standard. - -

Instance Variables

-- **color** (_[carla.LaneMarkingColor](#carla.LaneMarkingColor)_) -Actual color of the marking. -- **lane_change** (_[carla.LaneChange](#carla.LaneChange)_) -Permissions for said lane marking to be crossed. -- **type** (_[carla.LaneMarkingType](#carla.LaneMarkingType)_) -Lane marking type. -- **width** (_float_) -Horizontal lane marking thickness. - ---- - -## carla.LaneMarkingColor _class_ -Class that defines the lane marking colors according to OpenDRIVE 1.4. - -

Instance Variables

-- **Standard** -White by default. -- **Blue** -- **Green** -- **Red** -- **White** -- **Yellow** -- **Other** - ---- - -## carla.LaneMarkingType _class_ -Class that defines the lane marking types accepted by OpenDRIVE 1.4. Take a look at this [recipe](../python_cookbook/#lanes-recipe) where the user creates a [carla.Waypoint](#carla.Waypoint) for a vehicle location and retrieves from it the information about adjacent lane markings. - -

Instance Variables

-- **NONE** -- **BottsDots** -- **Broken** -- **BrokenBroken** -From inside to outside except for center lane which is from left to right. -- **BrokenSolid** -From inside to outside except for center lane which is from left to right. -- **Curb** -- **Grass** -- **Solid** -- **SolidBroken** -From inside to outside except for center lane which is from left to right. -- **SolidSolid** -For double solid line. -- **Other** - ---- - -## carla.LaneType _class_ -Class that defines the possible lane types accepted by OpenDRIVE 1.4. This standards define the road information. For instance in this [recipe](../python_cookbook/#lanes-recipe) the user creates a [carla.Waypoint](#carla.Waypoint) for the current location of a vehicle and uses it to get the current and adjacent lane types. - -

Instance Variables

-- **NONE** -- **Any** -Every type except for NONE. -- **Bidirectional** -- **Biking** -- **Border** -- **Driving** -- **Entry** -- **Exit** -- **Median** -- **OffRamp** -- **OnRamp** -- **Parking** -- **Rail** -- **Restricted** -- **RoadWorks** -- **Shoulder** -- **Sidewalk** -- **Special1** -- **Special2** -- **Special3** -- **Stop** -- **Tram** - ---- - -## carla.SensorData _class_ -Base class for all the objects containing data generated by a sensor. - -

Instance Variables

-- **frame** (_int_) -Frame count when the data was generated. -- **timestamp** (_float_) -Simulation-time when the data was generated. -- **transform** (_[carla.Transform](#carla.Transform)_) -Sensor's transform when the data was generated. - ---- - -## carla.TrafficLightState _class_ -All possible states for traffic lights. Check out this [`recipe`](../python_cookbook/#traffic-lights-recipe)! - -

Instance Variables

-- **Red** -- **Yellow** -- **Green** -- **Off** -- **Unknown** - ---- - -## carla.VehicleLightState _class_ -Class that recaps the state of the lights of a vehicle, these can be used as a flags. E.g: `VehicleLightState.HighBeam & VehicleLightState.Brake` will return `True` when both are active. Lights are off by default in any situation and should be managed by the user via script. The blinkers blink automatically. _Warning: Right now, not all vehicles have been prepared to work with this functionality, this will be added to all of them in later updates_. - -

Instance Variables

-- **NONE** -All lights off. -- **Position** -- **LowBeam** -- **HighBeam** -- **Brake** -- **RightBlinker** -- **LeftBlinker** -- **Reverse** -- **Fog** -- **Interior** -- **Special1** -This is reserved for certain vehicles that can have special lights, like a siren. -- **Special2** -This is reserved for certain vehicles that can have special lights, like a siren. -- **Any** -All lights on. - ---- - -## carla.Actor _class_ -Base class for all actors. -Actor is anything that plays a role in the simulation and can be moved around, examples of actors are vehicles, pedestrians, and sensors. - -

Instance Variables

-- **id** (_int_) -Unique id identifying this actor. Note ids are unique during a given episode. -- **type_id** (_str_) -Id of the blueprint that created this actor, e.g. "vehicle.ford.mustang". -- **parent** (_[carla.Actor](#carla.Actor)_) -Parent actor of this instance, None if this instance is not attached to another actor. -- **semantic_tags** (_list(int)_) -List of semantic tags of all components of this actor, see semantic segmentation sensor for the list of available tags. E.g., a traffic light actor could contain "pole" and "traffic light" tags. -- **is_alive** (_bool_) -Returns whether this object was destroyed using this actor handle. -- **attributes** (_dict_) -Dictionary of attributes of the blueprint that created this actor. - -

Methods

-- **destroy**(**self**) -Tell the simulator to destroy this Actor, and return whether the actor was successfully destroyed. It has no effect if the Actor was already successfully destroyed. - - **Return:** _bool_ - - **Warning:** _This function blocks until the destruction operation is completed by the simulator. -_ -- **get_world**(**self**) -Returns the world this actor belongs to. - - **Return:** _[carla.World](#carla.World)_ -- **get_location**(**self**) -Returns the actor's current location. - - **Return:** _[carla.Location](#carla.Location)_ - - **Note:** _This function does not call the simulator, it returns the location received in the last tick. -_ -- **get_transform**(**self**) -Returns the actor's current transform. - - **Return:** _[carla.Transform](#carla.Transform)_ - - **Note:** _This function does not call the simulator, it returns the transform received in the last tick. -_ -- **get_velocity**(**self**) -Returns the actor's current 3D velocity. - - **Return:** _[carla.Vector3D](#carla.Vector3D)_ - - **Note:** _This function does not call the simulator, it returns the velocity received in the last tick. -_ -- **get_angular_velocity**(**self**) -Returns the actor's current 3D angular velocity. - - **Return:** _[carla.Vector3D](#carla.Vector3D)_ - - **Note:** _This function does not call the simulator, it returns the angular velocity received in the last tick. -_ -- **get_acceleration**(**self**) -Returns the actor's current 3D acceleration. - - **Return:** _[carla.Vector3D](#carla.Vector3D)_ - - **Note:** _This function does not call the simulator, it returns the acceleration received in the last tick. -_ -- **set_location**(**self**, **location**) -Teleport the actor to a given location. - - **Parameters:** - - `location` (_[carla.Location](#carla.Location)_) -- **set_transform**(**self**, **transform**) -Teleport the actor to a given transform. - - **Parameters:** - - `transform` (_[carla.Transform](#carla.Transform)_) -- **set_velocity**(**self**, **velocity**) -Set the actor's velocity. - - **Parameters:** - - `velocity` (_[carla.Vector3D](#carla.Vector3D)_) -- **set_angular_velocity**(**self**, **angular_velocity**) -Set the actor's angular velocity. - - **Parameters:** - - `angular_velocity` (_[carla.Vector3D](#carla.Vector3D)_) -- **add_impulse**(**self**, **impulse**) -Add impulse to the actor. - - **Parameters:** - - `impulse` (_[carla.Vector3D](#carla.Vector3D)_) -- **set_simulate_physics**(**self**, **enabled**=True) -Enable or disable physics simulation on this actor. - - **Parameters:** - - `enabled` (_bool_) -- **\__str__**(**self**) - - **Return:** _str_ - ---- - -## carla.ActorAttribute _class_ -Class that defines an attribute of a [carla.ActorBlueprint](#carla.ActorBlueprint). -======= -Bounding box helper class. ->>>>>>> Fixed docs. - -

Instance Variables

-- **location** (_[carla.Location](#carla.Location)_) -The center of the bounding box relative to its parent actor. -- **extent** (_[carla.Vector3D](#carla.Vector3D)_) -It contains the vector from the center of the bounding box to one of the vertex of the box. -<<<<<<< HEAD -So, if you want to know the _X bounding box size_, you can just do `extent.x * 2`. ->>>>>>> Python documentation. -======= -So, if you want to know the _X bounding box size_, you can just do `extent.x * 2`. ->>>>>>> Fixed docs.

Methods

- **\__init__**(**self**, **location**, **extent**) - **Parameters:** -<<<<<<< HEAD -<<<<<<< HEAD - `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. - **contains**(**self**, **world_point**, **transform**) Returns **True** if a point passed in world space is inside this bounding box. -======= - - `location` (_[carla.Location](#carla.Location)_) - - `extent` (_[carla.Vector3D](#carla.Vector3D)_) -- **contains**(**self**, **world_point**, **transform**) -Returns **True** if a point passed in world space is inside this bounding box. ->>>>>>> Python documentation. -======= - - `location` (_[carla.Location](#carla.Location)_) - - `extent` (_[carla.Vector3D](#carla.Vector3D)_) -- **contains**(**self**, **world_point**, **transform**) -Returns **True** if a point passed in world space is inside this bounding box. ->>>>>>> Fixed docs. - **Parameters:** - `world_point` (_[carla.Location](#carla.Location)_) – 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. @@ -1024,8 +294,6 @@ Returns a list containing the locations of this object's vertices in local space - **get_world_vertices**(**self**, **transform**) Returns a list containing the locations of this object's vertices in world space. - **Parameters:** -<<<<<<< HEAD -<<<<<<< HEAD - `transform` (_[carla.Transform](#carla.Transform)_) – Contains location and rotation needed to convert this object's local space to world space. - **Return:** _list([carla.Location](#carla.Location))_ - **\__eq__**(**self**, **other**) @@ -1151,232 +419,10 @@ Enables the recording feature, which will start saving every information possibl - `filename` (_str_) – Name of the file to write the recorded data. A simple name will save the recording in 'CarlaUE4/Saved/recording.log'. Otherwise, if some folder appears in the name, it will be considered an absolute path. - **stop_recorder**(**self**) Stops the recording in progress. If you specified a path in `filename`, the recording will be there. If not, look inside `CarlaUE4/Saved/`. -======= - - `transform` (_[carla.Transform](#carla.Transform)_) – Contains location and rotation needed to convert this object's local space to world space. - - **Return:** _list([carla.Location](#carla.Location))_ -- **\__eq__**(**self**, **other**) -======= - - `transform` (_[carla.Transform](#carla.Transform)_) – Contains location and rotation needed to convert this object's local space to world space. - - **Return:** _list([carla.Location](#carla.Location))_ -- **\__eq__**(**self**, **other**) ->>>>>>> Fixed docs. - - **Parameters:** - - `other` (_[carla.BoundingBox](#carla.BoundingBox)_) -- **\__ne__**(**self**, **other**) - - **Parameters:** - - `other` (_[carla.BoundingBox](#carla.BoundingBox)_) -- **\__str__**(**self**) - ---- - -## carla.Client -Client used to connect to a Carla server. - -

Methods

-<<<<<<< HEAD -- **\__init__**(**self**, **host**, **port**, **worker_threads**=0) -Client constructor. - - **Parameters:** - - `host` (_str_) – IP address where a CARLA Simulator instance is running. - - `port` (_int_) – TCP port where the CARLA Simulator instance is running. - - `worker_threads` (_int_) – Number of working threads used for background updates. If 0, use all available concurrency. -- **set_timeout**(**self**, **seconds**) -Set the timeout in seconds allowed to block when doing networking calls. - - **Parameters:** - - `seconds` (_float_) – New timeout value in seconds. -- **get_client_version**(**self**) -Get the client version as a string. - - **Return:** _str_ -- **get_server_version**(**self**) -Get the server version as a string. - - **Return:** _str_ -- **get_world**(**self**) -Get the world currently active in the simulation. - - **Return:** _[carla.World](#carla.World)_ -- **get_available_maps**(**self**) -Get a list of strings of the maps available on server. The result can be something like: - '/Game/Carla/Maps/Town01' - '/Game/Carla/Maps/Town02' - '/Game/Carla/Maps/Town03' - '/Game/Carla/Maps/Town04' - '/Game/Carla/Maps/Town05' - '/Game/Carla/Maps/Town06' - '/Game/Carla/Maps/Town07'. - - **Return:** _list(str)_ -- **reload_world**(**self**) -Reload the current world, note that a new world is created with default settings using the same map. All actors present in the world will be destroyed. - - **Raises:** RuntimeError -- **load_world**(**self**, **map_name**) -Load a new world with default settings using `map_name` map. All actors present in the current world will be destroyed. - - **Parameters:** - - `map_name` (_str_) – Name of the map to load, accepts both full paths and map names, e.g. '/Game/Carla/Maps/Town01' or 'Town01'. -- **start_recorder**(**self**, **filename**) -If we use a simple name like 'recording.log' then it will be saved at server folder 'CarlaUE4/Saved/recording.log'. If we use some folder in the name, then it will be considered to be an absolute path, like '/home/carla/recording.log'. - - **Parameters:** - - `filename` (_str_) – Name of the file to write the recorded data. -- **stop_recorder**(**self**) -Stops the recording in progress. -- **show_recorder_file_info**(**self**, **filename**, **show_all**) -Will show info about the recorded file (frames, times, events, state, positions...) We have the option to show all the details per frame, that includes all the traffic light states, position of all actors, and animations data. - - **Parameters:** - - `filename` (_str_) – Name of the recorded file to load. - - `show_all` (_bool_) – Show all detailed info, or just a summary. -- **show_recorder_collisions**(**self**, **filename**, **category1**, **category2**) -This will show which collisions were recorded in the file. We can use a filter for the collisions we want, using two categories. The categories can be: - 'h' = Hero - 'v' = Vehicle - 'w' = Walker - 't' = Traffic light - 'o' = Other - 'a' = Any -So, if you want to see only collisions about a vehicle and a walker, we would use for category1 'v' and category2 'w'. Or if you want all the collisions (filter off) you can use 'a' as both categories. - - **Parameters:** - - `filename` (_str_) – Name of the recorded file to load. - - `category1` (_single char_) – Character specifying the category of the first actor. - - `category2` (_single char_) – Character specifying the category of the second actor. -- **show_recorder_actors_blocked**(**self**, **filename**, **min_time**, **min_distance**) -Shows which actors seem blocked by some reason. The idea is to calculate which actors are not moving as much as 'min_distance' for a period of 'min_time'. By default min_time = 60 seconds (1 min) and min_distance = 100 centimeters (1 m). - - **Parameters:** - - `filename` (_str_) – Name of the recorded file to load. - - `min_time` (_float_) – How many seconds has to be stoped an actor to be considered as blocked. - - `min_distance` (_float_) – How many centimeters needs to move the actor in order to be considered as moving, and not blocked. -- **replay_file**(**self**, **name**, **start**, **duration**, **follow_id**) -Playback a file. - - **Parameters:** - - `name` (_str_) – Name of the file. - - `start` (_float_) – Time in seconds where to start the playback. If it is negative, then it starts from the end. - - `duration` (_float_) – Id of the actor to follow. If this is 0 then camera is disabled. - - `follow_id` (_int_) -- **set_replayer_time_factor**(**self**, **time_factor**) -Apply a different playback speed to current playback. Can be used several times while a playback is in curse. - - **Parameters:** - - `time_factor` (_float_) – A value of 1.0 means normal time factor. A value < 1.0 means slow motion (for example 0.5 is half speed) A value > 1.0 means fast motion (for example 2.0 is double speed). -- **apply_batch**(**self**, **commands**) -This function executes the whole list of commands on a single simulation step. For example, to set autopilot on some actors, we could use: [sample_code](https://github.com/carla-simulator/carla/blob/10c5f6a482a21abfd00220c68c7f12b4110b7f63/PythonAPI/examples/spawn_npc.py#L126). We don't have control about the response of each command. If we need that, we can use `apply_batch_sync()`. - - **Parameters:** - - `commands` (_list_) – A list of commands to execute in batch. Each command has a different number of parameters. Currently, we can use these [commands](#command.ApplyAngularVelocity): - SpawnActor - DestroyActor - ApplyVehicleControl - ApplyWalkerControl - ApplyTransform - ApplyVelocity - AplyAngularVelocity - ApplyImpulse - SetSimulatePhysics - SetAutopilot. -- **apply_batch_sync**(**self**, **commands**, **due_tick_cue**) -This function executes the whole list of commands on a single simulation step, blocks until the commands are executed, and returns a list of [`command.Response`](#command.Response) that can be used to determine whether a single command succeeded or not. [sample_code](https://github.com/carla-simulator/carla/blob/10c5f6a482a21abfd00220c68c7f12b4110b7f63/PythonAPI/examples/spawn_npc.py#L112-L116). - - **Parameters:** - - `commands` (_list_) – A list of commands to execute in batch. For a list of commands available see function above apply_batch(). - - `due_tick_cue` (_bool_) – A boolean parameter to specify whether or not to perform a [carla.World.tick](#carla.World.tick) after applying the batch in _synchronous mode_. - - **Return:** _list_ ->>>>>>> Python documentation. -======= -- **\__init__**(**self**, **host**, **port**, **worker_threads**=0) -Client constructor. - - **Parameters:** - - `host` (_str_) – IP address where a CARLA Simulator instance is running. - - `port` (_int_) – TCP port where the CARLA Simulator instance is running. - - `worker_threads` (_int_) – Number of working threads used for background updates. If 0, use all available concurrency. -- **set_timeout**(**self**, **seconds**) -Set the timeout in seconds allowed to block when doing networking calls. - - **Parameters:** - - `seconds` (_float_) – New timeout value in seconds. -- **get_client_version**(**self**) -Get the client version as a string. - - **Return:** _str_ -- **get_server_version**(**self**) -Get the server version as a string. - - **Return:** _str_ -- **get_world**(**self**) -Get the world currently active in the simulation. - - **Return:** _[carla.World](#carla.World)_ -- **get_available_maps**(**self**) -Get a list of strings of the maps available on server. The result can be something like: - '/Game/Carla/Maps/Town01' - '/Game/Carla/Maps/Town02' - '/Game/Carla/Maps/Town03' - '/Game/Carla/Maps/Town04' - '/Game/Carla/Maps/Town05' - '/Game/Carla/Maps/Town06' - '/Game/Carla/Maps/Town07'. - - **Return:** _list(str)_ -- **reload_world**(**self**) -Reload the current world, note that a new world is created with default settings using the same map. All actors present in the world will be destroyed. - - **Raises:** RuntimeError -- **load_world**(**self**, **map_name**) -Load a new world with default settings using `map_name` map. All actors present in the current world will be destroyed. - - **Parameters:** - - `map_name` (_str_) – Name of the map to load, accepts both full paths and map names, e.g. '/Game/Carla/Maps/Town01' or 'Town01'. -- **start_recorder**(**self**, **filename**) -If we use a simple name like 'recording.log' then it will be saved at server folder 'CarlaUE4/Saved/recording.log'. If we use some folder in the name, then it will be considered to be an absolute path, like '/home/carla/recording.log'. - - **Parameters:** - - `filename` (_str_) – Name of the file to write the recorded data. -- **stop_recorder**(**self**) -Stops the recording in progress. -- **show_recorder_file_info**(**self**, **filename**, **show_all**) -Will show info about the recorded file (frames, times, events, state, positions...) We have the option to show all the details per frame, that includes all the traffic light states, position of all actors, and animations data. - - **Parameters:** - - `filename` (_str_) – Name of the recorded file to load. - - `show_all` (_bool_) – Show all detailed info, or just a summary. -- **show_recorder_collisions**(**self**, **filename**, **category1**, **category2**) -This will show which collisions were recorded in the file. We can use a filter for the collisions we want, using two categories. The categories can be: - 'h' = Hero - 'v' = Vehicle - 'w' = Walker - 't' = Traffic light - 'o' = Other - 'a' = Any -So, if you want to see only collisions about a vehicle and a walker, we would use for category1 'v' and category2 'w'. Or if you want all the collisions (filter off) you can use 'a' as both categories. - - **Parameters:** - - `filename` (_str_) – Name of the recorded file to load. - - `category1` (_single char_) – Character specifying the category of the first actor. - - `category2` (_single char_) – Character specifying the category of the second actor. -- **show_recorder_actors_blocked**(**self**, **filename**, **min_time**, **min_distance**) -Shows which actors seem blocked by some reason. The idea is to calculate which actors are not moving as much as 'min_distance' for a period of 'min_time'. By default min_time = 60 seconds (1 min) and min_distance = 100 centimeters (1 m). - - **Parameters:** - - `filename` (_str_) – Name of the recorded file to load. - - `min_time` (_float_) – How many seconds has to be stoped an actor to be considered as blocked. - - `min_distance` (_float_) – How many centimeters needs to move the actor in order to be considered as moving, and not blocked. -- **replay_file**(**self**, **name**, **start**, **duration**, **follow_id**) -Playback a file. - - **Parameters:** - - `name` (_str_) – Name of the file. - - `start` (_float_) – Time in seconds where to start the playback. If it is negative, then it starts from the end. - - `duration` (_float_) – Id of the actor to follow. If this is 0 then camera is disabled. - - `follow_id` (_int_) -- **set_replayer_time_factor**(**self**, **time_factor**) -Apply a different playback speed to current playback. Can be used several times while a playback is in curse. - - **Parameters:** - - `time_factor` (_float_) – A value of 1.0 means normal time factor. A value < 1.0 means slow motion (for example 0.5 is half speed) A value > 1.0 means fast motion (for example 2.0 is double speed). -- **apply_batch**(**self**, **commands**) -This function executes the whole list of commands on a single simulation step. For example, to set autopilot on some actors, we could use: [sample_code](https://github.com/carla-simulator/carla/blob/10c5f6a482a21abfd00220c68c7f12b4110b7f63/PythonAPI/examples/spawn_npc.py#L126). We don't have control about the response of each command. If we need that, we can use `apply_batch_sync()`. - - **Parameters:** - - `commands` (_list_) – A list of commands to execute in batch. Each command has a different number of parameters. Currently, we can use these [commands](#command.ApplyAngularVelocity): - SpawnActor - DestroyActor - ApplyVehicleControl - ApplyWalkerControl - ApplyTransform - ApplyVelocity - AplyAngularVelocity - ApplyImpulse - SetSimulatePhysics - SetAutopilot. -- **apply_batch_sync**(**self**, **commands**, **due_tick_cue**) -This function executes the whole list of commands on a single simulation step, blocks until the commands are executed, and returns a list of [`command.Response`](#command.Response) that can be used to determine whether a single command succeeded or not. [sample_code](https://github.com/carla-simulator/carla/blob/10c5f6a482a21abfd00220c68c7f12b4110b7f63/PythonAPI/examples/spawn_npc.py#L112-L116). - - **Parameters:** - - `commands` (_list_) – A list of commands to execute in batch. For a list of commands available see function above apply_batch(). - - `due_tick_cue` (_bool_) – A boolean parameter to specify whether or not to perform a [carla.World.tick](#carla.World.tick) after applying the batch in _synchronous mode_. - - **Return:** _list_ ->>>>>>> Fixed docs. --- ## carla.CollisionEvent -<<<<<<< HEAD -<<<<<<< HEAD
Inherited from _[carla.SensorData](#carla.SensorData)_

Class that defines a collision data for sensor.other.collision. The sensor creates one of this for every collision detected which may be many for one simulation step. Learn more about this [here](/cameras_and_sensors/#sensorothercollision).

Instance Variables

@@ -1386,41 +432,11 @@ The actor the sensor is attached to, the one that measured the collision. The second actor involved in the collision. - **normal_impulse** (_[carla.Vector3D](#carla.Vector3D)_) Normal impulse resulting of the collision. -======= -
Inherited from _[carla.SensorData](#carla.SensorData)_

Class that defines a registered collision. - -

Instance Variables

-- **actor** (_[carla.Actor](#carla.Actor)_) -Get "self" actor. Actor that measured the collision. -- **other_actor** (_[carla.Actor](#carla.Actor)_) -Get the actor to which we collided. -- **normal_impulse** (_[carla.Vector3D](#carla.Vector3D)_) -Normal impulse result of the collision. ->>>>>>> Python documentation. -======= -
Inherited from _[carla.SensorData](#carla.SensorData)_

Class that defines a registered collision. - -

Instance Variables

-- **actor** (_[carla.Actor](#carla.Actor)_) -Get "self" actor. Actor that measured the collision. -- **other_actor** (_[carla.Actor](#carla.Actor)_) -Get the actor to which we collided. -- **normal_impulse** (_[carla.Vector3D](#carla.Vector3D)_) -Normal impulse result of the collision. ->>>>>>> Fixed docs. --- ## carla.Color -<<<<<<< HEAD -<<<<<<< HEAD Class that defines a 32-bit RGBA color. -======= -Class that defines a 32-bit BGRA color. ->>>>>>> Python documentation. -======= -Class that defines a 32-bit BGRA color. ->>>>>>> Fixed docs.

Instance Variables

- **r** (_int_) @@ -1433,18 +449,8 @@ Blue color (0-255). Alpha channel (0-255).

Methods

-<<<<<<< HEAD -<<<<<<< HEAD - **\__init__**(**self**, **r**=0, **g**=0, **b**=0, **a**=255) Initializes a color, black by default. -======= -- **\__init__**(**self**, **r**=0, **g**=0, **b**=0, **a**=255) -Client constructor. ->>>>>>> Python documentation. -======= -- **\__init__**(**self**, **r**=0, **g**=0, **b**=0, **a**=255) -Client constructor. ->>>>>>> Fixed docs. - **Parameters:** - `r` (_int_) - `g` (_int_) @@ -1461,8 +467,6 @@ Client constructor. --- ## carla.ColorConverter -<<<<<<< HEAD -<<<<<<< HEAD Class that defines conversion patterns that can be applied to a [carla.Image](#carla.Image) in order to show information provided by [carla.Sensor](#carla.Sensor). Depth conversions cause a loss of accuracy, as sensors detect depth as float that is then converted to a grayscale value between 0 and 255. Take a look a this [recipe](../python_cookbook/#converted-image-recipe) to see an example of how to create and save image data for sensor.camera.semantic_segmentation.

Instance Variables

@@ -1474,30 +478,10 @@ Converts the image to a linear depth map. Used by sensor.camera.depth. Converts the image to a depth map using a logarithmic scale, leading to better precision for small distances at the expense of losing it when further away. - **Raw** No changes applied to the image. -======= -Class that defines the color converter options. Check out this [`recipe`](../python_cookbook/#converted-image-recipe)! - -

Instance Variables

-- **Raw** -- **Depth** -- **LogarithmicDepth** -- **CityScapesPalette** ->>>>>>> Python documentation. -======= -Class that defines the color converter options. Check out this [`recipe`](../python_cookbook/#converted-image-recipe)! - -

Instance Variables

-- **Raw** -- **Depth** -- **LogarithmicDepth** -- **CityScapesPalette** ->>>>>>> Fixed docs. --- ## carla.DebugHelper -<<<<<<< HEAD -<<<<<<< HEAD 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](../python_cookbook/#debug-bounding-box-recipe) where the user takes a snapshot of the world and then proceeds to draw bounding boxes for traffic lights.

Methods

@@ -1541,71 +525,10 @@ Draws a string in a given location of the simulation which can only be seen serv - `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_) -======= -Class that provides drawing debug shapes. Check out this [`example`](https://github.com/carla-simulator/carla/blob/master/PythonAPI/util/lane_explorer.py). -======= -Class that provides drawing debug shapes. Check out this [`example`](https://github.com/carla-simulator/carla/blob/master/PythonAPI/util/lane_explorer.py). ->>>>>>> Fixed docs. - -

Methods

-- **draw_point**(**self**, **location**, **size**=0.1f, **color**=(255,0,0), **life_time**=-1.0f, **persistent_lines**=True) -Draws a point in the given location. - - **Parameters:** - - `location` (_[carla.Location](#carla.Location)_) - - `size` (_float_) - - `color` (_[carla.Color](#carla.Color)_) - - `life_time` (_float_) - - `persistent_lines` (_bool_) – _Deprecated, use `life_time = 0` instead_. -- **draw_line**(**self**, **begin**, **end**, **thickness**=0.1f, **color**=(255,0,0), **life_time**=-1.0f, **persistent_lines**=True) -Draws a line between two given locations. - - **Parameters:** - - `begin` (_[carla.Location](#carla.Location)_) - - `end` (_[carla.Location](#carla.Location)_) - - `thickness` (_float_) - - `color` (_[carla.Color](#carla.Color)_) - - `life_time` (_float_) - - `persistent_lines` (_bool_) – _Deprecated, use `life_time = 0` instead_. -- **draw_arrow**(**self**, **begin**, **end**, **thickness**=0.1f, **arrow_size**=0.1f, **color**=(255,0,0), **life_time**=-1.0f, **persistent_lines**=True) -Draws an arrow between two given locations. - - **Parameters:** - - `begin` (_[carla.Location](#carla.Location)_) - - `end` (_[carla.Location](#carla.Location)_) - - `thickness` (_float_) - - `arrow_size` (_float_) - - `color` (_[carla.Color](#carla.Color)_) - - `life_time` (_float_) - - `persistent_lines` (_bool_) – _Deprecated, use `life_time = 0` instead_. -- **draw_box**(**self**, **box**, **rotation**, **thickness**=0.1f, **color**=(255,0,0), **life_time**=-1.0f, **persistent_lines**=True) -Draws the [carla.BoundingBox](#carla.BoundingBox) of a given bounding_box.
Check out this [`recipe`](../python_cookbook/#debug-bounding-box-recipe)! - - **Parameters:** - - `box` (_[carla.BoundingBox](#carla.BoundingBox)_) - - `rotation` (_[carla.Rotation](#carla.Rotation)_) - - `thickness` (_float_) - - `color` (_[carla.Color](#carla.Color)_) - - `life_time` (_float_) - - `persistent_lines` (_bool_) – _Deprecated, use `life_time = 0` instead_. -- **draw_string**(**self**, **location**, **text**, **draw_shadow**=False, **color**=(255,0,0), **life_time**=-1.0f, **persistent_lines**=True) -Draws a string in a given location. - - **Parameters:** - - `location` (_[carla.Location](#carla.Location)_) - - `text` (_str_) - - `draw_shadow` (_bool_) - - `color` (_[carla.Color](#carla.Color)_) - - `life_time` (_float_) - - `persistent_lines` (_bool_) – _Deprecated, set a high `life_time` instead_. - - **Note:** _Strings can only be seen on the server-side. -<<<<<<< HEAD -_ ->>>>>>> Python documentation. -======= -_ ->>>>>>> Fixed docs. --- ## carla.GearPhysicsControl -<<<<<<< HEAD -<<<<<<< HEAD Class that provides access to vehicle transmission details by defining a gear and when to run on it. This will be later used by [carla.VehiclePhysicsControl](#carla.VehiclePhysicsControl) to help simulate physics.

Instance Variables

@@ -1615,28 +538,6 @@ The transmission ratio of the gear. Quotient between current RPM and MaxRPM where the autonomous gear box should shift down. - **up_ratio** (_float_) Quotient between current RPM and MaxRPM where the autonomous gear box should shift up. -======= -Class that provides access to vehicle transmission details. - -

Instance Variables

-- **ratio** (_float_) -The transmission ratio of the gear. -- **down_ratio** (_float_) -The level of RPM (in relation to MaxRPM) where the gear autobox initiates shifting down. -- **up_ratio** (_float_) -The level of RPM (in relation to MaxRPM) where the gear autobox initiates shifting up. ->>>>>>> Python documentation. -======= -Class that provides access to vehicle transmission details. - -

Instance Variables

-- **ratio** (_float_) -The transmission ratio of the gear. -- **down_ratio** (_float_) -The level of RPM (in relation to MaxRPM) where the gear autobox initiates shifting down. -- **up_ratio** (_float_) -The level of RPM (in relation to MaxRPM) where the gear autobox initiates shifting up. ->>>>>>> Fixed docs.

Methods

- **\__init__**(**self**, **ratio**=1.0, **down_ratio**=0.5, **up_ratio**=0.65) @@ -1655,15 +556,7 @@ The level of RPM (in relation to MaxRPM) where the gear autobox initiates shifti --- ## carla.GeoLocation -<<<<<<< HEAD -<<<<<<< HEAD Class that contains geographical coordinates simulated data. The [carla.Map](#carla.Map) can convert simulation locations by using the tag in the OpenDRIVE file. -======= -Class that contains geolocation simulated data. ->>>>>>> Python documentation. -======= -Class that contains geolocation simulated data. ->>>>>>> Fixed docs.

Instance Variables

- **latitude** (_float_) @@ -1690,8 +583,6 @@ Height regarding ground level. --- ## carla.GnssMeasurement -<<<<<<< HEAD -<<<<<<< HEAD
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

@@ -1701,28 +592,6 @@ Height regarding ground level. North/South value of a point on the map. - **longitude** (_float_) West/East value of a point on the map. -======= -
Inherited from _[carla.SensorData](#carla.SensorData)_

Gnss sensor data. - -

Instance Variables

-- **latitude** (_float_) -North/South value of a point on the map. -- **longitude** (_float_) -West/East value of a point on the map. -- **altitude** (_float_) -Height regarding ground level. ->>>>>>> Python documentation. -======= -
Inherited from _[carla.SensorData](#carla.SensorData)_

Gnss sensor data. - -

Instance Variables

-- **latitude** (_float_) -North/South value of a point on the map. -- **longitude** (_float_) -West/East value of a point on the map. -- **altitude** (_float_) -Height regarding ground level. ->>>>>>> Fixed docs.

Methods

- **\__str__**(**self**) @@ -1730,8 +599,6 @@ Height regarding ground level. --- ## carla.IMUMeasurement -<<<<<<< HEAD -<<<<<<< HEAD
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

@@ -1741,28 +608,6 @@ Linear acceleration in m/s^2. 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. -======= -
Inherited from _[carla.SensorData](#carla.SensorData)_

IMU sensor data regarding the sensor World's transformation. - -

Instance Variables

-- **accelerometer** (_[carla.Vector3D](#carla.Vector3D)_) -Measures linear acceleration in `m/s^2`. -- **gyroscope** (_[carla.Vector3D](#carla.Vector3D)_) -Measures angular velocity in `rad/sec`. -- **compass** (_float_) -Orientation with respect to the North (`(0.0, -1.0, 0.0)` in Unreal) in radians. ->>>>>>> Python documentation. -======= -
Inherited from _[carla.SensorData](#carla.SensorData)_

IMU sensor data regarding the sensor World's transformation. - -

Instance Variables

-- **accelerometer** (_[carla.Vector3D](#carla.Vector3D)_) -Measures linear acceleration in `m/s^2`. -- **gyroscope** (_[carla.Vector3D](#carla.Vector3D)_) -Measures angular velocity in `rad/sec`. -- **compass** (_float_) -Orientation with respect to the North (`(0.0, -1.0, 0.0)` in Unreal) in radians. ->>>>>>> Fixed docs.

Methods

- **\__str__**(**self**) @@ -1770,8 +615,6 @@ Orientation with respect to the North (`(0.0, -1.0, 0.0)` in Unreal) in radians. --- ## carla.Image -<<<<<<< HEAD -<<<<<<< HEAD
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](/cameras_and_sensors/).

Instance Variables

@@ -1796,43 +639,6 @@ Saves the image to disk using a converter pattern stated as `color_converter`. T - **\__len__**(**self**) - **\__iter__**(**self**) - **\__getitem__**(**self**, **pos**) -======= -
Inherited from _[carla.SensorData](#carla.SensorData)_

Class that defines an image of 32-bit BGRA colors. -======= -

Inherited from _[carla.SensorData](#carla.SensorData)_

Class that defines an image of 32-bit BGRA colors. ->>>>>>> Fixed docs. - -

Instance Variables

-- **width** (_int_) -Image width in pixels. -- **height** (_int_) -Image height in pixels. -- **fov** (_float_) -Horizontal field of view of the image in degrees. -- **raw_data** (_bytes_) - -

Methods

-- **convert**(**self**, **color_converter**) -Convert the image with the applied conversion. - - **Parameters:** - - `color_converter` (_[carla.ColorConverter](#carla.ColorConverter)_) -- **save_to_disk**(**self**, **path**, **color_converter**=Raw) -Save the image to disk. - - **Parameters:** -<<<<<<< HEAD - - `path` (_str_) – Path where it will be saved. - - `color_converter` (_[carla.ColorConverter](#carla.ColorConverter)_) -- **\__len__**(**self**) -- **\__iter__**(**self**) -- **\__getitem__**(**self**, **pos**) ->>>>>>> Python documentation. -======= - - `path` (_str_) – Path where it will be saved. - - `color_converter` (_[carla.ColorConverter](#carla.ColorConverter)_) -- **\__len__**(**self**) -- **\__iter__**(**self**) -- **\__getitem__**(**self**, **pos**) ->>>>>>> Fixed docs. - **Parameters:** - `pos` (_int_) - **\__setitem__**(**self**, **pos**, **color**) @@ -2025,8 +831,6 @@ Traffic rules allow turning right. --- ## carla.LaneInvasionEvent -<<<<<<< HEAD -<<<<<<< HEAD
Inherited from _[carla.SensorData](#carla.SensorData)_

Class that defines lanes invasion for sensor.other.lane_invasion. It works only client-side and is dependant on OpenDRIVE to provide reliable information. The sensor creates one of this every time there is a lane invasion, which may be more than once per simulation step. Learn more about this [here](/cameras_and_sensors/#sensorotherlane_invasion).

Instance Variables

@@ -2034,24 +838,6 @@ Traffic rules allow turning right. Gets the actor the sensor is attached to, the one that invaded another lane. - **crossed_lane_markings** (_list([carla.LaneMarking](#carla.LaneMarking))_) List of lane markings that have been crossed and detected by the sensor. -======= -
Inherited from _[carla.SensorData](#carla.SensorData)_

Lane invasion sensor data. - -

Instance Variables

-- **actor** (_[carla.Actor](#carla.Actor)_) -Get "self" actor. Actor that invaded another lane. -- **crossed_lane_markings** (_list([carla.LaneMarking](#carla.LaneMarking))_) -List of lane markings that have been crossed. ->>>>>>> Python documentation. -======= -
Inherited from _[carla.SensorData](#carla.SensorData)_

Lane invasion sensor data. - -

Instance Variables

-- **actor** (_[carla.Actor](#carla.Actor)_) -Get "self" actor. Actor that invaded another lane. -- **crossed_lane_markings** (_list([carla.LaneMarking](#carla.LaneMarking))_) -List of lane markings that have been crossed. ->>>>>>> Fixed docs.

Methods

- **\__str__**(**self**) @@ -2089,8 +875,6 @@ White by default. --- ## carla.LaneMarkingType -<<<<<<< HEAD -<<<<<<< HEAD Class that defines the lane marking types accepted by OpenDRIVE 1.4. Take a look at this [recipe](../python_cookbook/#lanes-recipe) where the user creates a [carla.Waypoint](#carla.Waypoint) for a vehicle location and retrieves from it the information about adjacent lane markings. __Note on double types:__ Lane markings are defined under the OpenDRIVE standard that determines whereas a line will be considered "BrokenSolid" or "SolidBroken". For each road there is a center lane marking, defined from left to right regarding the lane's directions. The rest of the lane markings are defined in order from the center lane to the closest outside of the road. @@ -2106,63 +890,14 @@ __Note on double types:__ Lane markings are defined under the OpenDRIVE standard - **SolidBroken** - **SolidSolid** - **Other** -======= -Class that defines the lane marking types accepted by OpenDRIVE 1.4. Take a look at this [recipe](../python_cookbook/#lanes-recipe) where the user creates a [carla.Waypoint](#carla.Waypoint) for a vehicle location and retrieves from it the information about adjacent lane markings. - -

Instance Variables

-- **NONE** -- **BottsDots** -- **Broken** -- **BrokenBroken** -From inside to outside except for center lane which is from left to right. -- **BrokenSolid** -From inside to outside except for center lane which is from left to right. -- **Curb** -- **Grass** -- **Solid** -- **SolidBroken** -From inside to outside except for center lane which is from left to right. -- **SolidSolid** -For double solid line. -- **Other** ->>>>>>> Python documentation. -======= -Class that defines the lane marking types accepted by OpenDRIVE 1.4. Take a look at this [recipe](../python_cookbook/#lanes-recipe) where the user creates a [carla.Waypoint](#carla.Waypoint) for a vehicle location and retrieves from it the information about adjacent lane markings. - -

Instance Variables

-- **NONE** -- **BottsDots** -- **Broken** -- **BrokenBroken** -From inside to outside except for center lane which is from left to right. -- **BrokenSolid** -From inside to outside except for center lane which is from left to right. -- **Curb** -- **Grass** -- **Solid** -- **SolidBroken** -From inside to outside except for center lane which is from left to right. -- **SolidSolid** -For double solid line. -- **Other** ->>>>>>> Fixed docs. --- ## carla.LaneType -<<<<<<< HEAD -<<<<<<< HEAD -======= ->>>>>>> Fixed docs. Class that defines the possible lane types accepted by OpenDRIVE 1.4. This standards define the road information. For instance in this [recipe](../python_cookbook/#lanes-recipe) the user creates a [carla.Waypoint](#carla.Waypoint) for the current location of a vehicle and uses it to get the current and adjacent lane types.

Instance Variables

- **NONE** -<<<<<<< HEAD -======= -- **Any** -Every type except for NONE. ->>>>>>> Fixed docs. - **Bidirectional** - **Biking** - **Border** @@ -2183,45 +918,12 @@ Every type except for NONE. - **Special3** - **Stop** - **Tram** -<<<<<<< HEAD - **Any** Every type except for NONE. -======= -Class that defines the possible lane types accepted by OpenDRIVE 1.4. This standards define the road information. For instance in this [recipe](../python_cookbook/#lanes-recipe) the user creates a [carla.Waypoint](#carla.Waypoint) for the current location of a vehicle and uses it to get the current and adjacent lane types. - -

Instance Variables

-- **NONE** -- **Any** -Every type except for NONE. -- **Bidirectional** -- **Biking** -- **Border** -- **Driving** -- **Entry** -- **Exit** -- **Median** -- **OffRamp** -- **OnRamp** -- **Parking** -- **Rail** -- **Restricted** -- **RoadWorks** -- **Shoulder** -- **Sidewalk** -- **Special1** -- **Special2** -- **Special3** -- **Stop** -- **Tram** ->>>>>>> Python documentation. -======= ->>>>>>> Fixed docs. --- ## carla.LidarMeasurement -<<<<<<< HEAD -<<<<<<< HEAD
Inherited from _[carla.SensorData](#carla.SensorData)_

Class that defines the lidar data retrieved by a sensor.lidar.ray_cast. This essentially simulates a rotating lidar using ray-casting. Learn more about this [here](/cameras_and_sensors/#sensorlidarray_cast).

Instance Variables

@@ -2239,36 +941,6 @@ Retrieves the number of points sorted by channel that are generated by this meas - `channel` (_int_) - **save_to_disk**(**self**, **path**) Saves the point cloud to disk as a .ply file describing data from 3D scanners. The files generated are ready to be used within [MeshLab](http://www.meshlab.net/), an open source system for processing said files. Just take into account that axis may differ from Unreal Engine and so, need to be reallocated. -======= -
Inherited from _[carla.SensorData](#carla.SensorData)_

Lidar sensor measurement data. -======= -

Inherited from _[carla.SensorData](#carla.SensorData)_

Lidar sensor measurement data. ->>>>>>> Fixed docs. - -

Instance Variables

-- **horizontal_angle** (_float_) -Horizontal angle that the Lidar has rotated at the time of the measurement (in radians). -- **channels** (_int_) -Number of lasers. -- **raw_data** (_bytes_) -List of 3D points. - -

Methods

-- **get_point_count**(**self**, **channel**) -Retrieve the number of points that are generated by this channel. - - **Parameters:** - - `channel` (_int_) - - **Note:** _Points are sorted by channel, so this method allows to identify the channel that generated each point. -<<<<<<< HEAD -_ -- **save_to_disk**(**self**, **path**) -Save point cloud to disk. ->>>>>>> Python documentation. -======= -_ -- **save_to_disk**(**self**, **path**) -Save point cloud to disk. ->>>>>>> Fixed docs. - **Parameters:** - `path` (_str_) - **\__len__**(**self**) @@ -2285,8 +957,6 @@ Save point cloud to disk. --- ## carla.Location -<<<<<<< HEAD -<<<<<<< HEAD
Inherited from _[carla.Vector3D](#carla.Vector3D)_

Represents a spot in the world.

Instance Variables

@@ -2296,19 +966,10 @@ Distance in meters from origin to spot on X axis. Distance in meters from origin to spot on Y axis. - **z** (_float_) Distance in meters from origin to spot on Z axis. -======= -
Inherited from _[carla.Vector3D](#carla.Vector3D)_

Represents a location in the world (in meters). - -

Instance Variables

-- **x** (_float_) -- **y** (_float_) -- **z** (_float_) ->>>>>>> Python documentation.

Methods

-- **\__init__**(**self**, **x**=0.0, **y**=0.0, **z**=0.0) +- **\__init__**(**self**, **x**=0.0, **y**=0.0, **z**=0.0) - **Parameters:** -<<<<<<< HEAD - `x` (_float_) - `y` (_float_) - `z` (_float_) @@ -2330,107 +991,6 @@ Returns Euclidean distance in meters from this location to another one. - **Parameters:** - `location` (_[carla.Location](#carla.Location)_) – The other point to compute the distance with. - **Return:** _float_ -======= - - `x` (_float_) - - `y` (_float_) - - `z` (_float_) -- **distance**(**self**, **location**) -Computes the Euclidean distance in meters from this location to another one. - - **Parameters:** - - `location` (_[carla.Location](#carla.Location)_) – The Location from where to compute the distance. - - **Return:** _float_ -- **\__eq__**(**self**, **other**) - - **Parameters:** - - `other` (_[carla.Location](#carla.Location)_) -- **\__ne__**(**self**, **other**) - - **Parameters:** - - `other` (_[carla.Location](#carla.Location)_) -- **\__str__**(**self**) - ---- - -## carla.Landmark _class_ -Class containing the definition of a signal affecting a specific road. - -

Instance Variables

-- **road_id** (_int_) -Id of the road where this signal is defined. This road may be different from the road this signal is currently affecting. -- **distance** (_float_) -Remaining distance to the signal from the waypoint calling `get_landmarks` or `get_landmarks_of_type`. -- **s** (_float_) -Distance position of the signal along the geometry of the road `road_id`. -- **t** (_float_) -Lateral position of the signal along the geometry of the road `road_id`. -- **id** (_str_) -Unique id of the signal in the OpenDRIVE file. -- **name** (_str_) -Name of the signal in the in the OpenDRIVE file. -- **is_dynamic** (_bool_) -Indicates if the signal state changes over time such as traffic lights. -- **orientation** (_LandmarkOrientation_) -Indicates if the signal state changes over time such as traffic lights. -- **z_offset** (_float_) -Elevation from the ground of the signal. -- **country** (_str_) -Country code where this signal is defined (default to OpenDRIVE). -- **type** (_str_) -Type identification of the signal according to country code. -- **sub_type** (_str_) -Subtype identification of the signal according to country code. -- **value** (_float_) -Value printed in the signal (e.g. speed limit, maximum weight, etc). -- **unit** (_str_) -Units of attribute `value`. -- **height** (_float_) -Total height of the signal. -- **width** (_float_) -Total width of the signal. -- **text** (_str_) -Additional text in the signal. -- **h_offset** (_float_) -Heading of the signal relative to the orientation of the road. -- **pitch** (_float_) -Pitch of the signal. -- **roll** (_float_) -Roll of the signal. -- **waypoint** (_[carla.Waypoint](#carla.Waypoint)_) -The waypoint where this signal is producing an effect in the road. -- **transform** (_[carla.Transform](#carla.Transform)_) -The position and orientation of this signal in the world. - -

Methods

-- **get_lane_validities**(**self**) -Returns a list of pairs of lane ids defining to which lanes this signal is producing an effect. -The pair defines a range of lanes (from_lane_id, to_lane_id). - - **Return:** _list(tuple(int))_ ->>>>>>> Python documentation. -======= -
Inherited from _[carla.Vector3D](#carla.Vector3D)_

Represents a location in the world (in meters). - -

Instance Variables

-- **x** (_float_) -- **y** (_float_) -- **z** (_float_) - -

Methods

-- **\__init__**(**self**, **x**=0.0, **y**=0.0, **z**=0.0) - - **Parameters:** - - `x` (_float_) - - `y` (_float_) - - `z` (_float_) -- **distance**(**self**, **location**) -Computes the Euclidean distance in meters from this location to another one. - - **Parameters:** - - `location` (_[carla.Location](#carla.Location)_) – The Location from where to compute the distance. - - **Return:** _float_ -- **\__eq__**(**self**, **other**) - - **Parameters:** - - `other` (_[carla.Location](#carla.Location)_) -- **\__ne__**(**self**, **other**) - - **Parameters:** - - `other` (_[carla.Location](#carla.Location)_) -- **\__str__**(**self**) ->>>>>>> Fixed docs. --- @@ -2442,10 +1002,6 @@ Class containing the road information and waypoint managing. Data is retrieved f The name of the map. It corresponds to the .umap from Unreal Engine that is loaded from a CARLA server, which then references to the .xodr road description.

Methods

-<<<<<<< HEAD -<<<<<<< HEAD -======= ->>>>>>> Fixed docs. - **\__init__**(**self**, **name**, **xodr_content**) Constructor for this class. Though a map is automatically generated when initializing the world, using this method in no-rendering mode facilitates working with an .xodr without any CARLA server running. - **Parameters:** @@ -2458,17 +1014,12 @@ Returns a list of waypoints with a certain distance between them for every lane - `distance` (_float_) – Approximate distance between waypoints. - **Return:** _list([carla.Waypoint](#carla.Waypoint))_ - **get_spawn_points**(**self**) -<<<<<<< HEAD Returns a list of recommendations made by the creators of the map to be used as spawning points for the vehicles. The list includes [carla.Transform](#carla.Transform) objects with certain location and orientation. Said locations are slightly on-air in order to avoid Z-collisions, so vehicles fall for a bit before starting their way. -======= -Returns a list of recommendations made by creators of the map to be used spawning points for vehicles. The list includes [carla.Tranform](#carla.Tranform) objects with certain location and orientation. Said locations are slightly on-air and vehicles fall for a bit before starting their way. ->>>>>>> Fixed docs. - **Return:** _list([carla.Transform](#carla.Transform))_ - **get_topology**(**self**) Returns a list of tuples describing a minimal graph of the topology of the OpenDRIVE file. The tuples contain pairs of waypoints located either at the point a road begins or ends. The first one is the origin and the second one represents another road end that can be reached. This graph can be loaded into [NetworkX](https://networkx.github.io/) to work with. Output could look like this: [(w0, w1), (w0, w2), (w1, w3), (w2, w3), (w0, w4)]. - **Return:** _list(tuple([carla.Waypoint](#carla.Waypoint), [carla.Waypoint](#carla.Waypoint)))_ - **get_waypoint**(**self**, **location**, **project_to_road**=True, **lane_type**=[carla.LaneType.Driving](#carla.LaneType.Driving)) -<<<<<<< HEAD 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:** @@ -2496,104 +1047,10 @@ Converts a given `location`, a point in the simulation, to a [carla.GeoLocation] - `location` (_[carla.Location](#carla.Location)_) - **Return:** _[carla.GeoLocation](#carla.GeoLocation)_ - **\__str__**(**self**) -======= -- **\__init__**(**self**, **name**, **xodr_content**) -Constructor for this class. Though a map is automatically generated when initializing the world, using this method in no-rendering mode facilitates working with an .xodr without any CARLA server running. - - **Parameters:** - - `name` (_str_) – Name of the current map. - - `xodr_content` (_str_) – .xodr content in string format. - - **Return:** _list([carla.Transform](#carla.Transform))_ -- **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. - - **Return:** _list([carla.Waypoint](#carla.Waypoint))_ -- **get_spawn_points**(**self**) -Returns a list of recommendations made by creators of the map to be used spawning points for vehicles. The list includes [carla.Tranform](#carla.Tranform) objects with certain location and orientation. Said locations are slightly on-air and vehicles fall for a bit before starting their way. - - **Return:** _list([carla.Transform](#carla.Transform))_ -- **get_topology**(**self**) -Returns a list of tuples describing a minimal graph of the topology of the OpenDRIVE file. The tuples contain pairs of waypoints located either at the point a road begins or ends. The first one is the origin and the second one represents another road end that can be reached. This graph can be loaded into [NetworkX](https://networkx.github.io/) to work with. Output could look like this: [(w0, w1), (w0, w2), (w1, w3), (w2, w3), (w0, w4)]. - - **Return:** _list(tuple([carla.Waypoint](#carla.Waypoint), [carla.Waypoint](#carla.Waypoint)))_ -- **get_waypoint**(**self**, **location**, **project_to_road**=True, **lane_type**=[carla.LaneType.Driving](#carla.LaneType.Driving)) -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). - - `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)_ -- **get_waypoint_xodr**(**self**, **road_id**, **lane_id**, **s**) -Get a waypoint if all the parameters passed are correct, otherwise return None. - - **Parameters:** - - `road_id` (_int_) – Id of the road from where getting the waypoint. - - `lane_id` (_int_) – Id of the lane to get the waypoint. - - `s` (_float_) – Specify the length from the road start. - - **Return:** _[carla.Waypoint](#carla.Waypoint)_ -- **get_topology**(**self**) -It provides a minimal graph of the topology of the current OpenDRIVE file. It is constituted by a list of pairs of waypoints, where the first waypoint is the origin and the second one is the destination. It can be loaded into [NetworkX](https://networkx.github.io/). A valid output could be: `[ (w0, w1), (w0, w2), (w1, w3), (w2, w3), (w0, w4) ]`. - - **Return:** _list(tuple([carla.Waypoint](#carla.Waypoint), [carla.Waypoint](#carla.Waypoint)))_ -- **generate_waypoints**(**self**, **distance**) -Returns a list of waypoints positioned on the center of the lanes all over the map with an approximate distance between them. - - **Parameters:** - - `distance` (_float_) – Approximate distance between the waypoints. - - **Return:** _list([carla.Waypoint](#carla.Waypoint))_ -- **transform_to_geolocation**(**self**, **path**) -Saves the .xodr OpenDRIVE file of the current map to disk. - - **Parameters:** - - `path` – Path where the file will be saved. -- **to_opendrive**(**self**) -Returns the .xodr OpenDRIVe file of the current map as string. - - **Return:** _str_ -- **transform_to_geolocation**(**self**, **location**) -Converts a given `location`, a point in the simulation, to a [carla.GeoLocation](#carla.GeoLocation), which represents world coordinates. The geographical location of the map is defined inside OpenDRIVE within the tag . - - **Parameters:** - - `location` (_[carla.Location](#carla.Location)_) - - **Return:** _[carla.GeoLocation](#carla.GeoLocation)_ -- **\__str__**(**self**) ->>>>>>> Python documentation. -======= -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). - - `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)_ -- **get_waypoint_xodr**(**self**, **road_id**, **lane_id**, **s**) -Get a waypoint if all the parameters passed are correct, otherwise return None. - - **Parameters:** - - `road_id` (_int_) – Id of the road from where getting the waypoint. - - `lane_id` (_int_) – Id of the lane to get the waypoint. - - `s` (_float_) – Specify the length from the road start. - - **Return:** _[carla.Waypoint](#carla.Waypoint)_ -- **get_topology**(**self**) -It provides a minimal graph of the topology of the current OpenDRIVE file. It is constituted by a list of pairs of waypoints, where the first waypoint is the origin and the second one is the destination. It can be loaded into [NetworkX](https://networkx.github.io/). A valid output could be: `[ (w0, w1), (w0, w2), (w1, w3), (w2, w3), (w0, w4) ]`. - - **Return:** _list(tuple([carla.Waypoint](#carla.Waypoint), [carla.Waypoint](#carla.Waypoint)))_ -- **generate_waypoints**(**self**, **distance**) -Returns a list of waypoints positioned on the center of the lanes all over the map with an approximate distance between them. - - **Parameters:** - - `distance` (_float_) – Approximate distance between the waypoints. - - **Return:** _list([carla.Waypoint](#carla.Waypoint))_ -- **transform_to_geolocation**(**self**, **path**) -Saves the .xodr OpenDRIVE file of the current map to disk. - - **Parameters:** - - `path` – Path where the file will be saved. -- **to_opendrive**(**self**) -Returns the .xodr OpenDRIVe file of the current map as string. - - **Return:** _str_ -- **transform_to_geolocation**(**self**, **location**) -Converts a given `location`, a point in the simulation, to a [carla.GeoLocation](#carla.GeoLocation), which represents world coordinates. The geographical location of the map is defined inside OpenDRIVE within the tag . - - **Parameters:** - - `location` (_[carla.Location](#carla.Location)_) - - **Return:** _[carla.GeoLocation](#carla.GeoLocation)_ -- **\__str__**(**self**) ->>>>>>> Fixed docs. --- ## carla.ObstacleDetectionEvent -<<<<<<< HEAD -<<<<<<< HEAD
Inherited from _[carla.SensorData](#carla.SensorData)_

Class that defines the obstacle data for sensor.other.obstacle. Learn more about this [here](/cameras_and_sensors/#sensorotherobstacle).

Instance Variables

@@ -2603,28 +1060,6 @@ The actor the sensor is attached to. The actor or object considered to be an obstacle. - **distance** (_float_) Distance between `actor` and `other`. -======= -
Inherited from _[carla.SensorData](#carla.SensorData)_

Obstacle detection sensor data. - -

Instance Variables

-- **actor** (_[carla.Actor](#carla.Actor)_) -Get "self" actor. Actor that measured the collision. -- **other_actor** (_[carla.Actor](#carla.Actor)_) -Get the actor to which we collided. -- **distance** (_float_) -Get obstacle distance. ->>>>>>> Python documentation. -======= -
Inherited from _[carla.SensorData](#carla.SensorData)_

Obstacle detection sensor data. - -

Instance Variables

-- **actor** (_[carla.Actor](#carla.Actor)_) -Get "self" actor. Actor that measured the collision. -- **other_actor** (_[carla.Actor](#carla.Actor)_) -Get the actor to which we collided. -- **distance** (_float_) -Get obstacle distance. ->>>>>>> Fixed docs.

Methods

- **\__str__**(**self**) @@ -2632,8 +1067,6 @@ Get obstacle distance. --- ## carla.RadarDetection -<<<<<<< HEAD -<<<<<<< HEAD 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

@@ -2645,32 +1078,6 @@ Azimuth angle of the detection in radians. Distance in meters from the sensor to the detection position. - **velocity** (_float_) The velocity of the detected object towards the sensor in m/s. -======= -Data contained by a [carla.RadarMeasurement](#carla.RadarMeasurement). Represents an object detection produced by the Radar sensor. - -

Instance Variables

-- **velocity** (_float_) -The velocity of the detected object towards the sensor in meters per second. -- **azimuth** (_float_) -Azimuth angle of the detection in radians. -- **altitude** (_float_) -Altitude angle of the detection in radians. -- **depth** (_float_) -Distance in meters from the sensor to the detection position. ->>>>>>> Python documentation. -======= -Data contained by a [carla.RadarMeasurement](#carla.RadarMeasurement). Represents an object detection produced by the Radar sensor. - -

Instance Variables

-- **velocity** (_float_) -The velocity of the detected object towards the sensor in meters per second. -- **azimuth** (_float_) -Azimuth angle of the detection in radians. -- **altitude** (_float_) -Altitude angle of the detection in radians. -- **depth** (_float_) -Distance in meters from the sensor to the detection position. ->>>>>>> Fixed docs.

Methods

- **\__str__**(**self**) @@ -2678,8 +1085,6 @@ Distance in meters from the sensor to the detection position. --- ## carla.RadarMeasurement -<<<<<<< HEAD -<<<<<<< HEAD
Inherited from _[carla.SensorData](#carla.SensorData)_

Class that defines and gathers the measures registered by a sensor.other.radar, representing a wall of points in front of the sensor with a distance, angle and velocity in relation to it. The data consists of a [carla.RadarDetection](#carla.RadarDetection) array.

Instance Variables

@@ -2692,31 +1097,6 @@ Retrieves the number of entries generated, same as **\__st - **\__len__**(**self**) - **\__iter__**(**self**) - **\__getitem__**(**self**, **pos**) -======= -
Inherited from _[carla.SensorData](#carla.SensorData)_

Measurement produced by a Radar. Consists of an array of [carla.RadarDetection](#carla.RadarDetection). -======= -

Inherited from _[carla.SensorData](#carla.SensorData)_

Measurement produced by a Radar. Consists of an array of [carla.RadarDetection](#carla.RadarDetection). ->>>>>>> Fixed docs. - -

Instance Variables

-- **raw_data** (_bytes_) -List of [carla.RadarDetection](#carla.RadarDetection). - -

Methods

-<<<<<<< HEAD -- **get_detection_count**(**self**) -Retrieve the number of [carla.RadarDetection](#carla.RadarDetection) that are generated. -- **\__len__**(**self**) -- **\__iter__**(**self**) -- **\__getitem__**(**self**, **pos**) ->>>>>>> Python documentation. -======= -- **get_detection_count**(**self**) -Retrieve the number of [carla.RadarDetection](#carla.RadarDetection) that are generated. -- **\__len__**(**self**) -- **\__iter__**(**self**) -- **\__getitem__**(**self**, **pos**) ->>>>>>> Fixed docs. - **Parameters:** - `pos` (_int_) - **\__setitem__**(**self**, **pos**, **detection**) @@ -2733,36 +1113,16 @@ 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

-<<<<<<< HEAD -<<<<<<< HEAD - **pitch** (_float_) Degrees around the Y-axis. - **yaw** (_float_) Degrees around the Z-axis. - **roll** (_float_) Degrees around the X-axis. -======= -- **pitch** (_float_) -Rotation about Y-axis. -- **yaw** (_float_) -Rotation about Z-axis. -- **roll** (_float_) -Rotation about X-axis. ->>>>>>> Python documentation. -======= -- **pitch** (_float_) -Rotation about Y-axis. -- **yaw** (_float_) -Rotation about Z-axis. -- **roll** (_float_) -Rotation about X-axis. ->>>>>>> Fixed docs.

Methods

- **\__init__**(**self**, **pitch**=0.0, **yaw**=0.0, **roll**=0.0) - **Parameters:** -<<<<<<< HEAD -<<<<<<< HEAD - `pitch` (_float_) – Y rotation in degrees. - `yaw` (_float_) – Z rotation in degrees. - `roll` (_float_) – X rotation in degrees. @@ -2781,41 +1141,10 @@ Returns true if both rotations represent the same orientation of each axis. - **Return:** _bool_ - **\__str__**(**self**) Parses the axis' orientations to string. -======= - - `pitch` (_float_) - - `yaw` (_float_) - - `roll` (_float_) -- **get_forward_vector**(**self**) -Computes a forward vector using the current rotation. - - **Return:** _[carla.Vector3D](#carla.Vector3D)_ -- **\__eq__**(**self**, **other**) -======= - - `pitch` (_float_) - - `yaw` (_float_) - - `roll` (_float_) -- **get_forward_vector**(**self**) -Computes a forward vector using the current rotation. - - **Return:** _[carla.Vector3D](#carla.Vector3D)_ -- **\__eq__**(**self**, **other**) ->>>>>>> Fixed docs. - - **Parameters:** - - `other` (_[carla.Rotation](#carla.Rotation)_) -- **\__ne__**(**self**, **other**) - - **Parameters:** -<<<<<<< HEAD - - `other` (_[carla.Rotation](#carla.Rotation)_) -- **\__str__**(**self**) ->>>>>>> Python documentation. -======= - - `other` (_[carla.Rotation](#carla.Rotation)_) -- **\__str__**(**self**) ->>>>>>> Fixed docs. --- ## carla.Sensor -<<<<<<< HEAD -<<<<<<< HEAD
Inherited from _[carla.Actor](#carla.Actor)_

Sensors compound a specific family of actors quite diverse and unique. They are normally spawned as attachment/sons of a vehicle (take a look at [carla.World](#carla.World) to learn about actor spawning). Sensors are thoroughly designed to retrieve different types of data that they are listening to. The data they receive is shaped as different subclasses inherited from [carla.SensorData](#carla.SensorData) (depending on the sensor). Most sensors can be divided in two groups: those receiving data on every tick (cameras, point clouds and some specific sensors) and those who only receive under certain circumstances (trigger detectors). CARLA provides a specific set of sensors and their blueprint can be found in [carla.BlueprintLibrary](#carla.BlueprintLibrary). All the information on their preferences and settlement can be found [here](/cameras_and_sensors/), but the list of those available in CARLA so far goes as follow: @@ -2844,37 +1173,10 @@ The function the sensor will be calling to every time a new measurement is recei - **stop**(**self**) Commands the sensor to stop listening for data. - **\__str__**(**self**) -======= -

Inherited from _[carla.Actor](#carla.Actor)_

A sensor actor. -======= -

Inherited from _[carla.Actor](#carla.Actor)_

A sensor actor. ->>>>>>> Fixed docs. - -

Instance Variables

-- **is_listening** (_boolean_) -Is true if the sensor is listening for data. - -

Methods

-- **listen**(**self**, **callback**) - - **Parameters:** -<<<<<<< HEAD - - `callback` (_function_) – Register a callback to be executed each time a new measurement is received. The callback must accept a single argument containing the sensor data; the type of this object varies depending on the type of sensor, but they all derive from [carla.SensorData](#carla.SensorData). -- **stop**(**self**) -Stops listening for data. -- **\__str__**(**self**) ->>>>>>> Python documentation. -======= - - `callback` (_function_) – Register a callback to be executed each time a new measurement is received. The callback must accept a single argument containing the sensor data; the type of this object varies depending on the type of sensor, but they all derive from [carla.SensorData](#carla.SensorData). -- **stop**(**self**) -Stops listening for data. -- **\__str__**(**self**) ->>>>>>> Fixed docs. --- ## carla.SensorData -<<<<<<< HEAD -<<<<<<< HEAD Base class for all the objects containing data generated by a [carla.Sensor](#carla.Sensor). This objects should be the argument of the function said sensor is listening to, in order to work with them. Each of these sensors needs for a specific type of sensor data. The relation between available sensors and their corresponding data goes like: - Cameras (RGB, depth and semantic segmentation): [carla.Image](#carla.Image). - Collision detector: [carla.CollisionEvent](#carla.CollisionEvent). @@ -2884,12 +1186,6 @@ Base class for all the objects containing data generated by a [carla.Sensor](#ca - Lidar raycast: [carla.LidarMeasurement](#carla.LidarMeasurement). - Obstacle detector: [carla.ObstacleDetectionEvent](#carla.ObstacleDetectionEvent). - Radar detector: [carla.RadarMeasurement](#carla.RadarMeasurement). -======= -Base class for all the objects containing data generated by a sensor. ->>>>>>> Python documentation. -======= -Base class for all the objects containing data generated by a sensor. ->>>>>>> Fixed docs.

Instance Variables

- **frame** (_int_) @@ -2902,8 +1198,6 @@ Sensor's transform when the data was generated. --- ## carla.Timestamp -<<<<<<< HEAD -<<<<<<< HEAD Class that contains time information for simulated data. This information is automatically retrieved as part of the [carla.WorldSnapshot](#carla.WorldSnapshot) the client gets on every frame, but might also be used in many other situations such as a [carla.Sensor](#carla.Sensor) retrieveing data.

Instance Variables

@@ -2915,32 +1209,6 @@ Simulated seconds elapsed since the beginning of the current episode. Simulated seconds elapsed since the previous frame. - **platform_timestamp** (_float_) Time register of the frame at which this measurement was taken given by the OS in seconds. -======= -Class that contains Timestamp simulated data. - -

Instance Variables

-- **frame** (_int_) -The number of frames elapsed since the simulator was launched. -- **elapsed_seconds** (_float_) -Simulated seconds elapsed since the beginning of the current episode. -- **delta_seconds** (_float_) -Simulated seconds elapsed since the previous frame. -- **platform_timestamp** (_float_) -Time-stamp of the frame at which this measurement was taken, in seconds as given by the OS. ->>>>>>> Python documentation. -======= -Class that contains Timestamp simulated data. - -

Instance Variables

-- **frame** (_int_) -The number of frames elapsed since the simulator was launched. -- **elapsed_seconds** (_float_) -Simulated seconds elapsed since the beginning of the current episode. -- **delta_seconds** (_float_) -Simulated seconds elapsed since the previous frame. -- **platform_timestamp** (_float_) -Time-stamp of the frame at which this measurement was taken, in seconds as given by the OS. ->>>>>>> Fixed docs.

Methods

- **\__init__**(**self**, **frame**, **elapsed_seconds**, **delta_seconds**, **platform_timestamp**) @@ -2960,8 +1228,6 @@ Time-stamp of the frame at which this measurement was taken, in seconds as given --- ## carla.TrafficLight -<<<<<<< HEAD -<<<<<<< HEAD
Inherited from _[carla.TrafficSign](#carla.TrafficSign)_

A traffic light actor, considered a specific type of traffic sign. As traffic lights will mostly appear at junctions, they belong to a group which contains the different traffic lights in it. Inside the group, traffic lights are differenciated by their pole index. Within a group the state of traffic lights is changed in a cyclic pattern: one index is chosen and it spends a few seconds in green, yellow and eventually red. The rest of the traffic lights remain frozen in red this whole time, meaning that there is a gap in the last seconds of the cycle where all the traffic lights are red. However, the state of a traffic light can be changed manually. Take a look at this [recipe](../python_cookbook/#traffic-lights-recipe) to learn how to do so. @@ -3017,87 +1283,10 @@ Sets a given time (in seconds) for the yellow light to be active. - **Parameters:** - `yellow_time` (_float_) - **\__str__**(**self**) -======= -

Inherited from _[carla.TrafficSign](#carla.TrafficSign)_

A traffic light actor. Check out this [`recipe`](../python_cookbook/#traffic-lights-recipe)! -======= -

Inherited from _[carla.TrafficSign](#carla.TrafficSign)_

A traffic light actor. Check out this [`recipe`](../python_cookbook/#traffic-lights-recipe)! ->>>>>>> Fixed docs. - -

Instance Variables

-- **state** (_[carla.TrafficLightState](#carla.TrafficLightState)_) -Current traffic light state. - -

Methods

-- **set_state**(**self**, **state**) -Sets a given state to a traffic light actor. - - **Parameters:** - - `state` (_[carla.TrafficLightState](#carla.TrafficLightState)_) -- **get_state**(**self**) -Returns the current state of the traffic light. - - **Return:** _[carla.TrafficLightState](#carla.TrafficLightState)_ - - **Note:** _This function does not call the simulator, it returns the data received in the last tick. -_ -- **set_green_time**(**self**, **green_time**) - - **Parameters:** - - `green_time` (_float_) – Sets a given time (in seconds) to the green state to be active. -- **get_green_time**(**self**) -Returns the current time set for the green light to be active. - - **Return:** _float_ - - **Note:** _This function does not call the simulator, it returns the data received in the last tick. -_ -- **set_yellow_time**(**self**, **yellow_time**) -Sets a given time (in seconds) to the yellow state to be active. - - **Parameters:** - - `yellow_time` (_float_) -- **get_yellow_time**(**self**) -Returns the current time set for the yellow light to be active. - - **Return:** _float_ - - **Note:** _This function does not call the simulator, it returns the data received in the last tick. -_ -- **set_red_time**(**self**, **red_time**) -Sets a given time (in seconds) to the red state to be active. - - **Parameters:** - - `red_time` (_float_) -- **get_red_time**(**self**) -Returns the current time set for the red light to be active. - - **Return:** _float_ - - **Note:** _This function does not call the simulator, it returns the data received in the last tick. -_ -- **get_elapsed_time**(**self**) -Returns the current countdown of the state of a traffic light. - - **Return:** _float_ - - **Note:** _This function does not call the simulator, it returns the data received in the last tick. -_ -- **freeze**(**self**, **freeze**) -Stops the traffic light at its current state. - - **Parameters:** - - `freeze` (_bool_) -- **is_frozen**(**self**) -Returns `True` if a traffic light is frozen. - - **Return:** _bool_ - - **Note:** _This function does not call the simulator, it returns the data received in the last tick. -_ -- **get_pole_index**(**self**) -Returns the index of the pole in the traffic light group. - - **Return:** _int_ -- **get_group_traffic_lights**(**self**) -Returns all traffic lights in the group this one belongs to. - - **Return:** _list([carla.TrafficLight](#carla.TrafficLight))_ - - **Note:** _This function calls the simulator. -<<<<<<< HEAD -_ -- **\__str__**(**self**) ->>>>>>> Python documentation. -======= -_ -- **\__str__**(**self**) ->>>>>>> Fixed docs. --- ## carla.TrafficLightState -<<<<<<< HEAD -<<<<<<< HEAD All possible states for traffic lights. These can either change at a specific time step or be changed manually. Take a look at this [recipe](../python_cookbook/#traffic-lights-recipe) to see an example.

Instance Variables

@@ -3106,57 +1295,19 @@ All possible states for traffic lights. These can either change at a specific ti - **Yellow** - **Off** - **Unknown** -======= -All possible states for traffic lights. Check out this [`recipe`](../python_cookbook/#traffic-lights-recipe)! - -

Instance Variables

-- **Red** -- **Yellow** -- **Green** -- **Off** -- **Unknown** ->>>>>>> Python documentation. -======= -All possible states for traffic lights. Check out this [`recipe`](../python_cookbook/#traffic-lights-recipe)! - -

Instance Variables

-- **Red** -- **Yellow** -- **Green** -- **Off** -- **Unknown** ->>>>>>> Fixed docs. --- ## carla.TrafficSign -<<<<<<< HEAD -<<<<<<< HEAD
Inherited from _[carla.Actor](#carla.Actor)_

Traffic signs appearing in the simulation except for traffic lights. These have their own class inherited from this in [carla.TrafficLight](#carla.TrafficLight). Right now, speed signs, stops and yields are mainly the ones implemented, but many others are borne in mind.

Instance Variables

- **trigger_volume** A [carla.BoundingBox](#carla.BoundingBox) situated near a traffic sign where the [carla.Actor](#carla.Actor) who is inside can know about it. -======= -
Inherited from _[carla.Actor](#carla.Actor)_

A traffic sign actor. - -

Instance Variables

-- **trigger_volume** -A [carla.BoundingBox](#carla.BoundingBox) situated near a traffic sign where the [carla.Actor](#carla.Actor) who is inside can know about its state. ->>>>>>> Python documentation. -======= -
Inherited from _[carla.Actor](#carla.Actor)_

A traffic sign actor. - -

Instance Variables

-- **trigger_volume** -A [carla.BoundingBox](#carla.BoundingBox) situated near a traffic sign where the [carla.Actor](#carla.Actor) who is inside can know about its state. ->>>>>>> Fixed docs. --- ## carla.Transform -<<<<<<< HEAD -<<<<<<< HEAD Class that defines a transformation, a combination of location and rotation, without scaling.

Instance Variables

@@ -3164,23 +1315,10 @@ Class that defines a transformation, a combination of location and rotation, wit Describes a point in the coordinate system. - **rotation** (_[carla.Rotation](#carla.Rotation)_) Describes a rotation for an object according to Unreal Engine's axis system. -======= -Class that defines a transformation without scaling. - -

Instance Variables

-- **location** (_[carla.Location](#carla.Location)_) -- **rotation** (_[carla.Rotation](#carla.Rotation)_) ->>>>>>> Python documentation.

Methods

-- **\__init__**(**self**, **location**, **rotation**) +- **\__init__**(**self**, **location**, **rotation**) - **Parameters:** - - `location` (_[carla.Location](#carla.Location)_) - - `rotation` (_[carla.Rotation](#carla.Rotation)_) -- **transform**(**self**, **in_point**) -Transform a 3D point using the current transformation. - - **Parameters:** -<<<<<<< HEAD - `location` (_[carla.Location](#carla.Location)_) - `rotation` (_[carla.Rotation](#carla.Rotation)_) - **\__eq__**(**self**, **other**) @@ -3203,54 +1341,10 @@ Computes a forward vector using its rotation. Translates a 3D point from global to local coordinates using the current transformation as frame of reference. - **Parameters:** - `in_point` (_[carla.Location](#carla.Location)_) – Location in the space to which the transformation will be applied. -======= - - `in_point` (_[carla.Location](#carla.Location)_) – Location in the space to which the transformation will be applied. -- **get_forward_vector**(**self**) -Computes a forward vector using the rotation of the current transformation. - - **Return:** _[carla.Vector3D](#carla.Vector3D)_ -- **\__eq__**(**self**, **other**) -======= -Class that defines a transformation without scaling. - -

Instance Variables

-- **location** (_[carla.Location](#carla.Location)_) -- **rotation** (_[carla.Rotation](#carla.Rotation)_) - -

Methods

-- **\__init__**(**self**, **location**, **rotation**) ->>>>>>> Fixed docs. - - **Parameters:** - - `location` (_[carla.Location](#carla.Location)_) - - `rotation` (_[carla.Rotation](#carla.Rotation)_) -- **transform**(**self**, **in_point**) -Transform a 3D point using the current transformation. - - **Parameters:** - - `in_point` (_[carla.Location](#carla.Location)_) – Location in the space to which the transformation will be applied. -- **get_forward_vector**(**self**) -Computes a forward vector using the rotation of the current transformation. - - **Return:** _[carla.Vector3D](#carla.Vector3D)_ -- **\__eq__**(**self**, **other**) - - **Parameters:** - - `other` (_[carla.Transform](#carla.Transform)_) -- **\__ne__**(**self**, **other**) - - **Parameters:** -<<<<<<< HEAD - - `distance` (_float_) – 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))_ -- **\__str__**(**self**) ->>>>>>> Python documentation. -======= - - `other` (_[carla.Transform](#carla.Transform)_) -- **\__str__**(**self**) ->>>>>>> Fixed docs. --- ## carla.Vector2D -<<<<<<< HEAD -<<<<<<< HEAD Helper class to perform 2D operations.

Instance Variables

@@ -3258,26 +1352,10 @@ Helper class to perform 2D operations. X-axis value. - **y** (_float_) Y-axis value. -======= -Vector 2D helper class. - -

Instance Variables

-- **x** (_float_) -- **y** (_float_) ->>>>>>> Python documentation. -======= -Vector 2D helper class. - -

Instance Variables

-- **x** (_float_) -- **y** (_float_) ->>>>>>> Fixed docs.

Methods

- **\__init__**(**self**, **x**=0.0, **y**=0.0) - **Parameters:** -<<<<<<< HEAD -<<<<<<< HEAD - `x` (_float_) - `y` (_float_) - **\__add__**(**self**, **other**) @@ -3309,45 +1387,10 @@ Returns true if the value for any axis is different. - **\__str__**(**self**) Returns the axis values for the vector parsed as string. - **Return:** _str_ -======= - - `x` (_float_) - - `y` (_float_) -- **\__add__**(**self**, **other**) -======= - - `x` (_float_) - - `y` (_float_) -- **\__add__**(**self**, **other**) ->>>>>>> Fixed docs. - - **Parameters:** - - `other` (_[carla.Vector2D](#carla.Vector2D)_) -- **\__mul__**(**self**, **other**) - - **Parameters:** - - `other` (_[carla.Vector2D](#carla.Vector2D)_) -- **\__sub__**(**self**, **other**) - - **Parameters:** - - `other` (_[carla.Vector2D](#carla.Vector2D)_) -- **\__truediv__**(**self**, **other**) - - **Parameters:** - - `other` (_[carla.Vector2D](#carla.Vector2D)_) -- **\__eq__**(**self**, **other**) - - **Parameters:** - - `other` (_[carla.Vector2D](#carla.Vector2D)_) -- **\__ne__**(**self**, **other**) - - **Parameters:** -<<<<<<< HEAD - - `other` (_[carla.Vector2D](#carla.Vector2D)_) -- **\__self__**(**self**) ->>>>>>> Python documentation. -======= - - `other` (_[carla.Vector2D](#carla.Vector2D)_) -- **\__self__**(**self**) ->>>>>>> Fixed docs. --- ## carla.Vector3D -<<<<<<< HEAD -<<<<<<< HEAD Helper class to perform 3D operations.

Instance Variables

@@ -3357,35 +1400,14 @@ X-axis value. Y-axis value. - **z** (_float_) Z-axis value. -======= -Vector 3D helper class. - -

Instance Variables

-- **x** (_float_) -- **y** (_float_) -- **z** (_float_) ->>>>>>> Python documentation. -======= -Vector 3D helper class. - -

Instance Variables

-- **x** (_float_) -- **y** (_float_) -- **z** (_float_) ->>>>>>> Fixed docs.

Methods

- **\__init__**(**self**, **x**=0.0, **y**=0.0, **z**=0.0) - **Parameters:** -<<<<<<< HEAD -<<<<<<< HEAD -======= ->>>>>>> Fixed docs. - `x` (_float_) - `y` (_float_) - `z` (_float_) - **\__add__**(**self**, **other**) -<<<<<<< HEAD Defines addition between 3D vectors and applies it to this. - **Parameters:** - `other` (_[carla.Vector3D](#carla.Vector3D)_) @@ -3414,43 +1436,10 @@ Returns true if the value for any axis is different. - **\__str__**(**self**) Returns the axis values for the vector parsed as string. - **Return:** _str_ -======= - - `x` (_float_) - - `y` (_float_) - - `z` (_float_) -- **\__add__**(**self**, **other**) -======= ->>>>>>> Fixed docs. - - **Parameters:** - - `other` (_[carla.Vector3D](#carla.Vector3D)_) -- **\__mul__**(**self**, **other**) - - **Parameters:** - - `other` (_[carla.Vector3D](#carla.Vector3D)_) -- **\__sub__**(**self**, **other**) - - **Parameters:** - - `other` (_[carla.Vector3D](#carla.Vector3D)_) -- **\__truediv__**(**self**, **other**) - - **Parameters:** - - `other` (_[carla.Vector3D](#carla.Vector3D)_) -- **\__eq__**(**self**, **other**) - - **Parameters:** - - `other` (_[carla.Vector3D](#carla.Vector3D)_) -- **\__ne__**(**self**, **other**) - - **Parameters:** -<<<<<<< HEAD - - `other` (_[carla.Vector3D](#carla.Vector3D)_) -- **\__str__**(**self**) ->>>>>>> Python documentation. -======= - - `other` (_[carla.Vector3D](#carla.Vector3D)_) -- **\__str__**(**self**) ->>>>>>> Fixed docs. --- ## carla.Vehicle -<<<<<<< HEAD -<<<<<<< HEAD
Inherited from _[carla.Actor](#carla.Actor)_

One of the most important group of actors in CARLA. These include any type of vehicle from cars to trucks, motorbikes, vans, bycicles and also official vehicles such as police cars. A wide set of these actors is provided in [carla.BlueprintLibrary](#carla.BlueprintLibrary) to facilitate differente requirements. Vehicles can be either manually controlled or set to an autopilot mode that will be conducted client-side by the traffic manager.

Instance Variables

@@ -3491,74 +1480,10 @@ Turns on/off this vehicle's server-side autopilot. When autopilot mode is on, th - `enabled` (_bool_) - **\__str__**(**self**) - **Return:** _str_ -======= -
Inherited from _[carla.Actor](#carla.Actor)_

A vehicle actor. -======= -

Inherited from _[carla.Actor](#carla.Actor)_

A vehicle actor. ->>>>>>> Fixed docs. - -

Instance Variables

-- **bounding_box** (_[carla.BoundingBox](#carla.BoundingBox)_) -The vehicle's bounding box. - -

Methods

-- **apply_control**(**self**, **control**) -Apply control to this vehicle. The control will take effect on next tick. - - **Parameters:** - - `control` (_[carla.VehicleControl](#carla.VehicleControl)_) -- **get_control**(**self**) -Returns the control last applied to this vehicle. - - **Return:** _[carla.VehicleControl](#carla.VehicleControl)_ - - **Note:** _This function does not call the simulator, it returns the data received in the last tick. -_ -- **apply_physics_control**(**self**, **physics_control**) -Apply physics control to this vehicle. The control will take effect on the next tick. - - **Parameters:** - - `physics_control` (_[carla.VehiclePhysicsControl](#carla.VehiclePhysicsControl)_) -- **get_physics_control**(**self**) -Returns the physics control last applied to this vehicle. - - **Return:** _[carla.VehiclePhysicsControl](#carla.VehiclePhysicsControl)_ - - **Warning:** _This function does call the simulator to retrieve the value._ -- **set_autopilot**(**self**, **enabled**=True) -Switch on/off this vehicle's server-side autopilot. - - **Parameters:** - - `enabled` (_bool_) -- **get_speed_limit**(**self**) -Returns the speed limit currently affecting this vehicle. Note that the speed limit is only updated when passing by a speed limit signal, right after spawning a vehicle it might not reflect the actual speed limit of the current road. - - **Return:** _float_ - - **Note:** _This function does not call the simulator, it returns the data received in the last tick. -_ -- **get_traffic_light_state**(**self**) -Returns the state of the traffic light currently affecting this vehicle. If no traffic light is currently affecting the vehicle, return Green. - - **Return:** _[carla.TrafficLightState](#carla.TrafficLightState)_ - - **Note:** _This function does not call the simulator, it returns the data received in the last tick. -_ -- **is_at_traffic_light**(**self**) -Returns whether a traffic light is affecting this vehicle. - - **Return:** _bool_ - - **Note:** _This function does not call the simulator, it returns the data received in the last tick. -<<<<<<< HEAD -_ -- **get_traffic_light**(**self**) -Retrieve the traffic light actor currently affecting this vehicle. - - **Return:** _[carla.TrafficLight](#carla.TrafficLight)_ -- **\__str__**(**self**) - - **Return:** _str_ ->>>>>>> Python documentation. -======= -_ -- **get_traffic_light**(**self**) -Retrieve the traffic light actor currently affecting this vehicle. - - **Return:** _[carla.TrafficLight](#carla.TrafficLight)_ -- **\__str__**(**self**) - - **Return:** _str_ ->>>>>>> Fixed docs. --- ## carla.VehicleControl -<<<<<<< HEAD -<<<<<<< HEAD Manages the basic movement of a vehicle using typical driving controls.

Instance Variables

@@ -3579,52 +1504,6 @@ States which gear is the vehicle running on.

Methods

- **\__init__**(**self**, **throttle**=0.0, **steer**=0.0, **brake**=0.0, **hand_brake**=True, **reverse**=True, **manual_gear_shift**=True, **gear**=0) -======= -VehicleControl is used for controlling the basic movement of a vehicle. - -

Instance Variables

-- **throttle** (_float_) -A scalar value to control the vehicle throttle [0.0, 1.0]. -- **steer** (_float_) -A scalar value to control the vehicle steering [-1.0, 1.0]. -- **brake** (_float_) -A scalar value to control the vehicle brake [0.0, 1.0]. -- **hand_brake** (_bool_) -If true, hand brake will be used. -- **reverse** (_bool_) -If true, the vehicle will move reverse. -- **manual_gear_shift** (_bool_) -If true, the vehicle will be controlled by changing gears manually. -- **gear** (_int_) -Controls the gear value of the vehicle. - -

Methods

-- **\__init__**(**self**, **throttle**=0.0, **steer**=0.0, **brake**=0.0, **hand_brake**=True, **reverse**=True, **manual_gear_shift**=True, **gear**=0) -VehicleControl constructor. ->>>>>>> Python documentation. -======= -VehicleControl is used for controlling the basic movement of a vehicle. - -

Instance Variables

-- **throttle** (_float_) -A scalar value to control the vehicle throttle [0.0, 1.0]. -- **steer** (_float_) -A scalar value to control the vehicle steering [-1.0, 1.0]. -- **brake** (_float_) -A scalar value to control the vehicle brake [0.0, 1.0]. -- **hand_brake** (_bool_) -If true, hand brake will be used. -- **reverse** (_bool_) -If true, the vehicle will move reverse. -- **manual_gear_shift** (_bool_) -If true, the vehicle will be controlled by changing gears manually. -- **gear** (_int_) -Controls the gear value of the vehicle. - -

Methods

-- **\__init__**(**self**, **throttle**=0.0, **steer**=0.0, **brake**=0.0, **hand_brake**=True, **reverse**=True, **manual_gear_shift**=True, **gear**=0) -VehicleControl constructor. ->>>>>>> Fixed docs. - **Parameters:** - `throttle` (_float_) - `steer` (_float_) @@ -3668,12 +1547,7 @@ All lights on. --- ## carla.VehiclePhysicsControl -<<<<<<< HEAD -<<<<<<< HEAD Summarizes the parameters that will be used to simulate a [carla.Vehicle](#carla.Vehicle) as a physical object. The specific settings for the wheels though are stipulated using [carla.WheelPhysicsControl](#carla.WheelPhysicsControl). -======= -VehiclePhysicsControl is used for controlling the physics parameters of a vehicle. ->>>>>>> Fixed docs.

Instance Variables

- **torque_curve** (_list([carla.Vector2D](#carla.Vector2D))_) @@ -3683,7 +1557,6 @@ The maximum RPM of the vehicle's engine. - **moi** (_float_) The moment of inertia of the vehicle's engine. - **damping_rate_full_throttle** (_float_) -<<<<<<< HEAD Damping ratio when the throttle is maximum. - **damping_rate_zero_throttle_clutch_engaged** (_float_) Damping ratio when the throttle is zero with clutch engaged. @@ -3701,25 +1574,6 @@ The fixed ratio from transmission to wheels. List of objects defining the vehicle's gears. - **mass** (_float_) The mass of the vehicle in Kg. -======= -Damping rate when the throttle is maximum. -- **damping_rate_zero_throttle_clutch_engaged** (_float_) -Damping rate when the throttle is zero with clutch engaged. -- **damping_rate_zero_throttle_clutch_disengaged** (_float_) -Damping rate 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_) -Switching time between gears. -- **clutch_strength** (_float_) -The clutch strength of the vehicle. Measured in Kgm^2/s. -- **final_ratio** (_float_) -The fixed ratio from transmission to wheels. -- **forward_gears** (_list([carla.GearPhysicsControl](#carla.GearPhysicsControl))_) -List of GearPhysicsControl objects. -- **mass** (_float_) -The mass of the vehicle measured in Kg. ->>>>>>> Fixed docs. - **drag_coefficient** (_float_) Drag coefficient of the vehicle's chassis. - **center_of_mass** (_[carla.Vector3D](#carla.Vector3D)_) @@ -3727,48 +1581,7 @@ The 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))_) -<<<<<<< HEAD List of wheel physics objects. This list should have 4 elements, where index 0 corresponds to the front left wheel, index 1 corresponds to the front right wheel, index 2 corresponds to the back left wheel and index 3 corresponds to the back right wheel. For 2 wheeled vehicles, set the same values for both front and back wheels. -======= -VehiclePhysicsControl is used for controlling the physics parameters of a vehicle. - -

Instance Variables

-- **torque_curve** (_list([carla.Vector2D](#carla.Vector2D))_) -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_) -The moment of inertia of the vehicle's engine. -- **damping_rate_full_throttle** (_float_) -Damping rate when the throttle is maximum. -- **damping_rate_zero_throttle_clutch_engaged** (_float_) -Damping rate when the throttle is zero with clutch engaged. -- **damping_rate_zero_throttle_clutch_disengaged** (_float_) -Damping rate 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_) -Switching time between gears. -- **clutch_strength** (_float_) -The clutch strength of the vehicle. Measured in Kgm^2/s. -- **final_ratio** (_float_) -The fixed ratio from transmission to wheels. -- **forward_gears** (_list([carla.GearPhysicsControl](#carla.GearPhysicsControl))_) -List of GearPhysicsControl objects. -- **mass** (_float_) -The mass of the vehicle measured in Kg. -- **drag_coefficient** (_float_) -Drag coefficient of the vehicle's chassis. -- **center_of_mass** (_[carla.Vector3D](#carla.Vector3D)_) -The 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))_) -List of [carla.WheelPhysicsControl](#carla.WheelPhysicsControl) objects. This list should have 4 elements, where index 0 corresponds to the front left wheel, index 1 corresponds to the front right wheel, index 2 corresponds to the back left wheel and index 3 corresponds to the back right wheel. For 2 wheeled vehicles, set the same values for both front and back wheels. ->>>>>>> Python documentation. -======= -List of [carla.WheelPhysicsControl](#carla.WheelPhysicsControl) objects. This list should have 4 elements, where index 0 corresponds to the front left wheel, index 1 corresponds to the front right wheel, index 2 corresponds to the back left wheel and index 3 corresponds to the back right wheel. For 2 wheeled vehicles, set the same values for both front and back wheels. ->>>>>>> Fixed docs.

Methods

- **\__init__**(**self**, **torque_curve**=[[0.0, 500.0], [5000.0, 500.0]], **max_rpm**=5000.0, **moi**=1.0, **damping_rate_full_throttle**=0.15, **damping_rate_zero_throttle_clutch_engaged**=2.0, **damping_rate_zero_throttle_clutch_disengaged**=0.35, **use_gear_autobox**=True, **gear_switch_time**=0.5, **clutch_strength**=10.0, **final_ratio**=4.0, **forward_gears**=list(), **mass**=1000.0, **drag_coefficient**=0.3, **center_of_mass**=[0.0, 0.0, 0.0], **steering_curve**=[[0.0, 1.0], [10.0, 0.5]], **wheels**=list()) @@ -3800,8 +1613,6 @@ VehiclePhysicsControl constructor. --- ## carla.Walker -<<<<<<< HEAD -<<<<<<< HEAD
Inherited from _[carla.Actor](#carla.Actor)_

This class inherits from the [carla.Actor](#carla.Actor) and defines pedestrians in the simulation. Walkers are a special type of actor that can be controlled either by an AI ([carla.WalkerAIController](#carla.WalkerAIController)) or manually via script, using a series of [carla.WalkerControl](#carla.WalkerControl) to move these and their skeletons.

Instance Variables

@@ -3822,49 +1633,10 @@ The client returns the control applied to this walker during last tick. The meth - **Return:** _[carla.WalkerControl](#carla.WalkerControl)_ - **\__str__**(**self**) - **Return:** _str_ -======= -
Inherited from _[carla.Actor](#carla.Actor)_

A walking actor, pedestrian. -======= -

Inherited from _[carla.Actor](#carla.Actor)_

A walking actor, pedestrian. ->>>>>>> Fixed docs. - -

Instance Variables

-- **bounding_box** (_[carla.BoundingBox](#carla.BoundingBox)_) -The walker's bounding box. - -

Methods

-- **apply_control**(**self**, **control**) -Apply control to this walker. - - **Parameters:** - - `control` (_[carla.WalkerControl](#carla.WalkerControl)_) - - **Note:** _The control will take effect on the next tick. -_ -- **apply_control**(**self**, **control**) -Apply bone control to this walker. - - **Parameters:** - - `control` (_[carla.WalkerBoneControl](#carla.WalkerBoneControl)_) - - **Note:** _The control will take effect on the next tick. -_ -- **get_control**(**self**) -Returns the control last applied to this walker. - - **Return:** _[carla.WalkerControl](#carla.WalkerControl)_ - - **Note:** _This function does not call the simulator, it returns the data received in the last tick. -<<<<<<< HEAD -_ -- **\__str__**(**self**) - - **Return:** _str_ ->>>>>>> Python documentation. -======= -_ -- **\__str__**(**self**) - - **Return:** _str_ ->>>>>>> Fixed docs. --- ## carla.WalkerAIController -<<<<<<< HEAD -<<<<<<< HEAD
Inherited from _[carla.Actor](#carla.Actor)_

Class that conducts AI control for a walker. The controllers are defined as actors, but they are quite different from the rest. They need to be attached to a parent actor during their creation, which is the walker they will be controlling (take a look at [carla.World](#carla.World) if you are yet to learn on how to spawn actors). They also need for a special blueprint (already defined in [carla.BlueprintLibrary](#carla.BlueprintLibrary) as "controller.ai.walker"). This is an empty blueprint, as the AI controller will be invisible in the simulation but will follow its parent around to dictate every step of the way.

Methods

@@ -3881,38 +1653,10 @@ 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. - **\__str__**(**self**) -======= -
Inherited from _[carla.Actor](#carla.Actor)_

Class used for controlling the automation of a pedestrian. -======= -

Inherited from _[carla.Actor](#carla.Actor)_

Class used for controlling the automation of a pedestrian. ->>>>>>> Fixed docs. - -

Methods

-- **start**(**self**) -Initializes walker controller. -- **stop**(**self**) -Stops walker controller. -- **go_to_location**(**self**, **destination**) -Sets the destination that the pedestrian will reach. - - **Parameters:** - - `destination` (_[carla.Location](#carla.Location)_) -- **set_max_speed**(**self**, **speed**=1.4) -Sets the speed of the pedestrian. - - **Parameters:** -<<<<<<< HEAD - - `speed` (_float_) – Speed is in m/s. -- **\__str__**(**self**) ->>>>>>> Python documentation. -======= - - `speed` (_float_) – Speed is in m/s. -- **\__str__**(**self**) ->>>>>>> Fixed docs. --- ## carla.WalkerBoneControl -<<<<<<< HEAD -<<<<<<< HEAD This class grants bone specific manipulation for walker. The skeletons of walkers have been unified for clarity and the transform applied to each bone are always relative to its parent. Take a look [here](walker_bone_control.md) to learn more on how to create a walker and define its movement.

Instance Variables

@@ -3922,23 +1666,6 @@ 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. -======= -Class used for controlling the skeleton of a walker. See [walker bone control](walker_bone_control.md). -======= -Class used for controlling the skeleton of a walker. See [walker bone control](walker_bone_control.md). ->>>>>>> Fixed docs. - -

Instance Variables

-- **bone_transforms** (_list([name,transform])_) -List of pairs where the first value is the bone name and the second value is the bone transform. - -

Methods

-<<<<<<< HEAD -- **\__init__**(**self**, **list(name,transform)**) ->>>>>>> Python documentation. -======= -- **\__init__**(**self**, **list(name,transform)**) ->>>>>>> Fixed docs. - **Parameters:** - `list(name,transform)` (_tuple_) - **\__str__**(**self**) @@ -3946,8 +1673,6 @@ List of pairs where the first value is the bone name and the second value is the --- ## carla.WalkerControl -<<<<<<< HEAD -<<<<<<< HEAD This class defines specific directions that can be commanded to a [carla.Walker](#carla.Walker) to control it via script. The walker's animations will blend automatically with the parameters defined in this class when applied, though specific skeleton moves can be obtained through class.WalkerBoneControl. AI control can be settled for walkers, but the control used to do so is [carla.WalkerAIController](#carla.WalkerAIController). @@ -3972,37 +1697,6 @@ Compares every variable with `other` and returns True if these are all th - `other` (_[carla.WalkerControl](#carla.WalkerControl)_) - **\__ne__**(**self**, **other**) Compares every variable with `other` and returns True if any of these differ. -======= -WalkerControl is used for controlling the basic movement of a walker. -======= -WalkerControl is used for controlling the basic movement of a walker. ->>>>>>> Fixed docs. - -

Instance Variables

-- **direction** (_[carla.Vector3D](#carla.Vector3D)_) -Vector that controls the direction of the walker. -- **speed** (_float_) -A scalar value to control the walker speed. -- **jump** (_bool_) -If true, the walker will perform a jump. - -

Methods

-- **\__init__**(**self**, **direction**=[1.0, 0.0, 0.0], **speed**=0.0, **jump**=False) -WalkerControl constructor. - - **Parameters:** - - `direction` (_[carla.Vector3D](#carla.Vector3D)_) - - `speed` (_float_) - - `jump` (_bool_) -- **\__eq__**(**self**, **other**) - - **Parameters:** -<<<<<<< HEAD - - `other` (_[carla.WalkerControl](#carla.WalkerControl)_) -- **\__ne__**(**self**, **other**) ->>>>>>> Python documentation. -======= - - `other` (_[carla.WalkerControl](#carla.WalkerControl)_) -- **\__ne__**(**self**, **other**) ->>>>>>> Fixed docs. - **Parameters:** - `other` (_[carla.WalkerControl](#carla.WalkerControl)_) - **\__str__**(**self**) @@ -4039,8 +1733,6 @@ The right lane marking information based on the direction of the Waypoint. The left lane marking information based on the direction of the Waypoint.

Methods

-<<<<<<< HEAD -<<<<<<< HEAD - **get_left_lane**(**self**) Generates a Waypoint at the center of the left lane based on the direction of the current Waypoint, taking into account if the lane change is allowed in this location. Will return None if the lane does not exist. @@ -4052,52 +1744,17 @@ Will return None if the lane does not exist. - **next**(**self**, **distance**) 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. -======= -- **get_left_lane**(**self**) -======= -- **get_left_lane**(**self**) ->>>>>>> Fixed docs. -Generates a Waypoint at the center of the left lane based on the direction of the current Waypoint, regardless if the lane change is allowed in this location. -Can return None if the lane does not exist. - - **Return:** _[carla.Waypoint](#carla.Waypoint)_ -- **get_right_lane**(**self**) -Generates a waypoint at the center of the right lane based on the direction of the current waypoint, regardless if the lane change is allowed in this location. -Can return None if the lane does not exist. - - **Return:** _[carla.Waypoint](#carla.Waypoint)_ -- **next**(**self**, **distance**) -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. -<<<<<<< HEAD -The list may be empty if the road ends before the specified distance, for instance, a lane ending with the only option of incorporating to another road. ->>>>>>> Python documentation. -======= -The list may be empty if the road ends before the specified distance, for instance, a lane ending with the only option of incorporating to another road. ->>>>>>> Fixed docs. - **Parameters:** - `distance` (_float_) – 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:** -<<<<<<< HEAD -<<<<<<< HEAD - `distance` (_float_) – 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. -======= - - `distance` (_float_) – 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 road ends before the specified distance, for instance, a lane ending with the only option of incorporating to another road. ->>>>>>> Python documentation. -======= - - `distance` (_float_) – 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 road ends before the specified distance, for instance, a lane ending with the only option of incorporating to another road. - **Parameters:** - `distance` (_float_) – The approximate distance where to get the previous waypoints. - **Return:** _list([carla.Waypoint](#carla.Waypoint))_ @@ -4108,7 +1765,6 @@ Returns a list of waypoints from this to the start of the lane separated by a ce - **Return:** _list([carla.Waypoint](#carla.Waypoint))_ - **get_landmarks**(**self**, **distance**, **stop_at_junction**=False) Returns a list of landmarks in the road from the current waypoint until the specified distance. ->>>>>>> Fixed docs. - **Parameters:** - `distance` (_float_) – Distance to search for landmarks from the current waypoint (metres in OpenDRIVE). - `stop_at_junction` (_bool_) – Enables or disables the landmark search through junctions. @@ -4125,8 +1781,6 @@ Returns a list of landmarks in the road of a certain type from the current waypo --- ## carla.WeatherParameters -<<<<<<< HEAD -<<<<<<< HEAD This class defines objects containing lightning and weather specifications that can later be applied in [carla.World](#carla.World). So far, these conditions only intervene with [sensor.camera.rgb](/bp_library/). They neither affect the actor's physics nor other sensors. Each of these parameters acts indepently from the rest. Increasing the rainfall will not automatically create puddles nor change the road's humidity. That makes for a better customization but means that realistic conditions need to be scripted. However an example of dynamic weather conditions working realistically can be found [here](https://github.com/carla-simulator/carla/blob/master/PythonAPI/examples/dynamic_weather.py). @@ -4139,19 +1793,6 @@ 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. -======= -WeatherParameters class is used for requesting and changing the lighting and weather conditions inside the world. - -

Instance Variables

-- **cloudiness** (_float_) -Weather cloudiness. It only affects the RGB camera sensor. Values range from 0 to 100. -- **precipitation** (_float_) -Precipitation amount for controlling rain intensity. It only affects the RGB camera sensor. Values range from 0 to 100. -- **precipitation_deposits** (_float_) -Precipitation deposits for controlling the area of puddles on roads. It only affects the RGB camera sensor. Values range from 0 to 100. -- **wind_intensity** (_float_) -Wind intensity, it affects the clouds moving speed, the raindrop direction, and vegetation. This doesn't affect the car physics. Values range from 0 to 100. ->>>>>>> Fixed docs. - **fog_density** (_float_) Fog density. It only affects the RGB camera sensor. Values range from 0 to 100. - **fog_distance** (_float_) @@ -4159,7 +1800,6 @@ Fog start distance (in meters). Values range from 0 to infinite. - **wetness** (_float_) Wetness intensity. It only affects the RGB camera sensor. Values range from 0 to 100. - **sun_azimuth_angle** (_float_) -<<<<<<< HEAD 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. @@ -4183,84 +1823,16 @@ Returns True if both objects' variables are the same. Returns True if both objects' variables are different. - **Return:** _bool_ - **\__str__**(**self**) -======= -WeatherParameters class is used for requesting and changing the lighting and weather conditions inside the world. - -

Instance Variables

-- **cloudiness** (_float_) -Weather cloudiness. It only affects the RGB camera sensor. Values range from 0 to 100. -- **precipitation** (_float_) -Precipitation amount for controlling rain intensity. It only affects the RGB camera sensor. Values range from 0 to 100. -- **precipitation_deposits** (_float_) -Precipitation deposits for controlling the area of puddles on roads. It only affects the RGB camera sensor. Values range from 0 to 100. -- **wind_intensity** (_float_) -Wind intensity, it affects the clouds moving speed, the raindrop direction, and vegetation. This doesn't affect the car physics. Values range from 0 to 100. -- **fog_density** (_float_) -Fog density. 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. -- **wetness** (_float_) -Wetness intensity. It only affects the RGB camera sensor. Values range from 0 to 100. -- **sun_azimuth_angle** (_float_) -The azimuth angle of the sun in degrees. Values range from 0 to 360 (degrees). -- **sun_altitude_angle** (_float_) -Altitude angle of the sun in degrees. Values range from -90 to 90 (where 0 degrees is the horizon). -======= -The azimuth angle of the sun in degrees. Values range from 0 to 360 (degrees). -- **sun_altitude_angle** (_float_) -Altitude angle of the sun in degrees. Values range from -90 to 90 (where 0 degrees is the horizon). ->>>>>>> Fixed docs. - -

Methods

-- **\__init__**(**self**, **cloudiness**=0.0, **precipitation**=0.0, **precipitation_deposits**=0.0, **wind_intensity**=0.0, **sun_azimuth_angle**=0.0, **sun_altitude_angle**=0.0) -WeatherParameters constructor. - - **Parameters:** -<<<<<<< HEAD - - `cloudiness` (_float_) - - `precipitation` (_float_) - - `precipitation_deposits` (_float_) - - `wind_intensity` (_float_) - - `sun_azimuth_angle` (_float_) - - `sun_altitude_angle` (_float_) -- **\__eq__**(**self**, **other**) -Returns True if `self` and `other` are equal. - - **Return:** _bool_ -- **\__ne__**(**self**, **other**) -Returns True if `self` and `other` are not equal. - - **Return:** _bool_ -- **\__str__**(**self**) ->>>>>>> Python documentation. -======= - - `cloudiness` (_float_) - - `precipitation` (_float_) - - `precipitation_deposits` (_float_) - - `wind_intensity` (_float_) - - `sun_azimuth_angle` (_float_) - - `sun_altitude_angle` (_float_) -- **\__eq__**(**self**, **other**) -Returns True if `self` and `other` are equal. - - **Return:** _bool_ -- **\__ne__**(**self**, **other**) -Returns True if `self` and `other` are not equal. - - **Return:** _bool_ -- **\__str__**(**self**) ->>>>>>> Fixed docs. --- ## carla.WheelPhysicsControl -<<<<<<< HEAD -<<<<<<< HEAD Class that defines specific physical parameters for wheel objects that will be part of a [carla.VehiclePhysicsControl](#carla.VehiclePhysicsControl) to simulate vehicle it as a material object. -======= -WheelPhysicsControl is used for controlling the physics parameters of a vehicle's wheel. ->>>>>>> Fixed docs.

Instance Variables

- **tire_friction** (_float_) A scalar value that indicates the friction of the wheel. - **damping_rate** (_float_) -<<<<<<< HEAD Damping rate of the wheel. - **max_steer_angle** (_float_) Maximum angle in degrees that the wheel can steer. @@ -4275,46 +1847,6 @@ World position of the wheel. This is a read-only parameter.

Methods

- **\__init__**(**self**, **tire_friction**=2.0, **damping_rate**=0.25, **max_steer_angle**=70.0, **radius**=30.0, **max_brake_torque**=1500.0, **max_handbrake_torque**=3000.0, **position**=(0.0,0.0,0.0)) -======= -WheelPhysicsControl is used for controlling the physics parameters of a vehicle's wheel. - -

Instance Variables

-- **tire_friction** (_float_) -A scalar value that indicates the friction of the wheel. -- **damping_rate** (_float_) -The damping rate of the wheel. -- **max_steer_angle** (_float_) -The maximum angle in degrees that the wheel can steer. -- **radius** (_float_) -The radius of the wheel in centimeters. -- **max_brake_torque** (_float_) -The maximum brake torque in Nm. -- **max_handbrake_torque** (_float_) -The maximum handbrake torque in Nm. -- **position** (_[carla.Vector3D](#carla.Vector3D)_) -World position of the wheel. Note that it is a read-only parameter. - -

Methods

-- **\__init__**(**self**, **tire_friction**=2.0, **damping_rate**=0.25, **max_steer_angle**=70.0, **radius**=30.0, **max_brake_torque**=1500.0, **max_handbrake_torque**=3000.0, **position**=(0.0,0.0,0.0)) -WheelPhysicsControl constructor. ->>>>>>> Python documentation. -======= -The damping rate of the wheel. -- **max_steer_angle** (_float_) -The maximum angle in degrees that the wheel can steer. -- **radius** (_float_) -The radius of the wheel in centimeters. -- **max_brake_torque** (_float_) -The maximum brake torque in Nm. -- **max_handbrake_torque** (_float_) -The maximum handbrake torque in Nm. -- **position** (_[carla.Vector3D](#carla.Vector3D)_) -World position of the wheel. Note that it is a read-only parameter. - -

Methods

-- **\__init__**(**self**, **tire_friction**=2.0, **damping_rate**=0.25, **max_steer_angle**=70.0, **radius**=30.0, **max_brake_torque**=1500.0, **max_handbrake_torque**=3000.0, **position**=(0.0,0.0,0.0)) -WheelPhysicsControl constructor. ->>>>>>> Fixed docs. - **Parameters:** - `tire_friction` (_float_) - `damping_rate` (_float_) @@ -4334,8 +1866,6 @@ WheelPhysicsControl constructor. --- ## carla.World -<<<<<<< HEAD -<<<<<<< HEAD World objects are created by the client to have a place for the simulation to happen. The world contains the map we can see, meaning the asset, not the navigation map. Navigation maps are part of the [carla.Map](#carla.Map) class. It also manages the weather and actors present in it. There can only be one world per simulation, but it can be changed anytime.

Instance Variables

@@ -4421,166 +1951,10 @@ The client tells the server to block calling thread until a ****id** (_int_) -The id of the episode associated with this world. -- **debug** (_[carla.DebugHelper](#carla.DebugHelper)_) - -

Methods

-<<<<<<< HEAD -- **get_blueprint_library**(**self**) -Return the list of blueprints available in this world. These blueprints can be used to spawn actors into the world. - - **Return:** _[carla.BlueprintLibrary](#carla.BlueprintLibrary)_ -- **get_map**(**self**) -Return the map that describes this world. - - **Return:** _[carla.Map](#carla.Map)_ -- **get_spectator**(**self**) -Return the spectator actor. The spectator controls the view in the simulator window. - - **Return:** _[carla.Actor](#carla.Actor)_ -- **get_settings**(**self**) - - **Return:** _[carla.WorldSettings](#carla.WorldSettings)_ -- **apply_settings**(**self**, **world_settings**) -Returns the id of the frame when the settings took effect. - - **Parameters:** - - `world_settings` (_[carla.WorldSettings](#carla.WorldSettings)_) - - **Return:** _int_ -- **get_weather**(**self**) -Retrieve the weather parameters currently active in the world. - - **Return:** _[carla.WeatherParameters](#carla.WeatherParameters)_ -- **set_weather**(**self**, **weather**) -Change the weather in the simulation. - - **Parameters:** - - `weather` (_[carla.WeatherParameters](#carla.WeatherParameters)_) -- **get_snapshot**(**self**) -Return a snapshot of the world at this moment. - - **Return:** _[carla.WorldSnapshot](#carla.WorldSnapshot)_ -- **get_actor**(**self**, **actor_id**) -Find actor by id, return None if not found. - - **Parameters:** - - `actor_id` (_int_) - - **Return:** _[carla.Actor](#carla.Actor)_ -- **get_random_location_from_navigation**(**self**) -Retrieve a random location to be used as a destination for walkers in [carla.WalkerAIController.go_to_location](#carla.WalkerAIController.go_to_location). See [`spawn_npc.py`](https://github.com/carla-simulator/carla/blob/e73ad54d182e743b50690ca00f1709b08b16528c/PythonAPI/examples/spawn_npc.py#L179) for an example. - - **Return:** _[carla.Location](#carla.Location)_ -- **get_actors**(**self**) -By default it returns a list with every actor present in the world. _A list of ids can be used as a parameter_. - - **Return:** _[carla.ActorList](#carla.ActorList)_ -- **spawn_actor**(**self**, **blueprint**, **transform**, **attach_to**=None, **attachment**=Rigid) -Spawn an actor into the world based on the blueprint provided at transform. If a parent is provided, the actor is attached to parent. - - **Parameters:** - - `blueprint` (_[carla.BlueprintLibrary](#carla.BlueprintLibrary)_) - - `transform` (_[carla.Transform](#carla.Transform)_) – If attached to parent, transform acts like a relative_transform to the parent actor. - - `attach_to` (_[carla.Actor](#carla.Actor)_) - - `attachment` (_[carla.AttachmentType](#carla.AttachmentType)_) - - **Return:** _[carla.Actor](#carla.Actor)_ -- **try_spawn_actor**(**self**, **blueprint**, **transform**, **attach_to**=None, **attachment**=Rigid) -Same as SpawnActor but return none on failure instead of throwing an exception. - - **Parameters:** - - `blueprint` (_[carla.BlueprintLibrary](#carla.BlueprintLibrary)_) - - `transform` (_[carla.Transform](#carla.Transform)_) – If attached to parent, transform acts like a relative_transform to the parent actor. - - `attach_to` (_[carla.Actor](#carla.Actor)_) - - `attachment` (_[carla.AttachmentType](#carla.AttachmentType)_) - - **Return:** _[carla.Actor](#carla.Actor)_ -- **wait_for_tick**(**self**, **seconds**=10.0) -Block calling thread until a world tick is received. - - **Parameters:** - - `seconds` (_float_) - - **Return:** _[carla.WorldSnapshot](#carla.WorldSnapshot)_ -- **on_tick**(**self**, **callback**) -Returns the ID of the callback so it can be removed with `remove_on_tick`. - - **Parameters:** - - `callback` (_[carla.WorldSnapshot](#carla.WorldSnapshot)_) - - **Return:** _int_ -- **remove_on_tick**(**self**, **callback_id**) -Removes on tick callbacks. -- **tick**(**self**) -Synchronizes with the simulator and returns the id of the newly started frame (only has effect on synchronous mode). - - **Return:** _int_ -- **\__str__**(**self**) ->>>>>>> Python documentation. -======= -- **get_blueprint_library**(**self**) -Return the list of blueprints available in this world. These blueprints can be used to spawn actors into the world. - - **Return:** _[carla.BlueprintLibrary](#carla.BlueprintLibrary)_ -- **get_map**(**self**) -Return the map that describes this world. - - **Return:** _[carla.Map](#carla.Map)_ -- **get_spectator**(**self**) -Return the spectator actor. The spectator controls the view in the simulator window. - - **Return:** _[carla.Actor](#carla.Actor)_ -- **get_settings**(**self**) - - **Return:** _[carla.WorldSettings](#carla.WorldSettings)_ -- **apply_settings**(**self**, **world_settings**) -Returns the id of the frame when the settings took effect. - - **Parameters:** - - `world_settings` (_[carla.WorldSettings](#carla.WorldSettings)_) - - **Return:** _int_ -- **get_weather**(**self**) -Retrieve the weather parameters currently active in the world. - - **Return:** _[carla.WeatherParameters](#carla.WeatherParameters)_ -- **set_weather**(**self**, **weather**) -Change the weather in the simulation. - - **Parameters:** - - `weather` (_[carla.WeatherParameters](#carla.WeatherParameters)_) -- **get_snapshot**(**self**) -Return a snapshot of the world at this moment. - - **Return:** _[carla.WorldSnapshot](#carla.WorldSnapshot)_ -- **get_actor**(**self**, **actor_id**) -Find actor by id, return None if not found. - - **Parameters:** - - `actor_id` (_int_) - - **Return:** _[carla.Actor](#carla.Actor)_ -- **get_random_location_from_navigation**(**self**) -Retrieve a random location to be used as a destination for walkers in [carla.WalkerAIController.go_to_location](#carla.WalkerAIController.go_to_location). See [`spawn_npc.py`](https://github.com/carla-simulator/carla/blob/e73ad54d182e743b50690ca00f1709b08b16528c/PythonAPI/examples/spawn_npc.py#L179) for an example. - - **Return:** _[carla.Location](#carla.Location)_ -- **get_actors**(**self**) -By default it returns a list with every actor present in the world. _A list of ids can be used as a parameter_. - - **Return:** _[carla.ActorList](#carla.ActorList)_ -- **spawn_actor**(**self**, **blueprint**, **transform**, **attach_to**=None, **attachment**=Rigid) -Spawn an actor into the world based on the blueprint provided at transform. If a parent is provided, the actor is attached to parent. - - **Parameters:** - - `blueprint` (_[carla.BlueprintLibrary](#carla.BlueprintLibrary)_) - - `transform` (_[carla.Transform](#carla.Transform)_) – If attached to parent, transform acts like a relative_transform to the parent actor. - - `attach_to` (_[carla.Actor](#carla.Actor)_) - - `attachment` (_[carla.AttachmentType](#carla.AttachmentType)_) - - **Return:** _[carla.Actor](#carla.Actor)_ -- **try_spawn_actor**(**self**, **blueprint**, **transform**, **attach_to**=None, **attachment**=Rigid) -Same as SpawnActor but return none on failure instead of throwing an exception. - - **Parameters:** - - `blueprint` (_[carla.BlueprintLibrary](#carla.BlueprintLibrary)_) - - `transform` (_[carla.Transform](#carla.Transform)_) – If attached to parent, transform acts like a relative_transform to the parent actor. - - `attach_to` (_[carla.Actor](#carla.Actor)_) - - `attachment` (_[carla.AttachmentType](#carla.AttachmentType)_) - - **Return:** _[carla.Actor](#carla.Actor)_ -- **wait_for_tick**(**self**, **seconds**=10.0) -Block calling thread until a world tick is received. - - **Parameters:** - - `seconds` (_float_) - - **Return:** _[carla.WorldSnapshot](#carla.WorldSnapshot)_ -- **on_tick**(**self**, **callback**) -Returns the ID of the callback so it can be removed with `remove_on_tick`. - - **Parameters:** - - `callback` (_[carla.WorldSnapshot](#carla.WorldSnapshot)_) - - **Return:** _int_ -- **remove_on_tick**(**self**, **callback_id**) -Removes on tick callbacks. -- **tick**(**self**) -Synchronizes with the simulator and returns the id of the newly started frame (only has effect on synchronous mode). - - **Return:** _int_ -- **\__str__**(**self**) ->>>>>>> Fixed docs. --- ## carla.WorldSettings -<<<<<<< HEAD -<<<<<<< HEAD The simulation has some advanced configuration options that are contained in this class and can be managed using [carla.World](#carla.World) and its methods. These allow the user to choose between client-server synchrony/asynchrony, activation of "no rendering mode" and either if the simulation should run with a fixed or variable time-step. Check [this](../configuring_the_simulation/) out if you want to learn about it.

Instance Variables

@@ -4611,42 +1985,10 @@ Returns True if both objects' variables are different. - **\__str__**(**self**) Parses the established settings to a string and shows them in command line. - **Return:** _str_ -======= -Class that provides access to modifiable world settings. Check it out in our [section](../configuring_the_simulation/). -======= -Class that provides access to modifiable world settings. Check it out in our [section](../configuring_the_simulation/). ->>>>>>> Fixed docs. - -

Instance Variables

-- **synchronous_mode** (_bool_) -- **no_rendering_mode** (_bool_) -- **fixed_delta_seconds** (_float_) - -

Methods

-- **\__init__**(**self**, **synchronous_mode**=False, **no_rendering_mode**=False, **fixed_delta_seconds**=0.0) - - **Parameters:** - - `synchronous_mode` (_bool_) - - `no_rendering_mode` (_bool_) - - `fixed_delta_seconds` (_float_) -- **\__eq__**(**self**, **other**) - - **Parameters:** - - `other` (_[carla.Timestamp](#carla.Timestamp)_) -- **\__ne__**(**self**, **other**) - - **Parameters:** -<<<<<<< HEAD - - `other` (_[carla.Timestamp](#carla.Timestamp)_) -- **\__str__**(**self**) ->>>>>>> Python documentation. -======= - - `other` (_[carla.Timestamp](#carla.Timestamp)_) -- **\__str__**(**self**) ->>>>>>> Fixed docs. --- ## carla.WorldSnapshot -<<<<<<< HEAD -<<<<<<< HEAD This snapshot comprises all the information for every actor on scene at a certain moment of time. It creates and gives acces to a data structure containing a series of [carla.ActorSnapshot](#carla.ActorSnapshot). The client recieves a new snapshot on every tick that cannot be stored.

Instance Variables

@@ -4683,59 +2025,11 @@ Given a certain actor ID, checks if there is a snapshot corresponding it and so, - **Parameters:** - `actor_id` (_int_) - **Return:** _bool_ -======= -Class that represents the state of every actor in the simulation at a single frame. -======= -Class that represents the state of every actor in the simulation at a single frame. ->>>>>>> Fixed docs. - -

Instance Variables

-- **id** (_int_) -The WorldSnapshot's identifier. -- **frame** (_int_) -Frame number. -- **timestamp** (_[carla.Timestamp](#carla.Timestamp)_) -Timestamp simulated data. - -

Methods

-- **has_actor**(**self**, **actor_id**) -Check if an actor is present in this snapshot. - - **Parameters:** - - `actor_id` (_int_) -- **find**(**self**, **actor_id**) -Find an ActorSnapshot by id, return None if the actor is not found. - - **Parameters:** - - `actor_id` (_int_) -- **\__len__**(**self**) -Return number of [carla.ActorSnapshot](#carla.ActorSnapshot) present in this [carla.WorldSnapshot](#carla.WorldSnapshot). - - **Return:** _int_ -- **\__iter__**(**self**) -- **\__eq__**(**self**, **other**) - - **Parameters:** - - `other` (_[carla.WorldSnapshot](#carla.WorldSnapshot)_) -- **\__ne__**(**self**, **other**) - - **Parameters:** -<<<<<<< HEAD - - `other` (_[carla.WorldSnapshot](#carla.WorldSnapshot)_) -- **\__self__**(**self**) ->>>>>>> Python documentation. -======= - - `other` (_[carla.WorldSnapshot](#carla.WorldSnapshot)_) -- **\__self__**(**self**) ->>>>>>> Fixed docs. --- ## command.ApplyAngularVelocity -<<<<<<< HEAD -<<<<<<< HEAD Command adaptation of **set_angular_velocity()** in [carla.Actor](#carla.Actor). Sets an actor's angular velocity. -======= -Set the actor's angular velocity. ->>>>>>> Python documentation. -======= -Set the actor's angular velocity. ->>>>>>> Fixed docs.

Instance Variables

- **actor_id** (_int_) @@ -4746,31 +2040,13 @@ The 3D angular velocity that will be applied to the actor.

Methods

- **\__init__**(**self**, **actor**, **angular_velocity**) - **Parameters:** -<<<<<<< HEAD -<<<<<<< HEAD - `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)_) -======= - - `actor` (_[carla.Actor](#carla.Actor) or int_) - - `angular_velocity` (_[carla.Vector3D](#carla.Vector3D)_) ->>>>>>> Python documentation. -======= - - `actor` (_[carla.Actor](#carla.Actor) or int_) - - `angular_velocity` (_[carla.Vector3D](#carla.Vector3D)_) ->>>>>>> Fixed docs. --- ## command.ApplyImpulse -<<<<<<< HEAD -<<<<<<< HEAD Command adaptation of **add_impulse()** in [carla.Actor](#carla.Actor). Adds impulse to an actor. -======= -Adds impulse to the actor. ->>>>>>> Python documentation. -======= -Adds impulse to the actor. ->>>>>>> Fixed docs.

Instance Variables

- **actor_id** (_int_) @@ -4781,31 +2057,13 @@ Impulse applied to the actor.

Methods

- **\__init__**(**self**, **actor**, **impulse**) - **Parameters:** -<<<<<<< HEAD -<<<<<<< HEAD - `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to. - `impulse` (_[carla.Vector3D](#carla.Vector3D)_) -======= - - `actor` (_[carla.Actor](#carla.Actor) or int_) - - `impulse` (_[carla.Vector3D](#carla.Vector3D)_) ->>>>>>> Python documentation. -======= - - `actor` (_[carla.Actor](#carla.Actor) or int_) - - `impulse` (_[carla.Vector3D](#carla.Vector3D)_) ->>>>>>> Fixed docs. --- ## command.ApplyTransform -<<<<<<< HEAD -<<<<<<< HEAD Command adaptation of **set_transform()** in [carla.Actor](#carla.Actor). Sets a new transform to an actor. -======= -Sets a new transform to the actor. ->>>>>>> Python documentation. -======= -Sets a new transform to the actor. ->>>>>>> Fixed docs.

Instance Variables

- **actor_id** (_int_) @@ -4816,31 +2074,13 @@ Transformation to be applied.

Methods

- **\__init__**(**self**, **actor**, **transform**) - **Parameters:** -<<<<<<< HEAD -<<<<<<< HEAD - `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to. - `transform` (_[carla.Transform](#carla.Transform)_) -======= - - `actor` (_[carla.Actor](#carla.Actor) or int_) - - `transform` (_[carla.Transform](#carla.Transform)_) ->>>>>>> Python documentation. -======= - - `actor` (_[carla.Actor](#carla.Actor) or int_) - - `transform` (_[carla.Transform](#carla.Transform)_) ->>>>>>> Fixed docs. --- ## command.ApplyVehicleControl -<<<<<<< HEAD -<<<<<<< HEAD Command adaptation of **apply_control()** in [carla.Vehicle](#carla.Vehicle). Applies a certain control to a vehicle. -======= -Apply control to the vehicle. ->>>>>>> Python documentation. -======= -Apply control to the vehicle. ->>>>>>> Fixed docs.

Instance Variables

- **actor_id** (_int_) @@ -4851,31 +2091,13 @@ Vehicle control to be applied.

Methods

- **\__init__**(**self**, **actor**, **control**) - **Parameters:** -<<<<<<< HEAD -<<<<<<< HEAD - `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to. - `control` (_[carla.VehicleControl](#carla.VehicleControl)_) -======= - - `actor` (_[carla.Actor](#carla.Actor) or int_) - - `control` (_[carla.VehicleControl](#carla.VehicleControl)_) ->>>>>>> Python documentation. -======= - - `actor` (_[carla.Actor](#carla.Actor) or int_) - - `control` (_[carla.VehicleControl](#carla.VehicleControl)_) ->>>>>>> Fixed docs. --- ## command.ApplyVelocity -<<<<<<< HEAD -<<<<<<< HEAD Command adaptation of **set_velocity()** in [carla.Actor](#carla.Actor). Sets an actor's velocity. -======= -Sets actor's velocity. ->>>>>>> Python documentation. -======= -Sets actor's velocity. ->>>>>>> Fixed docs.

Instance Variables

- **actor_id** (_int_) @@ -4886,24 +2108,12 @@ The 3D velocity applied to the actor.

Methods

- **\__init__**(**self**, **actor**, **velocity**) - **Parameters:** -<<<<<<< HEAD -<<<<<<< HEAD - `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to. - `velocity` (_[carla.Vector3D](#carla.Vector3D)_) -======= - - `actor` (_[carla.Actor](#carla.Actor) or int_) - - `velocity` (_[carla.Vector3D](#carla.Vector3D)_) ->>>>>>> Python documentation. -======= - - `actor` (_[carla.Actor](#carla.Actor) or int_) - - `velocity` (_[carla.Vector3D](#carla.Vector3D)_) ->>>>>>> Fixed docs. --- ## command.ApplyWalkerControl -<<<<<<< HEAD -<<<<<<< HEAD Command adaptation of **apply_control()** in [carla.Walker](#carla.Walker). Applies a control to a walker.

Instance Variables

@@ -4911,53 +2121,17 @@ Command adaptation of **apply_control()** in [carla Walker actor affected by the command. - **control** (_[carla.WalkerControl](#carla.WalkerControl)_) Walker control to be applied. -======= -Apply control to the walker. - -

Instance Variables

-- **actor_id** (_int_) -Walker actor affected by the command. -- **control** (_[carla.VehicleControl](#carla.VehicleControl)_) -Walker control to be applied. ->>>>>>> Python documentation. -======= -Apply control to the walker. - -

Instance Variables

-- **actor_id** (_int_) -Walker actor affected by the command. -- **control** (_[carla.VehicleControl](#carla.VehicleControl)_) -Walker control to be applied. ->>>>>>> Fixed docs.

Methods

- **\__init__**(**self**, **actor**, **control**) - **Parameters:** -<<<<<<< HEAD -<<<<<<< HEAD - `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to. - `control` (_[carla.WalkerControl](#carla.WalkerControl)_) -======= - - `actor` (_[carla.Actor](#carla.Actor) or int_) - - `control` (_[carla.WalkerControl](#carla.WalkerControl)_) ->>>>>>> Python documentation. -======= - - `actor` (_[carla.Actor](#carla.Actor) or int_) - - `control` (_[carla.WalkerControl](#carla.WalkerControl)_) ->>>>>>> Fixed docs. --- ## command.ApplyWalkerState -<<<<<<< HEAD -<<<<<<< HEAD Apply a state to the walker actor. Specially useful to initialize an actor them with a specific location, orientation and speed. -======= -Apply a state to the walker actor. ->>>>>>> Python documentation. -======= -Apply a state to the walker actor. ->>>>>>> Fixed docs.

Instance Variables

- **actor_id** (_int_) @@ -4970,34 +2144,14 @@ Speed to be applied.

Methods

- **\__init__**(**self**, **actor**, **transform**, **speed**) - **Parameters:** -<<<<<<< HEAD -<<<<<<< HEAD - `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_) -======= - - `actor` (_[carla.Actor](#carla.Actor) or int_) - - `transform` (_[carla.Transform](#carla.Transform)_) - - `speed` (_float_) ->>>>>>> Python documentation. -======= - - `actor` (_[carla.Actor](#carla.Actor) or int_) - - `transform` (_[carla.Transform](#carla.Transform)_) - - `speed` (_float_) ->>>>>>> Fixed docs. --- ## command.DestroyActor -<<<<<<< HEAD -<<<<<<< HEAD Command adaptation of **destroy()** in [carla.Actor](#carla.Actor) that tells the simulator to destroy this actor. It has no effect if the actor was already destroyed. When executed with **apply_batch_synch()** in [carla.Client](#carla.Client) there will be a command.Response that will return a boolean stating whether the actor was successfully destroyed. -======= -Tell the simulator to destroy this Actor, and return whether the actor was successfully destroyed. It has no effect if the Actor was already successfully destroyed. ->>>>>>> Python documentation. -======= -Tell the simulator to destroy this Actor, and return whether the actor was successfully destroyed. It has no effect if the Actor was already successfully destroyed. ->>>>>>> Fixed docs.

Instance Variables

- **actor_id** (_int_) @@ -5006,21 +2160,11 @@ Actor affected by the command.

Methods

- **\__init__**(**self**, **actor**) - **Parameters:** -<<<<<<< HEAD -<<<<<<< HEAD - `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to. -======= - - `actor` (_[carla.Actor](#carla.Actor) or int_) ->>>>>>> Python documentation. -======= - - `actor` (_[carla.Actor](#carla.Actor) or int_) ->>>>>>> Fixed docs. --- ## command.Response -<<<<<<< HEAD -<<<<<<< HEAD States the result of executing a command as either the ID of the actor to whom the command was applied to (when succeeded) or an error string (when failed). actor ID, depending on whether or not the command succeeded. The method **apply_batch_sync()** in [carla.Client](#carla.Client) returns a list of these to summarize the execution of a batch.

Instance Variables

@@ -5033,30 +2177,10 @@ A string stating the command has failed. - **has_error**(**self**) Returns True if the command represents a successful execution and False if not. - **Return:** _bool_ -======= -Execution result of a command, contains either an error string or an actor ID, depending on whether or not the command succeeded. See [carla.Client.apply_batch_sync](#carla.Client.apply_batch_sync). -======= -Execution result of a command, contains either an error string or an actor ID, depending on whether or not the command succeeded. See [carla.Client.apply_batch_sync](#carla.Client.apply_batch_sync). ->>>>>>> Fixed docs. - -

Instance Variables

-- **actor_id** (_int_) -Actor affected by the command. -- **error** (_str_) - -

Methods

-<<<<<<< HEAD -- **has_error**(**self**) ->>>>>>> Python documentation. -======= -- **has_error**(**self**) ->>>>>>> Fixed docs. --- ## command.SetAutopilot -<<<<<<< HEAD -<<<<<<< HEAD Command adaptation of **set_autopilot()** in [carla.Vehicle](#carla.Vehicle). Turns on/off the vehicle's server-side autopilot.

Instance Variables

@@ -5064,46 +2188,16 @@ Command adaptation of **set_autopilot()** in [carla Actor that is affected by the command. - **enabled** (_bool_) If autopilot should be activated or not. -======= -Switch on/off vehicle's server-side autopilot. - -

Instance Variables

-- **actor_id** (_int_) -Actor that is affected by the command. -- **enabled** (_bool_) -If the autopilot is enabled or not. ->>>>>>> Python documentation. -======= -Switch on/off vehicle's server-side autopilot. - -

Instance Variables

-- **actor_id** (_int_) -Actor that is affected by the command. -- **enabled** (_bool_) -If the autopilot is enabled or not. ->>>>>>> Fixed docs.

Methods

- **\__init__**(**self**, **actor**, **enabled**) - **Parameters:** -<<<<<<< HEAD -<<<<<<< HEAD - `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to. - `enabled` (_bool_) -======= - - `actor` (_[carla.Actor](#carla.Actor) or int_) - - `enabled` (_bool_) ->>>>>>> Python documentation. -======= - - `actor` (_[carla.Actor](#carla.Actor) or int_) - - `enabled` (_bool_) ->>>>>>> Fixed docs. --- ## command.SetSimulatePhysics -<<<<<<< HEAD -<<<<<<< HEAD Command adaptation of **set_simulate_physics()** in [carla.Actor](#carla.Actor). Determines whether an actor will be affected by physics or not.

Instance Variables

@@ -5111,46 +2205,16 @@ Command adaptation of **set_simulate_physics()** in Actor affected by the command. - **enabled** (_bool_) If physics should be activated or not. -======= -Whether an actor will be affected by physics or not. - -

Instance Variables

-- **actor_id** (_int_) -Actor affected by the command. -- **enabled** (_bool_) -If physics will affect the actor. ->>>>>>> Python documentation. -======= -Whether an actor will be affected by physics or not. - -

Instance Variables

-- **actor_id** (_int_) -Actor affected by the command. -- **enabled** (_bool_) -If physics will affect the actor. ->>>>>>> Fixed docs.

Methods

- **\__init__**(**self**, **actor**, **enabled**) - **Parameters:** -<<<<<<< HEAD -<<<<<<< HEAD - `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to. - `enabled` (_bool_) -======= - - `actor` (_[carla.Actor](#carla.Actor) or int_) - - `enabled` (_bool_) ->>>>>>> Python documentation. -======= - - `actor` (_[carla.Actor](#carla.Actor) or int_) - - `enabled` (_bool_) ->>>>>>> Fixed docs. --- ## command.SpawnActor -<<<<<<< HEAD -<<<<<<< HEAD Command adaptation of **spawn_actor()** in [carla.World](#carla.World). Spawns an actor into the world based on the blueprint provided and the transform. If a parent is provided, the actor is attached to it.

Instance Variables

@@ -5158,24 +2222,6 @@ Command adaptation of **spawn_actor()** in [carla.W Transform to be applied. - **parent_id** (_int_) Identificator of the parent actor. -======= -Spawn an actor into the world based on the blueprint provided and the transform. If a parent is provided, the actor is attached to parent. - -

Instance Variables

-- **transform** (_[carla.Transform](#carla.Transform)_) -Transform to be applied. -- **parent_id** (_int_) -Parent's actor id. ->>>>>>> Python documentation. -======= -Spawn an actor into the world based on the blueprint provided and the transform. If a parent is provided, the actor is attached to parent. - -

Instance Variables

-- **transform** (_[carla.Transform](#carla.Transform)_) -Transform to be applied. -- **parent_id** (_int_) -Parent's actor id. ->>>>>>> Fixed docs.

Methods

- **\__init__**(**self**) @@ -5185,26 +2231,11 @@ Parent's actor id. - `transform` (_[carla.Transform](#carla.Transform)_) - **\__init__**(**self**, **blueprint**, **transform**, **parent**) - **Parameters:** -<<<<<<< HEAD -<<<<<<< HEAD -======= ->>>>>>> Fixed docs. - `blueprint` (_[carla.ActorBlueprint](#carla.ActorBlueprint)_) - `transform` (_[carla.Transform](#carla.Transform)_) - `parent` (_[carla.Actor](#carla.Actor) or int_) - **then**(**self**, **command**) -<<<<<<< HEAD Links another command to be executed right after. It allows to ease very common flows such as spawning a set of vehicles by command and then using this method to set them to autopilot automatically. -======= - - `blueprint` (_[carla.ActorBlueprint](#carla.ActorBlueprint)_) - - `transform` (_[carla.Transform](#carla.Transform)_) - - `parent` (_[carla.Actor](#carla.Actor) or int_) -- **then**(**self**, **command**) -Link another command to be executed right after. ->>>>>>> Python documentation. -======= -Link another command to be executed right after. ->>>>>>> Fixed docs. - **Parameters:** - `command` (_[carla.Command](#carla.Command)_) – CommandType.