Improve wildcard filtering of actors and blueprints

Docs/python_api.md

@@ -66,6 +66,7 @@
 
 ## `carla.ActorList`
 
+- `filter(wildcard_pattern)`
 - `__getitem__(pos)`
 - `__len__()`
 - `__iter__()`

LibCarla/source/carla/client/ActorBlueprint.cpp

@@ -30,9 +30,11 @@ namespace client {
   }
 
   bool ActorBlueprint::MatchTags(const std::string &wildcard_pattern) const {
-    return std::any_of(_tags.begin(), _tags.end(), [&](const auto &tag) {
-      return StringUtil::Match(tag, wildcard_pattern);
-    });
+    return
+        StringUtil::Match(_id, wildcard_pattern) ||
+        std::any_of(_tags.begin(), _tags.end(), [&](const auto &tag) {
+          return StringUtil::Match(tag, wildcard_pattern);
+        });
   }
 
   rpc::ActorDescription ActorBlueprint::MakeActorDescription() const {

LibCarla/source/carla/client/ActorList.cpp

@@ -6,6 +6,7 @@
 
 #include "carla/client/ActorList.h"
 
+#include "carla/StringUtil.h"
 #include "carla/client/Actor.h"
 #include "carla/client/detail/ActorFactory.h"
 
@@ -14,12 +15,32 @@
 namespace carla {
 namespace client {
 
+  struct GetTypeIdVisitor {
+    const std::string &operator()(const rpc::Actor &actor) const {
+      return actor.description.id;
+    }
+    const std::string &operator()(const SharedPtr<Actor> &actor) const {
+      return actor->GetTypeId();
+    }
+  };
+
   ActorList::ActorList(
       detail::EpisodeProxy episode,
       std::vector<rpc::Actor> actors)
     : _episode(std::move(episode)),
       _actors(std::make_move_iterator(actors.begin()), std::make_move_iterator(actors.end())) {}
 
+  ActorList ActorList::Filter(const std::string &wildcard_pattern) const {
+    ActorList filtered{_episode, {}};
+    for (auto &&item : _actors) {
+      const auto &id = boost::apply_visitor(GetTypeIdVisitor(), item);
+      if (StringUtil::Match(id, wildcard_pattern)) {
+        filtered._actors.push_back(item);
+      }
+    }
+    return filtered;
+  }
+
   SharedPtr<Actor> ActorList::RetrieveActor(value_type &value) const {
     if (value.which() == 0u) {
       value = detail::ActorFactory::MakeActor(

LibCarla/source/carla/client/ActorList.h

@@ -32,6 +32,9 @@ namespace client {
 
   public:
 
+    /// Filters a list of Actor with type id matching @a wildcard_pattern.
+    ActorList Filter(const std::string &wildcard_pattern) const;
+
     SharedPtr<Actor> operator[](size_t pos) const {
       return RetrieveActor(_actors[pos]);
     }

LibCarla/source/carla/client/BlueprintLibrary.h

@@ -40,7 +40,8 @@ namespace client {
     BlueprintLibrary(BlueprintLibrary &&) = default;
     BlueprintLibrary &operator=(BlueprintLibrary &&) = default;
 
-    /// Filters a list of ActorBlueprint with tags matching @a wildcard_pattern.
+    /// Filters a list of ActorBlueprint with id or tags matching
+    /// @a wildcard_pattern.
     SharedPtr<BlueprintLibrary> Filter(const std::string &wildcard_pattern) const;
 
     const_pointer Find(const std::string &key) const {

PythonAPI/source/libcarla/World.cpp

@@ -33,6 +33,7 @@ void export_world() {
   namespace cg = carla::geom;
 
   class_<cc::ActorList>("ActorList", no_init)
+    .def("filter", &cc::ActorList::Filter)
     .def("__getitem__", &cc::ActorList::at)
     .def("__len__", &cc::ActorList::size)
     .def("__iter__", range(&cc::ActorList::begin, &cc::ActorList::end))