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Add extra constructors to carla.command objects to use actors directly

This commit is contained in:
nsubiron 2019-04-03 16:49:26 +02:00
parent ac20c931f9
commit b29d04ea33
1 changed files with 35 additions and 1 deletions
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36
PythonAPI/carla/source/libcarla/Commands.cpp
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@ -7,63 +7,97 @@
#include <carla/PythonUtil.h>
#include <carla/rpc/Command.h>
namespace command_impl {
template <typename T>
const T &Convert(const T &in) {
return in;
}
carla::rpc::ActorId Convert(const boost::shared_ptr<carla::client::Actor> &actor) {
return actor->GetId();
}
carla::rpc::ActorDescription Convert(const carla::client::ActorBlueprint &blueprint) {
return blueprint.MakeActorDescription();
}
template <typename... ArgsT>
static boost::python::object CustomInit(boost::python::object self, ArgsT... args) {
return self.attr("__init__")(Convert(args)...);
}
} // namespace command_impl
void export_commands() {
using namespace boost::python;
namespace cr = carla::rpc;
namespace cc = carla::client;
namespace cg = carla::geom;
namespace cr = carla::rpc;
using ActorPtr = boost::shared_ptr<cc::Actor>;
object command_module(handle<>(borrowed(PyImport_AddModule("libcarla.command"))));
scope().attr("command") = command_module;
scope io_scope = command_module;
class_<cr::Command::DestroyActor>("DestroyActor")
.def("__init__", &command_impl::CustomInit<ActorPtr>, (arg("actor")))
.def(init<cr::ActorId>((arg("actor_id"))))
.def_readwrite("actor_id", &cr::Command::DestroyActor::actor)
;
class_<cr::Command::ApplyVehicleControl>("ApplyVehicleControl")
.def("__init__", &command_impl::CustomInit<ActorPtr, cr::VehicleControl>, (arg("actor"), arg("control")))
.def(init<cr::ActorId, cr::VehicleControl>((arg("actor_id"), arg("control"))))
.def_readwrite("actor_id", &cr::Command::ApplyVehicleControl::actor)
.def_readwrite("control", &cr::Command::ApplyVehicleControl::control)
;
class_<cr::Command::ApplyWalkerControl>("ApplyWalkerControl")
.def("__init__", &command_impl::CustomInit<ActorPtr, cr::WalkerControl>, (arg("actor"), arg("control")))
.def(init<cr::ActorId, cr::WalkerControl>((arg("actor_id"), arg("control"))))
.def_readwrite("actor_id", &cr::Command::ApplyWalkerControl::actor)
.def_readwrite("control", &cr::Command::ApplyWalkerControl::control)
;
class_<cr::Command::ApplyTransform>("ApplyTransform")
.def("__init__", &command_impl::CustomInit<ActorPtr, cg::Transform>, (arg("actor"), arg("transform")))
.def(init<cr::ActorId, cg::Transform>((arg("actor_id"), arg("transform"))))
.def_readwrite("actor_id", &cr::Command::ApplyTransform::actor)
.def_readwrite("transform", &cr::Command::ApplyTransform::transform)
;
class_<cr::Command::ApplyVelocity>("ApplyVelocity")
.def("__init__", &command_impl::CustomInit<ActorPtr, cg::Vector3D>, (arg("actor"), arg("velocity")))
.def(init<cr::ActorId, cg::Vector3D>((arg("actor_id"), arg("velocity"))))
.def_readwrite("actor_id", &cr::Command::ApplyVelocity::actor)
.def_readwrite("velocity", &cr::Command::ApplyVelocity::velocity)
;
class_<cr::Command::ApplyAngularVelocity>("ApplyAngularVelocity")
.def("__init__", &command_impl::CustomInit<ActorPtr, cg::Vector3D>, (arg("actor"), arg("angular_velocity")))
.def(init<cr::ActorId, cg::Vector3D>((arg("actor_id"), arg("angular_velocity"))))
.def_readwrite("actor_id", &cr::Command::ApplyAngularVelocity::actor)
.def_readwrite("angular_velocity", &cr::Command::ApplyAngularVelocity::angular_velocity)
;
class_<cr::Command::ApplyImpulse>("ApplyImpulse")
.def("__init__", &command_impl::CustomInit<ActorPtr, cg::Vector3D>, (arg("actor"), arg("impulse")))
.def(init<cr::ActorId, cg::Vector3D>((arg("actor_id"), arg("impulse"))))
.def_readwrite("actor_id", &cr::Command::ApplyImpulse::actor)
.def_readwrite("impulse", &cr::Command::ApplyImpulse::impulse)
;
class_<cr::Command::SetSimulatePhysics>("SetSimulatePhysics")
.def("__init__", &command_impl::CustomInit<ActorPtr, bool>, (arg("actor"), arg("enabled")))
.def(init<cr::ActorId, bool>((arg("actor_id"), arg("enabled"))))
.def_readwrite("actor_id", &cr::Command::SetSimulatePhysics::actor)
.def_readwrite("enabled", &cr::Command::SetSimulatePhysics::enabled)
;
class_<cr::Command::SetAutopilot>("SetAutopilot")
.def("__init__", &command_impl::CustomInit<ActorPtr, bool>, (arg("actor"), arg("enabled")))
.def(init<cr::ActorId, bool>((arg("actor_id"), arg("enabled"))))
.def_readwrite("actor_id", &cr::Command::SetAutopilot::actor)
.def_readwrite("enabled", &cr::Command::SetAutopilot::enabled)