LibCarla: Added vehicle open/close doors

LibCarla/source/carla/client/Vehicle.cpp

@@ -59,6 +59,14 @@ namespace client {
     GetEpisode().Lock()->ApplyPhysicsControlToVehicle(*this, physics_control);
   }
 
+  void Vehicle::OpenDoor(const VehicleDoor door_idx) {
+    GetEpisode().Lock()->OpenVehicleDoor(*this, rpc::VehicleDoor(door_idx));
+  }
+
+  void Vehicle::CloseDoor(const VehicleDoor door_idx) {
+    GetEpisode().Lock()->CloseVehicleDoor(*this, rpc::VehicleDoor(door_idx));
+  }
+
   void Vehicle::SetLightState(const LightState &light_state) {
     GetEpisode().Lock()->SetLightStateToVehicle(*this, rpc::VehicleLightState(light_state));
   }

LibCarla/source/carla/client/Vehicle.h

@@ -8,8 +8,9 @@
 
 #include "carla/client/Actor.h"
 #include "carla/rpc/TrafficLightState.h"
-#include "carla/rpc/VehicleLightState.h"
 #include "carla/rpc/VehicleControl.h"
+#include "carla/rpc/VehicleDoor.h"
+#include "carla/rpc/VehicleLightState.h"
 #include "carla/rpc/VehiclePhysicsControl.h"
 #include "carla/rpc/VehicleWheels.h"
 #include "carla/trafficmanager/TrafficManager.h"
@@ -33,6 +34,7 @@ namespace client {
     using PhysicsControl = rpc::VehiclePhysicsControl;
     using LightState = rpc::VehicleLightState::LightState;
     using TM = traffic_manager::TrafficManager;
+    using VehicleDoor = rpc::VehicleDoor;
     using WheelLocation = carla::rpc::VehicleWheelLocation;
 
 
@@ -50,6 +52,12 @@ namespace client {
     /// Apply physics control to this vehicle.
     void ApplyPhysicsControl(const PhysicsControl &physics_control);
 
+    /// Open a door in this vehicle
+    void OpenDoor(const VehicleDoor door_idx);
+
+    /// Close a door in this vehicle
+    void CloseDoor(const VehicleDoor door_idx);
+
     /// Sets a @a LightState to this vehicle.
     void SetLightState(const LightState &light_state);
 

LibCarla/source/carla/client/detail/Client.cpp

@@ -274,6 +274,18 @@ namespace detail {
     return _pimpl->AsyncCall("set_vehicle_light_state", vehicle, light_state);
   }
 
+  void Client::OpenVehicleDoor(
+      rpc::ActorId vehicle,
+      const rpc::VehicleDoor door_idx) {
+    return _pimpl->AsyncCall("open_vehicle_door", vehicle, door_idx);
+  }
+
+  void Client::CloseVehicleDoor(
+      rpc::ActorId vehicle,
+      const rpc::VehicleDoor door_idx) {
+    return _pimpl->AsyncCall("close_vehicle_door", vehicle, door_idx);
+  }
+
   void Client::SetWheelSteerDirection(
         rpc::ActorId vehicle,
         rpc::VehicleWheelLocation vehicle_wheel,

LibCarla/source/carla/client/detail/Client.h

@@ -16,20 +16,21 @@
 #include "carla/rpc/AttachmentType.h"
 #include "carla/rpc/Command.h"
 #include "carla/rpc/CommandResponse.h"
+#include "carla/rpc/EnvironmentObject.h"
 #include "carla/rpc/EpisodeInfo.h"
 #include "carla/rpc/EpisodeSettings.h"
 #include "carla/rpc/LabelledPoint.h"
 #include "carla/rpc/LightState.h"
 #include "carla/rpc/MapInfo.h"
 #include "carla/rpc/MapLayer.h"
-#include "carla/rpc/EnvironmentObject.h"
-#include "carla/rpc/TrafficLightState.h"
-#include "carla/rpc/VehiclePhysicsControl.h"
-#include "carla/rpc/VehicleLightState.h"
-#include "carla/rpc/WeatherParameters.h"
 #include "carla/rpc/OpendriveGenerationParameters.h"
+#include "carla/rpc/TrafficLightState.h"
+#include "carla/rpc/VehicleDoor.h"
 #include "carla/rpc/VehicleLightStateList.h"
+#include "carla/rpc/VehicleLightState.h"
+#include "carla/rpc/VehiclePhysicsControl.h"
 #include "carla/rpc/VehicleWheels.h"
+#include "carla/rpc/WeatherParameters.h"
 
 #include <functional>
 #include <memory>
@@ -145,6 +146,14 @@ namespace detail {
         rpc::ActorId vehicle,
         const rpc::VehicleLightState &light_state);
 
+    void OpenVehicleDoor(
+        rpc::ActorId vehicle,
+        const rpc::VehicleDoor door_idx);
+
+    void CloseVehicleDoor(
+        rpc::ActorId vehicle,
+        const rpc::VehicleDoor door_idx);
+
     rpc::Actor SpawnActor(
         const rpc::ActorDescription &description,
         const geom::Transform &transform);

LibCarla/source/carla/client/detail/Simulator.h

@@ -469,6 +469,14 @@ namespace detail {
       _client.SetLightStateToVehicle(vehicle.GetId(), light_state);
     }
 
+    void OpenVehicleDoor(Vehicle &vehicle, const rpc::VehicleDoor door_idx) {
+      _client.OpenVehicleDoor(vehicle.GetId(), door_idx);
+    }
+
+    void CloseVehicleDoor(Vehicle &vehicle, const rpc::VehicleDoor door_idx) {
+      _client.CloseVehicleDoor(vehicle.GetId(), door_idx);
+    }
+
     void SetWheelSteerDirection(Vehicle &vehicle, rpc::VehicleWheelLocation wheel_location, float angle_in_deg) {
       _client.SetWheelSteerDirection(vehicle.GetId(), wheel_location, angle_in_deg);
     }