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Fdomf/docs (#1981) 

* Added c++ doc section, Updated bp_library,docs improvements

* Minor changes

* Docs updates

* Added c++ doc section, Updated bp_library,docs improvements

* Minor changes

* Docs updates

* Updated jenkins file - master rebase

* Updated Jenkins - rebase

* Fixed doxygen link

* Waypoint tutorial extended and fixes

* Merge branch 'master' into fdomf/docs

* Fixes

* Merge branch 'fdomf/docs' of https://github.com/carla-simulator/carla into fdomf/docs

* Updated some python API class & methods

* Merge branch 'master' into fdomf/docs

* updated python api

* Updates

* Fixed broken link in camera&sensors doc

* Python API doc updated

* Added python api

* Added first lite version of python cookbook and docs related links

* Bp_doc_gen

* Merge branch 'master' into fdomf/docs

* merge master python api docs

* Updated doc

* make PythonApi.docs

* Merge branch 'master' into fdomf/docs

* Updated python API doc generator

* New debug recipe

* Docs fixes
This commit is contained in:
Francesc Domene 2019-08-14 19:44:55 +02:00 committed by germanros1987
parent 8cb378a612
commit ecff54faf5
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Docs/cameras_and_sensors.md
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![Client window](img/client_window.png)
Sensors are a special type of actor able to measure and stream data. All the
sensors have a `listen` method that registers the callback function that will
sensors have a [`listen`](python_api.md#carla.Sensor.listen) method that registers the callback function that will
be called each time the sensor produces a new measurement. Sensors are typically
attached to vehicles and produce data either each simulation update, or when a
certain event is registered.

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Docs/index.md
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@ -22,6 +22,7 @@
* [Python API reference](python_api.md)
* [C++ Reference](cpp_reference.md)
* [Python Cookbook](python_cookbook.md)
* [Blueprint Library](bp_library.md)
* [Running without display and selecting GPUs](carla_headless.md)
* [Running in a Docker](carla_docker.md)

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Docs/python_api.md
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@ -17,7 +17,7 @@
- [**Rigid**](#carla.AttachmentType.Rigid) <sub>_Instance variable_</sub>
- [**SpringArm**](#carla.AttachmentType.SpringArm) <sub>_Instance variable_</sub>
- [**BlueprintLibrary**](#carla.BlueprintLibrary) <sub>_Class_</sub>
- [**find**(**self**)](#carla.BlueprintLibrary.find) <sub>_Method_</sub>
- [**find**(**self**, **id**)](#carla.BlueprintLibrary.find) <sub>_Method_</sub>
- [**filter**(**self**, **wildcard_pattern**)](#carla.BlueprintLibrary.filter) <sub>_Method_</sub>
- [**\__getitem__**(**self**, **pos**)](#carla.BlueprintLibrary.__getitem__) <sub>_Method_</sub>
- [**\__len__**(**self**)](#carla.BlueprintLibrary.__len__) <sub>_Method_</sub>
@ -575,7 +575,7 @@ _</font>
---
## carla.AttachmentType<a name="carla.AttachmentType"></a> <sub><sup>_class_</sup></sub>
Class that defines the attachment options. See [carla.World.spawn_actor](#carla.World.spawn_actor).
Class that defines the attachment options. See [carla.World.spawn_actor](#carla.World.spawn_actor).<br> Check out this [`recipe`](../python_cookbook/#attach-sensors-recipe)!
<h3>Instance Variables</h3>
- <a name="carla.AttachmentType.Rigid"></a>**<font color="#f8805a">Rigid</font>**
@ -589,7 +589,11 @@ Attachment that expands or retracts based on camera situation.
Class that provides access to [blueprints](../bp_library/).
<h3>Methods</h3>
- <a name="carla.BlueprintLibrary.find"></a>**<font color="#7fb800">find</font>**(<font color="#00a6ed">**self**</font>)
- <a name="carla.BlueprintLibrary.find"></a>**<font color="#7fb800">find</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**id**</font>)
Returns a [carla.ActorBlueprint](#carla.ActorBlueprint) through its id.
- **Parameters:**
- `id` (_str_)
- **Return:** _[carla.ActorBlueprint](#carla.ActorBlueprint)_
- <a name="carla.BlueprintLibrary.filter"></a>**<font color="#7fb800">filter</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**wildcard_pattern**</font>)
Filters a list of ActorBlueprint with id or tags matching wildcard_pattern. The pattern is matched against each blueprint's id and tags.
- **Parameters:**
@ -608,7 +612,7 @@ _</font>
---
## carla.ColorConverter<a name="carla.ColorConverter"></a> <sub><sup>_class_</sup></sub>
Class that defines the color converter options.
Class that defines the color converter options. Check out this [`recipe`](../python_cookbook/#converted-image-recipe)!
<h3>Instance Variables</h3>
- <a name="carla.ColorConverter.Raw"></a>**<font color="#f8805a">Raw</font>**
@ -650,7 +654,7 @@ Draws an arrow between two given locations.
- `life_time` (_float_)
- `persistent_lines` (_bool_) – _Deprecated, use `life_time = 0` instead_.
- <a name="carla.DebugHelper.draw_box"></a>**<font color="#7fb800">draw_box</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**box**</font>, <font color="#00a6ed">**rotation**</font>, <font color="#00a6ed">**thickness**=0.1f</font>, <font color="#00a6ed">**color**=(255,0,0)</font>, <font color="#00a6ed">**life_time**=-1.0f</font>, <font color="#00a6ed">**persistent_lines**=True</font>)
Draws the [carla.BoundingBox](#carla.BoundingBox) of a given bounding_box.
Draws the [carla.BoundingBox](#carla.BoundingBox) of a given bounding_box.<br> Check out this [`recipe`](../python_cookbook/#debug-bounding-box-recipe)!
- **Parameters:**
- `box` (_[carla.BoundingBox](#carla.BoundingBox)_)
- `rotation` (_[carla.Rotation](#carla.Rotation)_)
@ -673,7 +677,7 @@ _</font>
---
## carla.LaneChange<a name="carla.LaneChange"></a> <sub><sup>_class_</sup></sub>
Class that defines the lane change options.
Class that defines the lane change options. Check out this [`recipe`](../python_cookbook/#lanes-recipe)!
<h3>Instance Variables</h3>
- <a name="carla.LaneChange.NONE"></a>**<font color="#f8805a">NONE</font>**
@ -718,7 +722,7 @@ White by default.
---
## carla.LaneMarkingType<a name="carla.LaneMarkingType"></a> <sub><sup>_class_</sup></sub>
Class that defines the lane marking types that OpenDRIVE accepts.
Class that defines the lane marking types accepted by OpenDRIVE. Check out this [`recipe`](../python_cookbook/#lanes-recipe)!
<h3>Instance Variables</h3>
- <a name="carla.LaneMarkingType.NONE"></a>**<font color="#f8805a">NONE</font>**
@ -741,7 +745,7 @@ Grass edge.
---
## carla.LaneType<a name="carla.LaneType"></a> <sub><sup>_class_</sup></sub>
All the possible lane types that OpenDRIVE accepts.
All the possible lane types accepted by OpenDRIVE. Check out this [`recipe`](../python_cookbook/#lanes-recipe)!
<h3>Instance Variables</h3>
- <a name="carla.LaneType.NONE"></a>**<font color="#f8805a">NONE</font>**
@ -783,7 +787,7 @@ Sensor's transform when the data was generated.
---
## carla.TrafficLightState<a name="carla.TrafficLightState"></a> <sub><sup>_class_</sup></sub>
All possible states for traffic lights.
All possible states for traffic lights. Check out this [`recipe`](../python_cookbook/#traffic-lights-recipe)!
<h3>Instance Variables</h3>
- <a name="carla.TrafficLightState.Red"></a>**<font color="#f8805a">Red</font>**
@ -875,9 +879,13 @@ Class that defines an attribute of a [carla.ActorBlueprint](#carla.ActorBlueprin
<h3>Instance Variables</h3>
- <a name="carla.ActorAttribute.id"></a>**<font color="#f8805a">id</font>** (_str_)
String identifier of the attribute.
- <a name="carla.ActorAttribute.type"></a>**<font color="#f8805a">type</font>** (_[carla.ActorAttributeType](#carla.ActorAttributeType)_)
The attribute parameter type.
- <a name="carla.ActorAttribute.recommended_values"></a>**<font color="#f8805a">recommended_values</font>** (_list(str)_)
List of recommended values that the attribute may have.
- <a name="carla.ActorAttribute.is_modifiable"></a>**<font color="#f8805a">is_modifiable</font>** (_bool_)
True if the attribute is modifiable.
<h3>Methods</h3>
- <a name="carla.ActorAttribute.as_bool"></a>**<font color="#7fb800">as_bool</font>**(<font color="#00a6ed">**self**</font>)
@ -905,12 +913,15 @@ Class that contains all the necessary information for spawning an Actor.
<h3>Instance Variables</h3>
- <a name="carla.ActorBlueprint.id"></a>**<font color="#f8805a">id</font>** (_str_)
Actor blueprint identifier, e.g. `walker.pedestrian.0001`.
- <a name="carla.ActorBlueprint.tags"></a>**<font color="#f8805a">tags</font>** (_list(str)_)
List of tags of an actor blueprint e.g. `['0001', 'pedestrian', 'walker']`.
<h3>Methods</h3>
- <a name="carla.ActorBlueprint.has_tag"></a>**<font color="#7fb800">has_tag</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**tag**</font>)
Returns `true` if an actor blueprint has the tag.
- **Parameters:**
- `tag` (_str_)
- `tag` (_str_) – e.g. 'walker'.
- **Return:** _bool_
- <a name="carla.ActorBlueprint.match_tags"></a>**<font color="#7fb800">match_tags</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**wildcard_pattern**</font>)
Test if any of the flags or id matches wildcard_pattern.
@ -920,17 +931,22 @@ Test if any of the flags or id matches wildcard_pattern.
- **Note:** <font color="#8E8E8E">_The wildcard_pattern follows Unix shell-style wildcards.
_</font>
- <a name="carla.ActorBlueprint.has_attribute"></a>**<font color="#7fb800">has_attribute</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**id**</font>)
Returns `true` if the blueprint contains the specified attribute.
- **Parameters:**
- `id` (_str_)
- `id` (_str_) – e.g 'gender'.
- **Return:** _bool_
- <a name="carla.ActorBlueprint.get_attribute"></a>**<font color="#7fb800">get_attribute</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**id**</font>)
Returns the current actor attribute through its id.
- **Parameters:**
- `id` (_str_)
- **Return:** _[carla.ActorAttribute](#carla.ActorAttribute)_
- <a name="carla.ActorBlueprint.set_attribute"></a>**<font color="#7fb800">set_attribute</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**id**</font>, <font color="#00a6ed">**value**</font>)
Sets an existing attribute to the actor's blueprint.
- **Parameters:**
- `id` (_str_)
- `value` (_str_)
- **Note:** <font color="#8E8E8E">_Attribute can only be set or changed if it is modifiable
_</font>
- <a name="carla.ActorBlueprint.__len__"></a>**<font color="#7fb800">\__len__</font>**(<font color="#00a6ed">**self**</font>)
- <a name="carla.ActorBlueprint.__iter__"></a>**<font color="#7fb800">\__iter__</font>**(<font color="#00a6ed">**self**</font>)
- <a name="carla.ActorBlueprint.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
@ -946,12 +962,16 @@ Identifier of the actor snapshot.
<h3>Methods</h3>
- <a name="carla.ActorSnapshot.get_transform"></a>**<font color="#7fb800">get_transform</font>**(<font color="#00a6ed">**self**</font>)
Returns the current transform of the actor.
- **Return:** _[carla.Transform](#carla.Transform)_
- <a name="carla.ActorSnapshot.get_velocity"></a>**<font color="#7fb800">get_velocity</font>**(<font color="#00a6ed">**self**</font>)
Returns the current 3D velocity of the actor.
- **Return:** _[carla.Vector3D](#carla.Vector3D)_
- <a name="carla.ActorSnapshot.get_angular_velocity"></a>**<font color="#7fb800">get_angular_velocity</font>**(<font color="#00a6ed">**self**</font>)
Returns the current 3D angular velocity of the actor.
- **Return:** _[carla.Vector3D](#carla.Vector3D)_
- <a name="carla.ActorSnapshot.get_acceleration"></a>**<font color="#7fb800">get_acceleration</font>**(<font color="#00a6ed">**self**</font>)
Returns the current 3D acceleration of the actor.
- **Return:** _[carla.Vector3D](#carla.Vector3D)_
- <a name="carla.ActorSnapshot.__self__"></a>**<font color="#7fb800">\__self__</font>**(<font color="#00a6ed">**self**</font>)
@ -1134,11 +1154,11 @@ Class that provides access to vehicle transmission details.
<h3>Instance Variables</h3>
- <a name="carla.GearPhysicsControl.ratio"></a>**<font color="#f8805a">ratio</font>** (_float_)
Gear ratio.
The transmission ratio of the gear.
- <a name="carla.GearPhysicsControl.down_ratio"></a>**<font color="#f8805a">down_ratio</font>** (_float_)
Lower limit to gear down.
The level of RPM (in relation to MaxRPM) where the gear autobox initiates shifting down.
- <a name="carla.GearPhysicsControl.up_ratio"></a>**<font color="#f8805a">up_ratio</font>** (_float_)
Upper limit to gear up.
The level of RPM (in relation to MaxRPM) where the gear autobox initiates shifting up.
<h3>Methods</h3>
- <a name="carla.GearPhysicsControl.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**ratio**=1.0</font>, <font color="#00a6ed">**down_ratio**=0.5</font>, <font color="#00a6ed">**up_ratio**=0.65</font>)
@ -1571,7 +1591,7 @@ WalkerControl constructor.
---
## carla.Waypoint<a name="carla.Waypoint"></a> <sub><sup>_class_</sup></sub>
3D directed point that stores information about the road definition that OpenDRIVE provides.
3D directed point that stores information about the road definition provided by OpenDRIVE.
<h3>Instance Variables</h3>
- <a name="carla.Waypoint.id"></a>**<font color="#f8805a">id</font>** (_int_)
@ -1903,7 +1923,7 @@ Lidar sensor measurement data.
<h3>Instance Variables</h3>
- <a name="carla.LidarMeasurement.horizontal_angle"></a>**<font color="#f8805a">horizontal_angle</font>** (_float_)
Horizontal angle that the Lidar has rotated.
Horizontal angle that the Lidar has rotated at the time of the measurement.
- <a name="carla.LidarMeasurement.channels"></a>**<font color="#f8805a">channels</font>** (_int_)
Number of lasers.
- <a name="carla.LidarMeasurement.raw_data"></a>**<font color="#f8805a">raw_data</font>** (_bytes_)
@ -1911,9 +1931,13 @@ List of 3D points.
<h3>Methods</h3>
- <a name="carla.LidarMeasurement.get_point_count"></a>**<font color="#7fb800">get_point_count</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**channel**</font>)
Retrieve the number of points that are generated by this channel.
- **Parameters:**
- `channel` (_int_)
- **Note:** <font color="#8E8E8E">_Points are sorted by channel, so this method allows to identify the channel that generated each point.
_</font>
- <a name="carla.LidarMeasurement.save_to_disk"></a>**<font color="#7fb800">save_to_disk</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**path**</font>)
Save point cloud to disk.
- **Parameters:**
- `path` (_str_)
- <a name="carla.LidarMeasurement.__len__"></a>**<font color="#7fb800">\__len__</font>**(<font color="#00a6ed">**self**</font>)
@ -1992,7 +2016,7 @@ Stops listening for data.
---
## carla.TrafficLight<a name="carla.TrafficLight"></a><sub><sup>([carla.TrafficSign](#carla.TrafficSign))</sup></sub> <sub><sup>_class_</sup></sub>
A traffic light actor.
A traffic light actor. Check out this [`recipe`](../python_cookbook/#traffic-lights-recipe)!
<h3>Instance Variables</h3>
- <a name="carla.TrafficLight.state"></a>**<font color="#f8805a">state</font>** (_[carla.TrafficLightState](#carla.TrafficLightState)_)
@ -2143,10 +2167,13 @@ _</font>
---
## command.ApplyAngularVelocity<a name="command.ApplyAngularVelocity"></a> <sub><sup>_class_</sup></sub>
Set the actor's angular velocity.
<h3>Instance Variables</h3>
- <a name="command.ApplyAngularVelocity.actor_id"></a>**<font color="#f8805a">actor_id</font>** (_int_)
Actor affected by the command.
- <a name="command.ApplyAngularVelocity.angular_velocity"></a>**<font color="#f8805a">angular_velocity</font>** (_[carla.Vector3D](#carla.Vector3D)_)
The 3D angular velocity that will be applied to the actor.
<h3>Methods</h3>
- <a name="command.ApplyAngularVelocity.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**angular_velocity**</font>)
@ -2157,10 +2184,13 @@ _</font>
---
## command.ApplyImpulse<a name="command.ApplyImpulse"></a> <sub><sup>_class_</sup></sub>
Adds impulse to the actor.
<h3>Instance Variables</h3>
- <a name="command.ApplyImpulse.actor_id"></a>**<font color="#f8805a">actor_id</font>** (_int_)
Actor affected by the command.
- <a name="command.ApplyImpulse.impulse"></a>**<font color="#f8805a">impulse</font>** (_[carla.Vector3D](#carla.Vector3D)_)
Impulse applied to the actor.
<h3>Methods</h3>
- <a name="command.ApplyImpulse.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**impulse**</font>)
@ -2171,10 +2201,13 @@ _</font>
---
## command.ApplyTransform<a name="command.ApplyTransform"></a> <sub><sup>_class_</sup></sub>
Sets a new transform to the actor.
<h3>Instance Variables</h3>
- <a name="command.ApplyTransform.actor_id"></a>**<font color="#f8805a">actor_id</font>** (_int_)
Actor affected by the command.
- <a name="command.ApplyTransform.transform"></a>**<font color="#f8805a">transform</font>** (_[carla.Transform](#carla.Transform)_)
Transformation to be applied.
<h3>Methods</h3>
- <a name="command.ApplyTransform.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**transform**</font>)
@ -2185,10 +2218,13 @@ _</font>
---
## command.ApplyVehicleControl<a name="command.ApplyVehicleControl"></a> <sub><sup>_class_</sup></sub>
Apply control to the vehicle.
<h3>Instance Variables</h3>
- <a name="command.ApplyVehicleControl.actor_id"></a>**<font color="#f8805a">actor_id</font>** (_int_)
Vehicle actor affected by the command.
- <a name="command.ApplyVehicleControl.control"></a>**<font color="#f8805a">control</font>** (_[carla.VehicleControl](#carla.VehicleControl)_)
Vehicle control to be applied.
<h3>Methods</h3>
- <a name="command.ApplyVehicleControl.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**control**</font>)
@ -2199,10 +2235,13 @@ _</font>
---
## command.ApplyVelocity<a name="command.ApplyVelocity"></a> <sub><sup>_class_</sup></sub>
Sets actor's velocity.
<h3>Instance Variables</h3>
- <a name="command.ApplyVelocity.actor_id"></a>**<font color="#f8805a">actor_id</font>** (_int_)
Actor affected by the command.
- <a name="command.ApplyVelocity.velocity"></a>**<font color="#f8805a">velocity</font>** (_[carla.Vector3D](#carla.Vector3D)_)
The 3D velocity applied to the actor.
<h3>Methods</h3>
- <a name="command.ApplyVelocity.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**velocity**</font>)
@ -2213,10 +2252,13 @@ _</font>
---
## command.ApplyWalkerControl<a name="command.ApplyWalkerControl"></a> <sub><sup>_class_</sup></sub>
Apply control to the walker.
<h3>Instance Variables</h3>
- <a name="command.ApplyWalkerControl.actor_id"></a>**<font color="#f8805a">actor_id</font>** (_int_)
Walker actor affected by the command.
- <a name="command.ApplyWalkerControl.control"></a>**<font color="#f8805a">control</font>** (_[carla.VehicleControl](#carla.VehicleControl)_)
Walker control to be applied.
<h3>Methods</h3>
- <a name="command.ApplyWalkerControl.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**control**</font>)
@ -2227,11 +2269,15 @@ _</font>
---
## command.ApplyWalkerState<a name="command.ApplyWalkerState"></a> <sub><sup>_class_</sup></sub>
Apply a state to the walker actor.
<h3>Instance Variables</h3>
- <a name="command.ApplyWalkerState.actor_id"></a>**<font color="#f8805a">actor_id</font>** (_int_)
Walker actor affected by the command.
- <a name="command.ApplyWalkerState.transform"></a>**<font color="#f8805a">transform</font>** (_[carla.Transform](#carla.Transform)_)
Transform to be applied.
- <a name="command.ApplyWalkerState.speed"></a>**<font color="#f8805a">speed</font>** (_float_)
Speed to be applied.
<h3>Methods</h3>
- <a name="command.ApplyWalkerState.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**transform**</font>, <font color="#00a6ed">**speed**</font>)
@ -2243,9 +2289,11 @@ _</font>
---
## command.DestroyActor<a name="command.DestroyActor"></a> <sub><sup>_class_</sup></sub>
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.
<h3>Instance Variables</h3>
- <a name="command.DestroyActor.actor_id"></a>**<font color="#f8805a">actor_id</font>** (_int_)
Actor affected by the command.
<h3>Methods</h3>
- <a name="command.DestroyActor.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>)
@ -2259,6 +2307,7 @@ Execution result of a command, contains either an error string or an actor ID, d
<h3>Instance Variables</h3>
- <a name="command.Response.actor_id"></a>**<font color="#f8805a">actor_id</font>** (_int_)
Actor affected by the command.
- <a name="command.Response.error"></a>**<font color="#f8805a">error</font>** (_str_)
<h3>Methods</h3>
@ -2267,10 +2316,13 @@ Execution result of a command, contains either an error string or an actor ID, d
---
## command.SetAutopilot<a name="command.SetAutopilot"></a> <sub><sup>_class_</sup></sub>
Switch on/off vehicle's server-side autopilot.
<h3>Instance Variables</h3>
- <a name="command.SetAutopilot.actor_id"></a>**<font color="#f8805a">actor_id</font>** (_int_)
Actor that is affected by the command.
- <a name="command.SetAutopilot.enabled"></a>**<font color="#f8805a">enabled</font>** (_bool_)
If the autopilot is enabled or not.
<h3>Methods</h3>
- <a name="command.SetAutopilot.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**enabled**</font>)
@ -2281,10 +2333,13 @@ Execution result of a command, contains either an error string or an actor ID, d
---
## command.SetSimulatePhysics<a name="command.SetSimulatePhysics"></a> <sub><sup>_class_</sup></sub>
Whether an actor will be affected by physics or not.
<h3>Instance Variables</h3>
- <a name="command.SetSimulatePhysics.actor_id"></a>**<font color="#f8805a">actor_id</font>** (_int_)
Actor affected by the command.
- <a name="command.SetSimulatePhysics.enabled"></a>**<font color="#f8805a">enabled</font>** (_bool_)
If physics will affect the actor.
<h3>Methods</h3>
- <a name="command.SetSimulatePhysics.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**enabled**</font>)
@ -2295,10 +2350,13 @@ Execution result of a command, contains either an error string or an actor ID, d
---
## command.SpawnActor<a name="command.SpawnActor"></a> <sub><sup>_class_</sup></sub>
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.
<h3>Instance Variables</h3>
- <a name="command.SpawnActor.transform"></a>**<font color="#f8805a">transform</font>** (_[carla.Transform](#carla.Transform)_)
Transform to be applied.
- <a name="command.SpawnActor.parent_id"></a>**<font color="#f8805a">parent_id</font>** (_int_)
Parent's actor id.
<h3>Methods</h3>
- <a name="command.SpawnActor.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>)
@ -2312,6 +2370,7 @@ Execution result of a command, contains either an error string or an actor ID, d
- `transform` (_[carla.Transform](#carla.Transform)_)
- `parent` (_[carla.Actor](#carla.Actor) or int_)
- <a name="command.SpawnActor.then"></a>**<font color="#7fb800">then</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**command**</font>)
Link another command to be executed right after.
- **Parameters:**
- `command` (_[carla.Command](#carla.Command)_) – CommandType.

238
Docs/python_cookbook.md Normal file
View File

@ -0,0 +1,238 @@
<h1> Python Cookbook </h1>
This section contains a list of recipes that complement the [tutorial](../python_api_tutorial/) and are used to
illustrate the use of Python API methods.
Each recipe has a list of [python API classes](../python_api/), which is divided into those in which the recipe is centered,
and those that need to be used.
There are more recipes to come!
## Actor Spectator Recipe
This recipe spawns an actor and the spectator camera at the actor's location.
Focused on:<br>
[`carla.World`](../python_api/#carla.World)<br>
[`carla.Actor`](../python_api/#carla.Actor)
Used:<br>
[`carla.WorldSnapshot`](../python_api/#carla.WorldSnapshot)<br>
[`carla.ActorSnapshot`](../python_api/#carla.ActorSnapshot)
```py
# ...
world = client.get_world()
spectator = world.get_spectator()
vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
transform = random.choice(world.get_map().get_spawn_points())
vehicle = world.try_spawn_actor(vehicle_bp, transform)
# Wait for world to get the vehicle actor
world.tick()
world_snapshot = world.wait_for_tick()
actor_snapshot = world_snapshot.find(vehicle.id)
# Set spectator at given transform (vehicle transform)
spectator.set_transform(actor_snapshot.get_transform())
# ...
```
## Attach Sensors Recipe
This recipe attaches different camera / sensors to a vehicle with different attachments.
Focused on:<br>
[`carla.Sensor`](../python_api/#carla.Sensor)<br>
[`carla.AttachmentType`](../python_api/#carla.AttachmentType)<br>
Used:<br>
[`carla.World`](../python_api/#carla.World)
```py
# ...
camera = world.spawn_actor(rgb_camera_bp, transform, attach_to=vehicle, attachment_type=Attachment.SpringArm)
# Default attachment: Attachment.Rigid
gnss_sensor = world.spawn_actor(sensor_gnss_bp, transform, attach_to=vehicle)
collision_sensor = world.spawn_actor(sensor_collision_bp, transform, attach_to=vehicle)
lane_invasion_sensor = world.spawn_actor(sensor_lane_invasion_bp, transform, attach_to=vehicle)
# ...
```
## Actor Attribute Recipe
This recipe changes attributes of different type of blueprint actors.
Focused on:<br>
[`carla.ActorAttribute`](../python_api/#carla.ActorAttribute)<br>
[`carla.ActorBlueprint`](../python_api/#carla.ActorBlueprint)<br>
Used:<br>
[`carla.World`](../python_api/#carla.World)<br>
[`carla.BlueprintLibrary`](../python_api/#carla.BlueprintLibrary)<br>
```py
# ...
walker_bp = world.get_blueprint_library().filter('walker.pedestrian.0002')
walker_bp.set_attribute('is_invincible', True)
# ...
# Changes attribute randomly by the recommended value
vehicle_bp = wolrd.get_blueprint_library().filter('vehicle.bmw.*')
color = random.choice(vehicle_bp.get_attribute('color').recommended_values)
vehicle_bp.set_attribute('color', color)
# ...
camera_bp = world.get_blueprint_library().filter('sensor.camera.rgb')
camera_bp.set_attribute('image_size_x', 600)
camera_bp.set_attribute('image_size_y', 600)
# ...
```
## Converted Image Recipe
This recipe applies a color conversion to the image taken by a camera sensor, so it is converted to a
semantic segmentation image.
Focused on:<br>
[`carla.ColorConverter`](../python_api/#carla.ColorConverter)<br>
[`carla.Sensor`](../python_api/#carla.Sensor)
```py
# ...
camera_bp = world.get_blueprint_library().filter('sensor.camera.semantic_segmentation')
# ...
cc = carla.ColorConverter.CityScapesPalette
camera.listen(lambda image: image.save_to_disk('output/%06d.png' % image.frame, cc))
# ...
```
## Lanes Recipe
This recipe shows the current traffic rules affecting the vehicle. Shows the current lane type and
if a lane change can be done in the actual lane or the surrounding ones.
Focused on:<br>
[`carla.LaneMarking`](../python_api/#carla.LaneMarking)<br>
[`carla.LaneMarkingType`](../python_api/#carla.LaneMarkingType)<br>
[`carla.LaneChange`](../python_api/#carla.LaneChange)<br>
[`carla.LaneType`](../python_api/#carla.LaneType)<br>
Used:<br>
[`carla.Waypoint`](../python_api/#carla.Waypoint)<br>
[`carla.World`](../python_api/#carla.World)
```py
# ...
waypoint = world.get_map().get_waypoint(vehicle.get_location(),project_to_road=True, lane_type=(carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk))
print("Current lane type: " + str(waypoint.lane_type))
# Check current lane change allowed
print("Current Lane change: " + str(waypoint.lane_change))
# Left and Right lane markings
print("L lane marking type: " + str(waypoint.left_lane_marking.type))
print("L lane marking change: " + str(waypoint.left_lane_marking.lane_change))
print("R lane marking type: " + str(waypoint.right_lane_marking.type))
print("R lane marking change: " + str(waypoint.right_lane_marking.lane_change))
# ...
```
![lane_marking_recipe](/img/lane_marking_recipe.png)
## Debug Bounding Box Recipe
This recipe shows how to draw traffic light actor bounding boxes from a world snapshot.
Focused on:<br>
[`carla.DebugHelper`](../python_api/#carla.DebugHelper)<br>
[`carla.BoundingBox`](../python_api/#carla.BoundingBox)
Used:<br>
[`carla.ActorSnapshot`](../python_api/#carla.ActorSnapshot)<br>
[`carla.Actor`](../python_api/#carla.Actor)<br>
[`carla.Vector3D`](../python_api/#carla.Vector3D)<br>
[`carla.Color`](../python_api/#carla.Color)
```py
# ....
debug = world.debug
world_snapshot = world.get_snapshot()
for actor_snapshot in world_snapshot:
actual_actor = world.get_actor(actor_snapshot.id)
if actual_actor.type_id == 'traffic.traffic_light':
debug.draw_box(carla.BoundingBox(actor_snapshot.get_transform().location,carla.Vector3D(0.5,0.5,2)),actor_snapshot.get_transform().rotation, 0.05, carla.Color(255,0,0,0),0)
# ...
```
![debug_bb_recipe](/img/debug_bb_recipe.png)
## Debug Vehicle Trail Recipe
This recipe is a modification of [`lane_explorer.py`](https://github.com/carla-simulator/carla/blob/master/PythonAPI/util/lane_explorer.py) example.
It draws the path of an actor through the world, printing information at each waypoint.
Focused on:<br>
[`carla.DebugHelper`](../python_api/#carla.DebugHelper)<br>
[`carla.Waypoint`](../python_api/#carla.Waypoint)<br>
[`carla.Actor`](../python_api/#carla.Actor)
Used:<br>
[`carla.ActorSnapshot`](../python_api/#carla.ActorSnapshot)<br>
[`carla.Vector3D`](../python_api/#carla.Vector3D)<br>
[`carla.Color`](../python_api/#carla.Color)<br>
[`carla.Map`](../python_api/#carla.Map)
```py
# ...
current_w = map.get_waypoint(vehicle.get_location())
while True:
next_w = map.get_waypoint(vehicle.get_location(), lane_type=carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk )
# Check if vehicle is moving
if next_w.id != current_w.id:
vector = vehicle.get_velocity()
# Check if the vehicle is on a sidewalk
if current_w.lane_type == carla.LaneType.Sidewalk:
draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else red, 60)
else:
draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else green, 60)
debug.draw_string(current_w.transform.location, str('%15.0f km/h' % (3.6 * math.sqrt(vector.x**2 + vector.y**2 + vector.z**2))), False, orange, 60)
draw_transform(debug, current_w.transform, white, 60)
# Update the current waypoint and sleep for some time
current_w = next_w
time.sleep(args.tick_time)
# ...
```
The image below shows how a vehicle loses control and drives on a sidewalk. The trail shows the path it was following and the speed at each waypoint.
![debug_trail_recipe](/img/debug_trail_recipe.png)
## Traffic lights Recipe
This recipe changes from red to green the traffic light that affects the vehicle.
This is done by detecting if the vehicle actor is at a traffic light.
Focused on:<br>
[`carla.TrafficLight`](../python_api/#carla.TrafficLight)<br>
[`carla.TrafficLightState`](../python_api/#carla.TrafficLightState)
Used:<br>
[`carla.Vehicle`](../python_api/#carla.Vehicle)
```py
# ...
if vehicle_actor.is_at_traffic_light():
traffic_light = vehicle_actor.get_traffic_light()
if traffic_light.get_state() == carla.TrafficLightState.Red:
# world.hud.notification("Traffic light changed! Good to go!")
traffic_light.set_state(carla.TrafficLightState.Green)
# ...
```
![tl_recipe](/img/tl_recipe.gif)

4
PythonAPI/docs/actor.yml
View File

@ -323,7 +323,7 @@
- class_name: TrafficLightState
# - DESCRIPTION ------------------------
doc: >
All possible states for traffic lights.
All possible states for traffic lights. Check out this [`recipe`](../python_cookbook/#traffic-lights-recipe)!
# - PROPERTIES -------------------------
instance_variables:
- var_name: Red
@ -337,7 +337,7 @@
parent: carla.TrafficSign
# - DESCRIPTION ------------------------
doc: >
A traffic light actor.
A traffic light actor. Check out this [`recipe`](../python_cookbook/#traffic-lights-recipe)!
# - PROPERTIES -------------------------
instance_variables:
- var_name: state

21
PythonAPI/docs/blueprint.yml
View File

@ -90,15 +90,19 @@
- var_name: id
type: str
doc: >
String identifier of the attribute
- var_name: type
type: carla.ActorAttributeType
doc: >
The attribute parameter type
- var_name: recommended_values
type: list(str)
doc: >
List of recommended values that the attribute may have.
- var_name: is_modifiable
type: bool
doc: >
True if the attribute is modifiable.
# - METHODS ----------------------------
methods:
- def_name: as_bool
@ -156,9 +160,11 @@
- var_name: id
type: str
doc: >
Actor blueprint identifier, e.g. `walker.pedestrian.0001`.
- var_name: tags
type: list(str)
doc: >
List of tags of an actor blueprint e.g. `['0001', 'pedestrian', 'walker']`
# - METHODS ----------------------------
methods:
- def_name: has_tag
@ -166,7 +172,10 @@
params:
- param_name: tag
type: str
doc: >
e.g. 'walker'
doc: >
Returns `true` if an actor blueprint has the tag.
# --------------------------------------
- def_name: match_tags
return: bool
@ -183,7 +192,10 @@
params:
- param_name: id
type: str
doc: >
e.g 'gender'
doc: >
Returns `true` if the blueprint contains the specified attribute
# --------------------------------------
- def_name: get_attribute
return: carla.ActorAttribute
@ -191,6 +203,7 @@
- param_name: id
type: str
doc: >
Returns the current actor attribute through its id
Return: carla.ActorAttribute
# --------------------------------------
- def_name: set_attribute
@ -203,6 +216,9 @@
type: str
doc: >
doc: >
Sets an existing attribute to the actor's blueprint
note: >
Attribute can only be set or changed if it is modifiable
# --------------------------------------
- def_name: __len__
doc: >
@ -221,7 +237,12 @@
# - METHODS ----------------------------
methods:
- def_name: find
params:
- param_name: id
type: str
return: carla.ActorBlueprint
doc: >
Returns a carla.ActorBlueprint through its id
# --------------------------------------
- def_name: filter
params:

38
PythonAPI/docs/commands.yml
View File

@ -12,6 +12,7 @@
- var_name: actor_id
type: int
doc: >
Actor affected by the command
- var_name: error
type: str
doc: >
@ -25,14 +26,18 @@
- class_name: SpawnActor
# - DESCRIPTION ------------------------
doc: >
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.
# - PROPERTIES -------------------------
instance_variables:
- var_name: transform
type: carla.Transform
doc: >
Transform to be applied
- var_name: parent_id
type: int
doc: >
Parent's actor id
# - METHODS ----------------------------
methods:
- def_name: __init__
@ -63,16 +68,21 @@
doc: >
CommandType.
doc: >
Link another command to be executed right after.
# --------------------------------------
- class_name: DestroyActor
# - DESCRIPTION ------------------------
doc: >
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.
# - PROPERTIES -------------------------
instance_variables:
- var_name: actor_id
type: int
doc: >
Actor affected by the command
# - METHODS ----------------------------
methods:
- def_name: __init__
@ -85,14 +95,17 @@
- class_name: ApplyVehicleControl
# - DESCRIPTION ------------------------
doc: >
Apply control to the vehicle.
# - PROPERTIES -------------------------
instance_variables:
- var_name: actor_id
type: int
doc: >
Vehicle actor affected by the command
- var_name: control
type: carla.VehicleControl
doc: >
Vehicle control to be applied
# - METHODS ----------------------------
methods:
- def_name: __init__
@ -107,14 +120,17 @@
- class_name: ApplyWalkerControl
# - DESCRIPTION ------------------------
doc: >
Apply control to the walker
# - PROPERTIES -------------------------
instance_variables:
- var_name: actor_id
type: int
doc: >
Walker actor affected by the command
- var_name: control
type: carla.VehicleControl
doc: >
Walker control to be applied
# - METHODS ----------------------------
methods:
- def_name: __init__
@ -129,14 +145,17 @@
- class_name: ApplyTransform
# - DESCRIPTION ------------------------
doc: >
Sets a new transform to the actor.
# - PROPERTIES -------------------------
instance_variables:
- var_name: actor_id
type: int
doc: >
Actor affected by the command
- var_name: transform
type: carla.Transform
doc: >
Transformation to be applied
# - METHODS ----------------------------
methods:
- def_name: __init__
@ -151,17 +170,21 @@
- class_name: ApplyWalkerState
# - DESCRIPTION ------------------------
doc: >
Apply a state to the walker actor
# - PROPERTIES -------------------------
instance_variables:
- var_name: actor_id
type: int
doc: >
Walker actor affected by the command
- var_name: transform
type: carla.Transform
doc: >
Transform to be applied
- var_name: speed
type: float
doc: >
Speed to be applied
# - METHODS ----------------------------
methods:
- def_name: __init__
@ -179,14 +202,17 @@
- class_name: ApplyVelocity
# - DESCRIPTION ------------------------
doc: >
Sets actor's velocity
# - PROPERTIES -------------------------
instance_variables:
- var_name: actor_id
type: int
doc: >
Actor affected by the command.
- var_name: velocity
type: carla.Vector3D
doc: >
The 3D velocity applied to the actor
# - METHODS ----------------------------
methods:
- def_name: __init__
@ -201,14 +227,17 @@
- class_name: ApplyAngularVelocity
# - DESCRIPTION ------------------------
doc: >
Set the actor's angular velocity
# - PROPERTIES -------------------------
instance_variables:
- var_name: actor_id
type: int
doc: >
Actor affected by the command
- var_name: angular_velocity
type: carla.Vector3D
doc: >
The 3D angular velocity that will be applied to the actor
# - METHODS ----------------------------
methods:
- def_name: __init__
@ -223,14 +252,17 @@
- class_name: ApplyImpulse
# - DESCRIPTION ------------------------
doc: >
Adds impulse to the actor
# - PROPERTIES -------------------------
instance_variables:
- var_name: actor_id
type: int
doc: >
Actor affected by the command
- var_name: impulse
type: carla.Vector3D
doc: >
Impulse applied to the actor
# - METHODS ----------------------------
methods:
- def_name: __init__
@ -245,14 +277,17 @@
- class_name: SetSimulatePhysics
# - DESCRIPTION ------------------------
doc: >
Whether an actor will be affected by physics or not.
# - PROPERTIES -------------------------
instance_variables:
- var_name: actor_id
type: int
doc: >
Actor affected by the command
- var_name: enabled
type: bool
doc: >
If physics will affect the actor
# - METHODS ----------------------------
methods:
- def_name: __init__
@ -267,14 +302,17 @@
- class_name: SetAutopilot
# - DESCRIPTION ------------------------
doc: >
Switch on/off vehicle's server-side autopilot
# - PROPERTIES -------------------------
instance_variables:
- var_name: actor_id
type: int
doc: >
Actor that is affected by the command.
- var_name: enabled
type: bool
doc: >
If the autopilot is enabled or not.
# - METHODS ----------------------------
methods:
- def_name: __init__

6
PythonAPI/docs/control.yml
View File

@ -170,17 +170,17 @@
- var_name: ratio
type: float
doc: >
Gear ratio.
The transmission ratio of the gear.
# --------------------------------------
- var_name: down_ratio
type: float
doc: >
Lower limit to gear down.
The level of RPM (in relation to MaxRPM) where the gear autobox initiates shifting down.
# --------------------------------------
- var_name: up_ratio
type: float
doc: >
Upper limit to gear up.
The level of RPM (in relation to MaxRPM) where the gear autobox initiates shifting up.
# - METHODS ----------------------------
methods:
- def_name: __init__

37
PythonAPI/docs/doc_gen.py
View File

@ -19,12 +19,15 @@ COLOR_WARNING = '#ED2F2F'
QUERY = re.compile(r'([cC]arla(\.[a-zA-Z0-9_]+)+)')
def create_hyperlinks(text):
return re.sub(QUERY, r'[\1](#\1)', text)
def join(elem, separator = ''):
def join(elem, separator=''):
return separator.join(elem)
class MarkdownFile:
def __init__(self):
self._data = ""
@ -82,42 +85,55 @@ class MarkdownFile:
return join(['```', language, '\n', self.list_depth(), buf, '\n', self.list_depth(), '```\n'])
def prettify_doc(self, doc):
punctuation_marks = ['.', '!', '?']
doc = doc.strip()
doc += '' if doc[-1:] == '.' else '.'
doc += '' if doc[-1:] in punctuation_marks else '.'
return doc
def italic(buf):
return join(['_', buf, '_'])
def bold(buf):
return join(['**', buf, '**'])
def code(buf):
return join(['`', buf, '`'])
def brackets(buf):
return join(['[', buf, ']'])
def parentheses(buf):
return join(['(', buf, ')'])
def small(buf):
return join(['<sub><sup>', buf, '</sup></sub>'])
def sub(buf):
return join(['<sub>', buf, '</sub>'])
def html_key(buf):
return join(['<a name="', buf, '"></a>'])
def color(col, buf):
return join(['<font color="', col, '">', buf, '</font>'])
def valid_dic_val(dic, value):
return value in dic and dic[value]
class YamlFile:
"""Yaml file class"""
def __init__(self, path):
self._path = path
with open(path) as yaml_file:
@ -167,15 +183,15 @@ class YamlFile:
exit(0)
if 'params' in met and met['params']:
for param in met['params']:
if 'param_name' not in param:
if 'param_name' not in param:
print('\n[ERROR] File: ' + self._path)
print("'param_name' not found inside 'params' of class: " + cl['class_name'])
exit(0)
if 'param_name' in param and param['param_name'] is None:
if 'param_name' in param and param['param_name'] is None:
print('\n[ERROR] File: ' + self._path)
print("'param_name' is empty in:")
exit(0)
if 'type' in param and param['type'] is None:
if 'type' in param and param['type'] is None:
print('\n[ERROR] File: ' + self._path)
print("'type' is empty in:")
exit(0)
@ -192,7 +208,7 @@ def gen_stub_method_def(method):
p_type = join([': ', str(p['type'])]) if 'type' in p else ''
default = join([' = ', str(p['default'])]) if 'default' in p else ''
param = join([param, p['param_name'], p_type, default, ', '])
param = param[:-2] # delete the last ', '
param = param[:-2] # delete the last ', '
return_type = join([' -> ', method['return']]) if 'return' in method else ''
return join([method_name, parentheses(param), return_type])
@ -213,7 +229,7 @@ def gen_doc_method_def(method, is_indx=False, with_self=True):
method_name = bold(color(COLOR_METHOD, method_name))
if with_self:
if not 'params' in method or method['params'] == None:
if not 'params' in method or method['params'] is None:
method['params'] = []
method['params'].insert(0, {'param_name': 'self'})
@ -227,10 +243,10 @@ def gen_doc_method_def(method, is_indx=False, with_self=True):
if with_self:
method['params'] = method['params'][1:]
if not method['params']: # if is empty delete it
if not method['params']: # if is empty delete it
del method['params']
param = param[:-2] # delete the last ', '
param = param[:-2] # delete the last ', '
return join([method_name, parentheses(param)])
@ -356,6 +372,7 @@ def add_doc_inst_var(md, inst_var, class_key):
md.list_pop()
class Documentation:
"""Main documentation class"""
@ -453,6 +470,7 @@ class Documentation:
"""Generates the whole markdown file"""
return join([self.gen_overview(), self.gen_body()], '\n').strip()
def main():
"""Main function"""
print("Generating PythonAPI documentation...")
@ -462,5 +480,6 @@ def main():
md_file.write(docs.gen_markdown())
print("Done!")
if __name__ == "__main__":
main()

8
PythonAPI/docs/map.yml
View File

@ -6,7 +6,7 @@
- class_name: LaneType
# - DESCRIPTION ------------------------
doc: >
All the possible lane types that OpenDRIVE accepts
All the possible lane types accepted by OpenDRIVE. Check out this [`recipe`](../python_cookbook/#lanes-recipe)!
# - PROPERTIES -------------------------
instance_variables:
- var_name: NONE
@ -57,7 +57,7 @@
- class_name: LaneChange
# - DESCRIPTION ------------------------
doc: >
Class that defines the lane change options
Class that defines the lane change options. Check out this [`recipe`](../python_cookbook/#lanes-recipe)!
# - PROPERTIES -------------------------
instance_variables:
- var_name: NONE
@ -98,7 +98,7 @@
- class_name: LaneMarkingType
# - DESCRIPTION ------------------------
doc: >
Class that defines the lane marking types that OpenDRIVE accepts.
Class that defines the lane marking types accepted by OpenDRIVE. Check out this [`recipe`](../python_cookbook/#lanes-recipe)!
# - PROPERTIES -------------------------
instance_variables:
- var_name: NONE
@ -257,7 +257,7 @@
- class_name: Waypoint
# - DESCRIPTION ------------------------
doc: >
3D directed point that stores information about the road definition that OpenDRIVE provides.
3D directed point that stores information about the road definition provided by OpenDRIVE.
# - PROPERTIES -------------------------
instance_variables:
- var_name: id

9
PythonAPI/docs/sensor_data.yml
View File

@ -26,7 +26,7 @@
- class_name: ColorConverter
# - DESCRIPTION ------------------------
doc: >
Class that defines the color converter options.
Class that defines the color converter options. Check out this [`recipe`](../python_cookbook/#converted-image-recipe)!
# - PROPERTIES -------------------------
instance_variables:
- var_name: Raw
@ -115,7 +115,7 @@
- var_name: horizontal_angle
type: float
doc: >
Horizontal angle that the Lidar has rotated
Horizontal angle that the Lidar has rotated at the time of the measurement
- var_name: channels
type: int
doc: >
@ -131,12 +131,17 @@
- param_name: channel
type: int
doc: >
Retrieve the number of points that are generated by this channel.
note: >
Points are sorted by channel, so this method allows to identify the channel
that generated each point.
# --------------------------------------
- def_name: save_to_disk
params:
- param_name: path
type: str
doc: >
Save point cloud to disk
# --------------------------------------
- def_name: __len__
doc: >

4
PythonAPI/docs/snapshot.yml
View File

@ -78,18 +78,22 @@
- def_name: get_transform
return: carla.Transform
doc: >
Returns the current transform of the actor
# --------------------------------------
- def_name: get_velocity
return: carla.Vector3D
doc: >
Returns the current 3D velocity of the actor
# --------------------------------------
- def_name: get_angular_velocity
return: carla.Vector3D
doc: >
Returns the current 3D angular velocity of the actor
# --------------------------------------
- def_name: get_acceleration
return: carla.Vector3D
doc: >
Returns the current 3D acceleration of the actor
# --------------------------------------
- def_name: __self__
doc: >

8
PythonAPI/docs/world.yml
View File

@ -147,7 +147,9 @@
- class_name: AttachmentType
# - DESCRIPTION ------------------------
doc: >
Class that defines the attachment options. See carla.World.spawn_actor.
Class that defines the attachment options. See carla.World.spawn_actor.<br>
Check out this [`recipe`](../python_cookbook/#attach-sensors-recipe)!
# - PROPERTIES -------------------------
instance_variables:
- var_name: Rigid
@ -410,7 +412,9 @@
doc: >
_Deprecated, use `life_time = 0` instead_
doc: >
Draws the carla.BoundingBox of a given bounding_box.
Draws the carla.BoundingBox of a given bounding_box.<br>
Check out this [`recipe`](../python_cookbook/#debug-bounding-box-recipe)!
# --------------------------------------
- def_name: draw_string
params:

1
mkdocs.yml
View File

@ -18,6 +18,7 @@ nav:
- Advanced topics:
- 'Python API reference': 'python_api.md'
- 'C++ reference' : 'cpp_reference.md'
- 'Python Cookbook': 'python_cookbook.md'
- 'Blueprint Library': 'bp_library.md'
- 'Running without display and selecting GPUs': 'carla_headless.md'
- 'Running in a Docker': 'carla_docker.md'