From eeeba37ec736dacfc9bbe51b258ae90a16dbf2a7 Mon Sep 17 00:00:00 2001
From: Axel <axellopez92@outlook.com>
Date: Wed, 28 Jul 2021 17:00:31 +0200
Subject: [PATCH] Added `center_map` entry to osm2odr documentation

---
 Docs/python_api.md         | 356 +++++++++++++++++++------------------
 PythonAPI/docs/osm2odr.yml |   4 +
 2 files changed, 183 insertions(+), 177 deletions(-)

diff --git a/Docs/python_api.md b/Docs/python_api.md
index 32f4ebf1d..f24ad8a89 100644
--- a/Docs/python_api.md
+++ b/Docs/python_api.md
@@ -1633,6 +1633,8 @@ Offset in the Y axis.  Default value is __0.0__.
 Width of the lanes described in the resulting XODR map. Default value is __4.0__.  
 - <a name="carla.Osm2OdrSettings.elevation_layer_height"></a>**<font color="#f8805a">elevation_layer_height</font>** (_float<small> – meters</small>_)  
 Defines the height separating two different [OpenStreetMap layers](https://wiki.openstreetmap.org/wiki/Key:layer). Default value is __0.0__.  
+- <a name="carla.Osm2OdrSettings.center_map"></a>**<font color="#f8805a">center_map</font>** (_bool_)  
+When this option is enabled, the geometry of the map will be displaced so that the origin of coordinates matches the center of the bounsing box of the entire road map.  
 - <a name="carla.Osm2OdrSettings.proj_string"></a>**<font color="#f8805a">proj_string</font>** (_str_)  
 Defines the [proj4](https://github.com/OSGeo/proj.4) string that will be used to compute the projection from geocoordinates to cartesian coordinates. This string will be written in the resulting OpenDRIVE unless the options `use_offsets` or `center_map` are enabled as these options override some of the definitions in the string.  
 - <a name="carla.Osm2OdrSettings.generate_traffic_lights"></a>**<font color="#f8805a">generate_traffic_lights</font>** (_bool_)  
@@ -3515,6 +3517,34 @@ document.getElementById("snipets-container").innerHTML = null;
 }
 </script>
   
+<div id ="carla.World.load_map_layer-snipet" style="display: none;">
+<p class="SnipetFont">
+Snippet for carla.World.load_map_layer
+</p>
+<div id="carla.World.load_map_layer-code" class="SnipetContent">
+
+```py
+  
+# This recipe toggles on several layers in our "_Opt" maps
+
+# Load town one with only minimum layout (roads, sidewalks, traffic lights and traffic signs)
+world = client.load_world('Town01_Opt', carla.MapLayer.None)
+
+# Toggle all buildings on
+world.load_map_layer(carla.MapLayer.Buildings)
+
+# Toggle all foliage on
+world.load_map_layer(carla.MapLayer.Foliage)
+
+# Toggle all parked vehicles on
+world.load_map_layer(carla.MapLayer.ParkedVehicles)
+  
+
+```
+<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.load_map_layer-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
+  
+</div>
+  
 <div id ="carla.ActorBlueprint.set_attribute-snipet" style="display: none;">
 <p class="SnipetFont">
 Snippet for carla.ActorBlueprint.set_attribute
@@ -3622,79 +3652,27 @@ for i in range(0, len(all_actors), 2):
   
 </div>
   
-<div id ="carla.Client.__init__-snipet" style="display: none;">
+<div id ="carla.WalkerAIController.stop-snipet" style="display: none;">
 <p class="SnipetFont">
-Snippet for carla.Client.__init__
+Snippet for carla.WalkerAIController.stop
 </p>
-<div id="carla.Client.__init__-code" class="SnipetContent">
+<div id="carla.WalkerAIController.stop-code" class="SnipetContent">
 
 ```py
   
 
-# This recipe shows in every script provided in PythonAPI/Examples 
-# and it is used to parse the client creation arguments when running the script. 
+#To destroy the pedestrians, stop them from the navigation, and then destroy the objects (actor and controller).
 
-    argparser = argparse.ArgumentParser(
-        description=__doc__)
-    argparser.add_argument(
-        '--host',
-        metavar='H',
-        default='127.0.0.1',
-        help='IP of the host server (default: 127.0.0.1)')
-    argparser.add_argument(
-        '-p', '--port',
-        metavar='P',
-        default=2000,
-        type=int,
-        help='TCP port to listen to (default: 2000)')
-    argparser.add_argument(
-        '-s', '--speed',
-        metavar='FACTOR',
-        default=1.0,
-        type=float,
-        help='rate at which the weather changes (default: 1.0)')
-    args = argparser.parse_args()
-
-    speed_factor = args.speed
-    update_freq = 0.1 / speed_factor
-
-    client = carla.Client(args.host, args.port)
+# stop pedestrians (list is [controller, actor, controller, actor ...])
+for i in range(0, len(all_id), 2):
+    all_actors[i].stop()
 
+# destroy pedestrian (actor and controller)
+client.apply_batch([carla.command.DestroyActor(x) for x in all_id])
   
 
 ```
-<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Client.__init__-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
-  
-</div>
-  
-<div id ="carla.DebugHelper.draw_box-snipet" style="display: none;">
-<p class="SnipetFont">
-Snippet for carla.DebugHelper.draw_box
-</p>
-<div id="carla.DebugHelper.draw_box-code" class="SnipetContent">
-
-```py
-  
-
-# This recipe shows how to draw traffic light actor bounding boxes from a world snapshot.
-
-# ....
-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)
-# ...
-
-  
-
-```
-<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.DebugHelper.draw_box-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
-  
-
-<img src="/img/snipets_images/carla.DebugHelper.draw_box.jpg">
+<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.WalkerAIController.stop-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
   
 </div>
   
@@ -3770,31 +3748,6 @@ print("R lane marking change: " + str(waypoint.right_lane_marking.lane_change))
   
 </div>
   
-<div id ="carla.Sensor.listen-snipet" style="display: none;">
-<p class="SnipetFont">
-Snippet for carla.Sensor.listen
-</p>
-<div id="carla.Sensor.listen-code" class="SnipetContent">
-
-```py
-  
-
-# This recipe applies a color conversion to the image taken by a camera sensor,
-# so it is converted to a semantic segmentation image.
-
-# ...
-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))
-# ...
-  
-
-```
-<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Sensor.listen-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
-  
-</div>
-  
 <div id ="carla.TrafficLight.set_state-snipet" style="display: none;">
 <p class="SnipetFont">
 Snippet for carla.TrafficLight.set_state
@@ -3841,6 +3794,108 @@ if vehicle_actor.is_at_traffic_light():
   
 </div>
   
+<div id ="carla.World.unload_map_layer-snipet" style="display: none;">
+<p class="SnipetFont">
+Snippet for carla.World.unload_map_layer
+</p>
+<div id="carla.World.unload_map_layer-code" class="SnipetContent">
+
+```py
+  
+# This recipe toggles off several layers in our "_Opt" maps
+
+# Load town one with minimum layout (roads, sidewalks, traffic lights and traffic signs)
+# as well as buildings and parked vehicles
+world = client.load_world('Town01_Opt', carla.MapLayer.Buildings | carla.MapLayer.ParkedVehicles) 
+
+# Toggle all buildings off
+world.unload_map_layer(carla.MapLayer.Buildings)
+
+# Toggle all parked vehicles off
+world.unload_map_layer(carla.MapLayer.ParkedVehicles)
+  
+
+```
+<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.unload_map_layer-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
+  
+</div>
+  
+<div id ="carla.DebugHelper.draw_box-snipet" style="display: none;">
+<p class="SnipetFont">
+Snippet for carla.DebugHelper.draw_box
+</p>
+<div id="carla.DebugHelper.draw_box-code" class="SnipetContent">
+
+```py
+  
+
+# This recipe shows how to draw traffic light actor bounding boxes from a world snapshot.
+
+# ....
+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)
+# ...
+
+  
+
+```
+<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.DebugHelper.draw_box-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
+  
+
+<img src="/img/snipets_images/carla.DebugHelper.draw_box.jpg">
+  
+</div>
+  
+<div id ="carla.Client.__init__-snipet" style="display: none;">
+<p class="SnipetFont">
+Snippet for carla.Client.__init__
+</p>
+<div id="carla.Client.__init__-code" class="SnipetContent">
+
+```py
+  
+
+# This recipe shows in every script provided in PythonAPI/Examples 
+# and it is used to parse the client creation arguments when running the script. 
+
+    argparser = argparse.ArgumentParser(
+        description=__doc__)
+    argparser.add_argument(
+        '--host',
+        metavar='H',
+        default='127.0.0.1',
+        help='IP of the host server (default: 127.0.0.1)')
+    argparser.add_argument(
+        '-p', '--port',
+        metavar='P',
+        default=2000,
+        type=int,
+        help='TCP port to listen to (default: 2000)')
+    argparser.add_argument(
+        '-s', '--speed',
+        metavar='FACTOR',
+        default=1.0,
+        type=float,
+        help='rate at which the weather changes (default: 1.0)')
+    args = argparser.parse_args()
+
+    speed_factor = args.speed
+    update_freq = 0.1 / speed_factor
+
+    client = carla.Client(args.host, args.port)
+
+  
+
+```
+<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Client.__init__-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
+  
+</div>
+  
 <div id ="carla.Vehicle.set_wheel_steer_direction-snipet" style="display: none;">
 <p class="SnipetFont">
 Snippet for carla.Vehicle.set_wheel_steer_direction
@@ -3860,27 +3915,28 @@ vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FL_Wheel, 40.0)
   
 </div>
   
-<div id ="carla.WalkerAIController.stop-snipet" style="display: none;">
+<div id ="carla.Sensor.listen-snipet" style="display: none;">
 <p class="SnipetFont">
-Snippet for carla.WalkerAIController.stop
+Snippet for carla.Sensor.listen
 </p>
-<div id="carla.WalkerAIController.stop-code" class="SnipetContent">
+<div id="carla.Sensor.listen-code" class="SnipetContent">
 
 ```py
   
 
-#To destroy the pedestrians, stop them from the navigation, and then destroy the objects (actor and controller).
+# This recipe applies a color conversion to the image taken by a camera sensor,
+# so it is converted to a semantic segmentation image.
 
-# stop pedestrians (list is [controller, actor, controller, actor ...])
-for i in range(0, len(all_id), 2):
-    all_actors[i].stop()
-
-# destroy pedestrian (actor and controller)
-client.apply_batch([carla.command.DestroyActor(x) for x in all_id])
+# ...
+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))
+# ...
   
 
 ```
-<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.WalkerAIController.stop-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
+<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Sensor.listen-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
   
 </div>
   
@@ -3914,6 +3970,31 @@ world.enable_environment_objects(objects_to_toggle, True)
   
 </div>
   
+<div id ="carla.World.spawn_actor-snipet" style="display: none;">
+<p class="SnipetFont">
+Snippet for carla.World.spawn_actor
+</p>
+<div id="carla.World.spawn_actor-code" class="SnipetContent">
+
+```py
+  
+
+# This recipe attaches different camera / sensors to a vehicle with different attachments.
+
+# ...
+camera = world.spawn_actor(rgb_camera_bp, transform, attach_to=vehicle, attachment_type=Attachment.Rigid)
+# 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)
+# ...
+  
+
+```
+<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.spawn_actor-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
+  
+</div>
+  
 <div id ="carla.World.get_spectator-snipet" style="display: none;">
 <p class="SnipetFont">
 Snippet for carla.World.get_spectator
@@ -3949,85 +4030,6 @@ spectator.set_transform(actor_snapshot.get_transform())
   
 </div>
   
-<div id ="carla.World.load_map_layer-snipet" style="display: none;">
-<p class="SnipetFont">
-Snippet for carla.World.load_map_layer
-</p>
-<div id="carla.World.load_map_layer-code" class="SnipetContent">
-
-```py
-  
-# This recipe toggles on several layers in our "_Opt" maps
-
-# Load town one with only minimum layout (roads, sidewalks, traffic lights and traffic signs)
-world = client.load_world('Town01_Opt', carla.MapLayer.None)
-
-# Toggle all buildings on
-world.load_map_layer(carla.MapLayer.Buildings)
-
-# Toggle all foliage on
-world.load_map_layer(carla.MapLayer.Foliage)
-
-# Toggle all parked vehicles on
-world.load_map_layer(carla.MapLayer.ParkedVehicles)
-  
-
-```
-<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.load_map_layer-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
-  
-</div>
-  
-<div id ="carla.World.spawn_actor-snipet" style="display: none;">
-<p class="SnipetFont">
-Snippet for carla.World.spawn_actor
-</p>
-<div id="carla.World.spawn_actor-code" class="SnipetContent">
-
-```py
-  
-
-# This recipe attaches different camera / sensors to a vehicle with different attachments.
-
-# ...
-camera = world.spawn_actor(rgb_camera_bp, transform, attach_to=vehicle, attachment_type=Attachment.Rigid)
-# 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)
-# ...
-  
-
-```
-<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.spawn_actor-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
-  
-</div>
-  
-<div id ="carla.World.unload_map_layer-snipet" style="display: none;">
-<p class="SnipetFont">
-Snippet for carla.World.unload_map_layer
-</p>
-<div id="carla.World.unload_map_layer-code" class="SnipetContent">
-
-```py
-  
-# This recipe toggles off several layers in our "_Opt" maps
-
-# Load town one with minimum layout (roads, sidewalks, traffic lights and traffic signs)
-# as well as buildings and parked vehicles
-world = client.load_world('Town01_Opt', carla.MapLayer.Buildings | carla.MapLayer.ParkedVehicles) 
-
-# Toggle all buildings off
-world.unload_map_layer(carla.MapLayer.Buildings)
-
-# Toggle all parked vehicles off
-world.unload_map_layer(carla.MapLayer.ParkedVehicles)
-  
-
-```
-<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.unload_map_layer-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
-  
-</div>
-  
 
 </div>
 
diff --git a/PythonAPI/docs/osm2odr.yml b/PythonAPI/docs/osm2odr.yml
index 432f1f963..6c0fc75ff 100644
--- a/PythonAPI/docs/osm2odr.yml
+++ b/PythonAPI/docs/osm2odr.yml
@@ -58,6 +58,10 @@
       var_units: meters
       doc: >
         Defines the height separating two different [OpenStreetMap layers](https://wiki.openstreetmap.org/wiki/Key:layer). Default value is __0.0__.
+    - var_name: center_map
+      type: bool
+      doc: >
+        When this option is enabled, the geometry of the map will be displaced so that the origin of coordinates matches the center of the bounsing box of the entire road map.
     - var_name: proj_string
       type: str
       doc: >