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More fix on benchmark documentation

This commit is contained in:
felipecode 2018-01-17 15:33:47 +01:00
parent f901b05a66
commit f139431c62
1 changed files with 10 additions and 7 deletions
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17
Docs/benchmark.md
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@ -1,6 +1,9 @@
CARLA Benchmark
===============
!!! important
Benchmark code is currently in beta and can be found only in the
`benchmark_branch`.
Running the Benchmark
---------------------
@ -38,13 +41,12 @@ The benchmark works by calling three lines of code
agent = Manual(args.city_name)
results = corl.benchmark_agent(agent, client)
This is excerpted is executed in the run_benchmark.py example.
This is excerpt is executed in the run_benchmark.py example.
First a benchmark object is defined. This is the object that is used to benchmark a certain Agent.
On the second line of our sample code. There is an object of a Manual class instanced. This class inherited an Agent base class
that is used on the benchmarked.
To be benchmarked an Agent subclass must redefine the *run_step* function as it is done in the following excerpt:
First a *benchmark* object is defined. This is the object that is used to benchmark a certain Agent. <br>
On the second line of our sample code, there is an object of a Manual class instanced. This class inherited an Agent base class
that is used by the *benchmark* object.
To be benchmarked, an Agent subclass must redefine the *run_step* function as it is done in the following excerpt:
def run_step(self, measurements, sensor_data, target):
"""
@ -57,10 +59,11 @@ To be benchmarked an Agent subclass must redefine the *run_step* function as it
control = VehicleControl()
control.throttle = 0.9
return control
The function receives measurements from the world, sensor data and a target position. With this the function must return a control to the car, *i.e.* steering value, throttle value, brake value, etc.
The [measurements](https://github.com/carla-simulator/carla/blob/master/Docs/measurements.md), [target](https://github.com/carla-simulator/carla/blob/master/Docs/measurements.md), [sensor_data](https://github.com/carla-simulator/carla/blob/master/Docs/cameras_and_sensors.m) and [control](https://github.com/carla-simulator/carla/blob/master/Docs/measurements.md) types are described at the documentation.
The function receives measurements from the world, sensor data and a target position. With this the function must return a control to the car, *i.e.* steering value, throttle value, brake value, etc.
Creating your Benchmark
---------------------