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Add function to spawn actor attached to another actor

This commit is contained in:
nsubiron 2018-07-26 20:37:15 +02:00
parent 4f9299c2b5
commit f89f728871
5 changed files with 21 additions and 12 deletions
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7
LibCarla/source/carla/client/Client.cpp
View File

@ -23,8 +23,11 @@ namespace client {
SharedPtr<Actor> Client::SpawnActor(
const ActorBlueprint &blueprint,
const Transform &transform) {
auto actor = Call<carla::rpc::Actor>("spawn_actor", transform, blueprint.MakeActorDescription());
const Transform &transform,
Actor *parent) {
auto actor = parent != nullptr ?
Call<carla::rpc::Actor>("spawn_actor_with_parent", transform, blueprint.MakeActorDescription(), parent->Serialize()) :
Call<carla::rpc::Actor>("spawn_actor", transform, blueprint.MakeActorDescription());
if (actor.IsASensor()) {
return SharedPtr<Actor>(new Sensor{actor, GetWorld()});
}

3
LibCarla/source/carla/client/Client.h
View File

@ -73,7 +73,8 @@ namespace client {
SharedPtr<Actor> SpawnActor(
const ActorBlueprint &blueprint,
const Transform &transform);
const Transform &transform,
Actor *parent = nullptr);
void ApplyControlToActor(
const Actor &actor,

9
LibCarla/source/carla/client/World.cpp
View File

@ -13,11 +13,12 @@ namespace client {
SharedPtr<Actor> World::TrySpawnActor(
const ActorBlueprint &blueprint,
const Transform &transform) {
const Transform &transform,
Actor *parent) {
try {
return SpawnActor(blueprint, transform);
} catch (const std::exception & DEBUG_ONLY(e)) {
DEBUG_ONLY(log_debug("TrySpawnActor: failed with:", e.what()));
return SpawnActor(blueprint, transform, parent);
} catch (const std::exception &e) {
log_warning("TrySpawnActor: failed with:", e.what());
return nullptr;
}
}

8
LibCarla/source/carla/client/World.h
View File

@ -27,12 +27,14 @@ namespace client {
SharedPtr<Actor> TrySpawnActor(
const ActorBlueprint &blueprint,
const Transform &transform);
const Transform &transform,
Actor *parent = nullptr);
SharedPtr<Actor> SpawnActor(
const ActorBlueprint &blueprint,
const Transform &transform) {
return _parent->SpawnActor(blueprint, transform);
const Transform &transform,
Actor *parent = nullptr) {
return _parent->SpawnActor(blueprint, transform, parent);
}
Client &GetClient() const {

6
PythonAPI/source/libcarla/World.cpp
View File

@ -15,7 +15,9 @@ void export_world() {
class_<cc::World, boost::noncopyable, boost::shared_ptr<cc::World>>("World", no_init)
.def("get_blueprint_library", &cc::World::GetBlueprintLibrary)
.def("try_spawn_actor", &cc::World::TrySpawnActor)
.def("spawn_actor", &cc::World::SpawnActor)
.def("try_spawn_actor", &cc::World::TrySpawnActor,
(arg("blueprint"), arg("transform"), arg("attach_to")=cc::SharedPtr<cc::Actor>()))
.def("spawn_actor", &cc::World::SpawnActor,
(arg("blueprint"), arg("transform"), arg("attach_to")=cc::SharedPtr<cc::Actor>()))
;
}