p71924506
/
carla
mirror of https://github.com/carla-simulator/carla.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Typos fixes and refactoring

This commit is contained in:
corkyw10 2020-12-21 11:57:25 +01:00 committed by Corinne
parent 2f85970f15
commit fc808973b8
3 changed files with 188 additions and 178 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
Docs/adv_synchrony_timestep.md
View File

@ -71,7 +71,13 @@ CARLA has a [recorder feature](adv_recorder.md) that allows a simulation to be r
### Physics substepping
Physics must be computed within very low time steps to be precise. This can be a huge issue when selecting a delta time for our simulation in which we usually perform multiple computations at each frame like sensor rendering. As this limitation happens only because of the physics simulation, we can do a number of physics substeps between steps only for the physical computations. By default, this is enabled and is set to have a maximum of physics 10 substeps with a maximum physical delta time of 0.01.
Physics must be computed within very low time steps to be precise. This can be an issue when
selecting a delta time for our simulation in which we usually perform multiple computations at
each frame, for example with sensor rendering. As this limitation only happens due to the
physics simulation, we can apply substeps to only the physical computations. This
is enabled by default and is set to have a maximum of 10 physics substeps with a maximum
physical delta time of 0.01.
These options can be changed through the API in the world settings as:
```py
settings = world.get_settings()
@ -81,12 +87,14 @@ settings.max_substeps = 10
world.apply_settings(settings)
```
Be aware that if you have set the synchronous mode and the fixed time step, the options of the substepping, need to be consistent with the value of the fixed delta seconds. The condition to fulfilled is:
Be aware that if you have set synchronous mode and the fixed time step then substepping options
need to be consistent with the value of the fixed delta seconds. The condition to be fulfilled is:
```py
fixed_delta_seconds <= max_substep_delta_time * max_substeps
```
In order to have a proper physical simulation the substep delta time should be below at least below 0.01666 and ideally below 0.1.
In order to have an optimal physical simulation, the substep delta time should at least
be below 0.01666 and ideally below 0.01.
---
## Client-server synchrony

348
Docs/python_api.md
View File

@ -2454,7 +2454,7 @@ Center of mass of the vehicle.
- <a name="carla.VehiclePhysicsControl.steering_curve"></a>**<font color="#f8805a">steering_curve</font>** (_list([carla.Vector2D](#carla.Vector2D))_)
Curve that indicates the maximum steering for a specific forward speed.
- <a name="carla.VehiclePhysicsControl.use_sweep_wheel_collision"></a>**<font color="#f8805a">use_sweep_wheel_collision</font>** (_bool_)
Enable the use of sweep for wheel collision. By default, it is disabled and it uses a simple raycast from the axis to the floor is computed for each wheel. This option provides a better collision model in which the full volume of the wheel is checked again collisions.
Enable the use of sweep for wheel collision. By default, it is disabled and it uses a simple raycast from the axis to the floor for each wheel. This option provides a better collision model in which the full volume of the wheel is checked against collisions.
- <a name="carla.VehiclePhysicsControl.wheels"></a>**<font color="#f8805a">wheels</font>** (_list([carla.WheelPhysicsControl](#carla.WheelPhysicsControl))_)
List of wheel physics objects. This list should have 4 elements, where index 0 corresponds to the front left wheel, index 1 corresponds to the front right wheel, index 2 corresponds to the back left wheel and index 3 corresponds to the back right wheel. For 2 wheeled vehicles, set the same values for both front and back wheels.
@ -3318,6 +3318,123 @@ document.getElementById("snipets-container").innerHTML = null;
}
</script>
<div id ="carla.Map.get_waypoint-snipet" style="display: none;">
<p class="SnipetFont">
Snipet for carla.Map.get_waypoint
</p>
<div id="carla.Map.get_waypoint-code" class="SnipetContent">
```py
# 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.
# ...
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))
# ...
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Map.get_waypoint-code')">Copy snipet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br>
<img src="/img/snipets_images/carla.Map.get_waypoint.jpg">
</div>
<div id ="carla.World.get_spectator-snipet" style="display: none;">
<p class="SnipetFont">
Snipet for carla.World.get_spectator
</p>
<div id="carla.World.get_spectator-code" class="SnipetContent">
```py
# This recipe spawns an actor and the spectator camera at the actor's location.
# ...
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())
# ...
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.get_spectator-code')">Copy snipet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br>
</div>
<div id ="carla.WalkerAIController.stop-snipet" style="display: none;">
<p class="SnipetFont">
Snipet for carla.WalkerAIController.stop
</p>
<div id="carla.WalkerAIController.stop-code" class="SnipetContent">
```py
#To destroy the pedestrians, stop them from the navigation, and then destroy the objects (actor and controller).
# 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.WalkerAIController.stop-code')">Copy snipet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br>
</div>
<div id ="carla.World.spawn_actor-snipet" style="display: none;">
<p class="SnipetFont">
Snipet 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 snipet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br>
</div>
<div id ="carla.Client.apply_batch_sync-snipet" style="display: none;">
<p class="SnipetFont">
Snipet for carla.Client.apply_batch_sync
@ -3391,88 +3508,6 @@ for i in range(0, len(all_actors), 2):
</div>
<div id ="carla.Map.get_waypoint-snipet" style="display: none;">
<p class="SnipetFont">
Snipet for carla.Map.get_waypoint
</p>
<div id="carla.Map.get_waypoint-code" class="SnipetContent">
```py
# 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.
# ...
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))
# ...
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Map.get_waypoint-code')">Copy snipet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br>
<img src="/img/snipets_images/carla.Map.get_waypoint.jpg">
</div>
<div id ="carla.WalkerAIController.stop-snipet" style="display: none;">
<p class="SnipetFont">
Snipet for carla.WalkerAIController.stop
</p>
<div id="carla.WalkerAIController.stop-code" class="SnipetContent">
```py
#To destroy the pedestrians, stop them from the navigation, and then destroy the objects (actor and controller).
# 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.WalkerAIController.stop-code')">Copy snipet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br>
</div>
<div id ="carla.Sensor.listen-snipet" style="display: none;">
<p class="SnipetFont">
Snipet 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 snipet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br>
</div>
<div id ="carla.ActorBlueprint.set_attribute-snipet" style="display: none;">
<p class="SnipetFont">
Snipet for carla.ActorBlueprint.set_attribute
@ -3507,6 +3542,62 @@ camera_bp.set_attribute('image_size_y', 600)
</div>
<div id ="carla.DebugHelper.draw_box-snipet" style="display: none;">
<p class="SnipetFont">
Snipet 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 snipet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br>
<img src="/img/snipets_images/carla.DebugHelper.draw_box.jpg">
</div>
<div id ="carla.Sensor.listen-snipet" style="display: none;">
<p class="SnipetFont">
Snipet 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 snipet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br>
</div>
<div id ="carla.DebugHelper.draw_line-snipet" style="display: none;">
<p class="SnipetFont">
Snipet for carla.DebugHelper.draw_line
@ -3549,62 +3640,6 @@ while True:
</div>
<div id ="carla.DebugHelper.draw_box-snipet" style="display: none;">
<p class="SnipetFont">
Snipet 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 snipet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br>
<img src="/img/snipets_images/carla.DebugHelper.draw_box.jpg">
</div>
<div id ="carla.World.spawn_actor-snipet" style="display: none;">
<p class="SnipetFont">
Snipet 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 snipet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br>
</div>
<div id ="carla.Client.__init__-snipet" style="display: none;">
<p class="SnipetFont">
Snipet for carla.Client.__init__
@ -3696,41 +3731,6 @@ if vehicle_actor.is_at_traffic_light():
</div>
<div id ="carla.World.get_spectator-snipet" style="display: none;">
<p class="SnipetFont">
Snipet for carla.World.get_spectator
</p>
<div id="carla.World.get_spectator-code" class="SnipetContent">
```py
# This recipe spawns an actor and the spectator camera at the actor's location.
# ...
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())
# ...
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.get_spectator-code')">Copy snipet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br>
</div>
</div>

4
PythonAPI/docs/control.yml
View File

@ -300,7 +300,9 @@
- var_name: use_sweep_wheel_collision
type: bool
doc: >
Enable the use of sweep for wheel collision. By default, it is disabled and it uses a simple raycast from the axis to the floor is computed for each wheel. This option provides a better collision model in which the full volume of the wheel is checked again collisions.
Enable the use of sweep for wheel collision. By default, it is disabled and it uses a
simple raycast from the axis to the floor for each wheel. This option provides a better
collision model in which the full volume of the wheel is checked against collisions.
# --------------------------------------
- var_name: wheels
type: list(carla.WheelPhysicsControl)