diff --git a/Docs/core_map.md b/Docs/core_map.md index 5de8e0d7c..d3621067c 100644 --- a/Docs/core_map.md +++ b/Docs/core_map.md @@ -105,9 +105,9 @@ right_lm_color = waypoint.right_lane_marking.color --- ## Navigation in CARLA -Navigation in CARLA is managed via the waypoint API. This consists of a summary of methods in [carla.Waypoint](python_api.md#carla.Waypoint) and [carla.Map](python_api.md#carla.Map) that provide connections between waypoints, and use these to generate a map navigation. +Navigation in CARLA is managed via the waypoint API. This consists of a summary of methods in [carla.Waypoint](python_api.md#carla.Waypoint) and [carla.Map](python_api.md#carla.Map). -All the queries happen on the client-side. The client only communicates with the server when retrieving the map object that will be used for the queries. Communication with the server is not needed after that, so the computational cost of the waypoint API is heavily reduced. +All the queries happen on the client-side. The client only communicates with the server when retrieving the map object that will be used for the queries. There is no need to retrieve the map (`world.get_map()`) more than once. ### Navigating through waypoints diff --git a/Docs/python_api.md b/Docs/python_api.md index e997b08c8..732ece739 100644 --- a/Docs/python_api.md +++ b/Docs/python_api.md @@ -2447,7 +2447,7 @@ Compares every variable with `other` and returns True if any of these dif --- ## carla.Waypoint -Waypoints in CARLA are described as 3D directed points. They store a certain [carla.Transform](#carla.Transform) which locates the waypoint in a road and orientates it according to the lane. They also store the road information belonging to said point regarding its lane and lane markings.

All the information regarding waypoints and the [waypoint API](https://[carla.readthedocs.io](#carla.readthedocs.io)/en/latest/core_map/#navigation-in-carla) is retrieved as provided by the OpenDRIVE file. Once the client asks for the map object to the server, no longer communication will be needed. +Waypoints in CARLA are described as 3D directed points. They have a [carla.Transform](#carla.Transform) which locates the waypoint in a road and orientates it according to the lane. They also store the road information belonging to said point regarding its lane and lane markings.

All the information regarding waypoints and the [waypoint API](../../core_map/#navigation-in-carla) is retrieved as provided by the OpenDRIVE file. Once the client asks for the map object to the server, no longer communication will be needed.

Instance Variables

- **id** (_int_) @@ -2701,7 +2701,7 @@ Returns an instance of [carla.LightManager](#carla.LightManager) that can be use - **get_map**(**self**) Asks the server for the XODR containing the map file, and returns this parsed as a [carla.Map](#carla.Map). - **Return:** _[carla.Map](#carla.Map)_ - - **Warning:** _This method does call the simulation. + - **Warning:** _This method does call the simulation. It is expensive, and should only be called once. _ - **get_traffic_light**(**self**, **landmark**) Provided a landmark, returns the traffic light object it describes. diff --git a/PythonAPI/docs/map.yml b/PythonAPI/docs/map.yml index 7efaa8762..77bede69e 100644 --- a/PythonAPI/docs/map.yml +++ b/PythonAPI/docs/map.yml @@ -300,9 +300,9 @@ - class_name: Waypoint # - DESCRIPTION ------------------------ doc: > - Waypoints in CARLA are described as 3D directed points. They store a certain carla.Transform which locates the waypoint in a road and orientates it according to the lane. They also store the road information belonging to said point regarding its lane and lane markings. + Waypoints in CARLA are described as 3D directed points. They have a carla.Transform which locates the waypoint in a road and orientates it according to the lane. They also store the road information belonging to said point regarding its lane and lane markings.

- All the information regarding waypoints and the [waypoint API](https://carla.readthedocs.io/en/latest/core_map/#navigation-in-carla) is retrieved as provided by the OpenDRIVE file. Once the client asks for the map object to the server, no longer communication will be needed. + All the information regarding waypoints and the [waypoint API](../../core_map/#navigation-in-carla) is retrieved as provided by the OpenDRIVE file. Once the client asks for the map object to the server, no longer communication will be needed. # - PROPERTIES ------------------------- instance_variables: - var_name: id diff --git a/PythonAPI/docs/world.yml b/PythonAPI/docs/world.yml index 5ebc90faf..5cb3503fb 100644 --- a/PythonAPI/docs/world.yml +++ b/PythonAPI/docs/world.yml @@ -351,7 +351,7 @@ doc: > Asks the server for the XODR containing the map file, and returns this parsed as a carla.Map. warning: > - This method does call the simulation. + This method does call the simulation. It is expensive, and should only be called once. # -------------------------------------- - def_name: get_traffic_light return: carla.TrafficLight