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Add code snippets to Python API for toggling env objects and map layers. Corrected spelling of snippets on buttons and headers

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corkyw10 2021-02-11 11:34:36 +01:00 committed by Corinne
parent db39e57096
commit fe1472ca6e
6 changed files with 199 additions and 39 deletions
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Docs/python_api.md
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@ -193,7 +193,7 @@ Returns the actor's attribute with `id` as identifier if existing.
- **Setter:** _[carla.ActorBlueprint.set_attribute](#carla.ActorBlueprint.set_attribute)_ - **Setter:** _[carla.ActorBlueprint.set_attribute](#carla.ActorBlueprint.set_attribute)_
##### Setters ##### Setters
- <a name="carla.ActorBlueprint.set_attribute"></a>**<font color="#7fb800">set_attribute</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**id**</font>, <font color="#00a6ed">**value**</font>)<button class="SnipetButton" id="carla.ActorBlueprint.set_attribute-snipet_button">snipet &rarr;</button> - <a name="carla.ActorBlueprint.set_attribute"></a>**<font color="#7fb800">set_attribute</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**id**</font>, <font color="#00a6ed">**value**</font>)<button class="SnipetButton" id="carla.ActorBlueprint.set_attribute-snipet_button">snippet &rarr;</button>
If the `id` attribute is modifiable, changes its value to `value`. If the `id` attribute is modifiable, changes its value to `value`.
- **Parameters:** - **Parameters:**
- `id` (_str_) – The identifier for the attribute that is intended to be changed. - `id` (_str_) – The identifier for the attribute that is intended to be changed.
@ -391,7 +391,7 @@ The Client connects CARLA to the server which runs the simulation. Both server a
The client also has a recording feature that saves all the information of a simulation while running it. This allows the server to replay it at will to obtain information and experiment with it. [Here](adv_recorder.md) is some information about how to use this recorder. The client also has a recording feature that saves all the information of a simulation while running it. This allows the server to replay it at will to obtain information and experiment with it. [Here](adv_recorder.md) is some information about how to use this recorder.
### Methods ### Methods
- <a name="carla.Client.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**host**=127.0.0.1</font>, <font color="#00a6ed">**port**=2000</font>, <font color="#00a6ed">**worker_threads**=0</font>)<button class="SnipetButton" id="carla.Client.__init__-snipet_button">snipet &rarr;</button> - <a name="carla.Client.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**host**=127.0.0.1</font>, <font color="#00a6ed">**port**=2000</font>, <font color="#00a6ed">**worker_threads**=0</font>)<button class="SnipetButton" id="carla.Client.__init__-snipet_button">snippet &rarr;</button>
Client constructor. Client constructor.
- **Parameters:** - **Parameters:**
- `host` (_str_) – IP address where a CARLA Simulator instance is running. Default is localhost (127.0.0.1). - `host` (_str_) – IP address where a CARLA Simulator instance is running. Default is localhost (127.0.0.1).
@ -401,7 +401,7 @@ Client constructor.
Executes a list of commands on a single simulation step and retrieves no information. If you need information about the response of each command, use the __<font color="#7fb800">apply_batch_sync()</font>__ method. [Here](https://github.com/carla-simulator/carla/blob/10c5f6a482a21abfd00220c68c7f12b4110b7f63/PythonAPI/examples/spawn_npc.py#L126) is an example on how to delete the actors that appear in [carla.ActorList](#carla.ActorList) all at once. Executes a list of commands on a single simulation step and retrieves no information. If you need information about the response of each command, use the __<font color="#7fb800">apply_batch_sync()</font>__ method. [Here](https://github.com/carla-simulator/carla/blob/10c5f6a482a21abfd00220c68c7f12b4110b7f63/PythonAPI/examples/spawn_npc.py#L126) is an example on how to delete the actors that appear in [carla.ActorList](#carla.ActorList) all at once.
- **Parameters:** - **Parameters:**
- `commands` (_list_) – A list of commands to execute in batch. Each command is different and has its own parameters. They appear listed at the bottom of this page. - `commands` (_list_) – A list of commands to execute in batch. Each command is different and has its own parameters. They appear listed at the bottom of this page.
- <a name="carla.Client.apply_batch_sync"></a>**<font color="#7fb800">apply_batch_sync</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**commands**</font>, <font color="#00a6ed">**due_tick_cue**=False</font>)<button class="SnipetButton" id="carla.Client.apply_batch_sync-snipet_button">snipet &rarr;</button> - <a name="carla.Client.apply_batch_sync"></a>**<font color="#7fb800">apply_batch_sync</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**commands**</font>, <font color="#00a6ed">**due_tick_cue**=False</font>)<button class="SnipetButton" id="carla.Client.apply_batch_sync-snipet_button">snippet &rarr;</button>
Executes a list of commands on a single simulation step, blocks until the commands are linked, and returns a list of <b>command.Response</b> that can be used to determine whether a single command succeeded or not. [Here](https://github.com/carla-simulator/carla/blob/10c5f6a482a21abfd00220c68c7f12b4110b7f63/PythonAPI/examples/spawn_npc.py#L112-L116) is an example of it being used to spawn actors. Executes a list of commands on a single simulation step, blocks until the commands are linked, and returns a list of <b>command.Response</b> that can be used to determine whether a single command succeeded or not. [Here](https://github.com/carla-simulator/carla/blob/10c5f6a482a21abfd00220c68c7f12b4110b7f63/PythonAPI/examples/spawn_npc.py#L112-L116) is an example of it being used to spawn actors.
- **Parameters:** - **Parameters:**
- `commands` (_list_) – A list of commands to execute in batch. The commands available are listed right above, in the method **<font color="#7fb800">apply_batch()</font>**. - `commands` (_list_) – A list of commands to execute in batch. The commands available are listed right above, in the method **<font color="#7fb800">apply_batch()</font>**.
@ -636,7 +636,7 @@ Draws an arrow from `begin` to `end` pointing in that direction.
- `arrow_size` (_float<small> – meters</small>_) – Size of the tip of the arrow. - `arrow_size` (_float<small> – meters</small>_) – Size of the tip of the arrow.
- `color` (_[carla.Color](#carla.Color)_) – RGB code to color the object. Red by default. - `color` (_[carla.Color](#carla.Color)_) – RGB code to color the object. Red by default.
- `life_time` (_float<small> – seconds</small>_) – Shape's lifespan. By default it only lasts one frame. Set this to <code>0</code> for permanent shapes. - `life_time` (_float<small> – seconds</small>_) – Shape's lifespan. By default it only lasts one frame. Set this to <code>0</code> for permanent shapes.
- <a name="carla.DebugHelper.draw_box"></a>**<font color="#7fb800">draw_box</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**box**</font>, <font color="#00a6ed">**rotation**</font>, <font color="#00a6ed">**thickness**=0.1</font>, <font color="#00a6ed">**color**=(255,0,0)</font>, <font color="#00a6ed">**life_time**=-1.0</font>)<button class="SnipetButton" id="carla.DebugHelper.draw_box-snipet_button">snipet &rarr;</button> - <a name="carla.DebugHelper.draw_box"></a>**<font color="#7fb800">draw_box</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**box**</font>, <font color="#00a6ed">**rotation**</font>, <font color="#00a6ed">**thickness**=0.1</font>, <font color="#00a6ed">**color**=(255,0,0)</font>, <font color="#00a6ed">**life_time**=-1.0</font>)<button class="SnipetButton" id="carla.DebugHelper.draw_box-snipet_button">snippet &rarr;</button>
Draws a box, ussually to act for object colliders. Draws a box, ussually to act for object colliders.
- **Parameters:** - **Parameters:**
- `box` (_[carla.BoundingBox](#carla.BoundingBox)_) – Object containing a location and the length of a box for every axis. - `box` (_[carla.BoundingBox](#carla.BoundingBox)_) – Object containing a location and the length of a box for every axis.
@ -659,7 +659,7 @@ Draws a point `location`.
- `size` (_float<small> – meters</small>_) – Density of the point. - `size` (_float<small> – meters</small>_) – Density of the point.
- `color` (_[carla.Color](#carla.Color)_) – RGB code to color the object. Red by default. - `color` (_[carla.Color](#carla.Color)_) – RGB code to color the object. Red by default.
- `life_time` (_float<small> – seconds</small>_) – Shape's lifespan. By default it only lasts one frame. Set this to <code>0</code> for permanent shapes. - `life_time` (_float<small> – seconds</small>_) – Shape's lifespan. By default it only lasts one frame. Set this to <code>0</code> for permanent shapes.
- <a name="carla.DebugHelper.draw_string"></a>**<font color="#7fb800">draw_string</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**location**</font>, <font color="#00a6ed">**text**</font>, <font color="#00a6ed">**draw_shadow**=False</font>, <font color="#00a6ed">**color**=(255,0,0)</font>, <font color="#00a6ed">**life_time**=-1.0</font>)<button class="SnipetButton" id="carla.DebugHelper.draw_string-snipet_button">snipet &rarr;</button> - <a name="carla.DebugHelper.draw_string"></a>**<font color="#7fb800">draw_string</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**location**</font>, <font color="#00a6ed">**text**</font>, <font color="#00a6ed">**draw_shadow**=False</font>, <font color="#00a6ed">**color**=(255,0,0)</font>, <font color="#00a6ed">**life_time**=-1.0</font>)<button class="SnipetButton" id="carla.DebugHelper.draw_string-snipet_button">snippet &rarr;</button>
Draws a string in a given location of the simulation which can only be seen server-side. Draws a string in a given location of the simulation which can only be seen server-side.
- **Parameters:** - **Parameters:**
- `location` (_[carla.Location](#carla.Location)<small> – meters</small>_) – Spot in the simulation where the text will be centered. - `location` (_[carla.Location](#carla.Location)<small> – meters</small>_) – Spot in the simulation where the text will be centered.
@ -1443,7 +1443,7 @@ Returns a list of recommendations made by the creators of the map to be used as
- <a name="carla.Map.get_topology"></a>**<font color="#7fb800">get_topology</font>**(<font color="#00a6ed">**self**</font>) - <a name="carla.Map.get_topology"></a>**<font color="#7fb800">get_topology</font>**(<font color="#00a6ed">**self**</font>)
Returns a list of tuples describing a minimal graph of the topology of the OpenDRIVE file. The tuples contain pairs of waypoints located either at the point a road begins or ends. The first one is the origin and the second one represents another road end that can be reached. This graph can be loaded into [NetworkX](https://networkx.github.io/) to work with. Output could look like this: <b>[(w0, w1), (w0, w2), (w1, w3), (w2, w3), (w0, w4)]</b>. Returns a list of tuples describing a minimal graph of the topology of the OpenDRIVE file. The tuples contain pairs of waypoints located either at the point a road begins or ends. The first one is the origin and the second one represents another road end that can be reached. This graph can be loaded into [NetworkX](https://networkx.github.io/) to work with. Output could look like this: <b>[(w0, w1), (w0, w2), (w1, w3), (w2, w3), (w0, w4)]</b>.
- **Return:** _list(tuple([carla.Waypoint](#carla.Waypoint), [carla.Waypoint](#carla.Waypoint)))_ - **Return:** _list(tuple([carla.Waypoint](#carla.Waypoint), [carla.Waypoint](#carla.Waypoint)))_
- <a name="carla.Map.get_waypoint"></a>**<font color="#7fb800">get_waypoint</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**location**</font>, <font color="#00a6ed">**project_to_road**=True</font>, <font color="#00a6ed">**lane_type**=[carla.LaneType.Driving](#carla.LaneType.Driving)</font>)<button class="SnipetButton" id="carla.Map.get_waypoint-snipet_button">snipet &rarr;</button> - <a name="carla.Map.get_waypoint"></a>**<font color="#7fb800">get_waypoint</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**location**</font>, <font color="#00a6ed">**project_to_road**=True</font>, <font color="#00a6ed">**lane_type**=[carla.LaneType.Driving](#carla.LaneType.Driving)</font>)<button class="SnipetButton" id="carla.Map.get_waypoint-snipet_button">snippet &rarr;</button>
Returns a waypoint that can be located in an exact location or translated to the center of the nearest lane. Said lane type can be defined using flags such as `LaneType.Driving & LaneType.Shoulder`. Returns a waypoint that can be located in an exact location or translated to the center of the nearest lane. Said lane type can be defined using flags such as `LaneType.Driving & LaneType.Shoulder`.
The method will return <b>None</b> if the waypoint is not found, which may happen only when trying to retrieve a waypoint for an exact location. That eases checking if a point is inside a certain road, as otherwise, it will return the corresponding waypoint. The method will return <b>None</b> if the waypoint is not found, which may happen only when trying to retrieve a waypoint for an exact location. That eases checking if a point is inside a certain road, as otherwise, it will return the corresponding waypoint.
- **Parameters:** - **Parameters:**
@ -1914,7 +1914,7 @@ Iterate over the [carla.SemanticLidarDetection](#carla.SemanticLidarDetection) r
When <b>True</b> the sensor will be waiting for data. When <b>True</b> the sensor will be waiting for data.
### Methods ### Methods
- <a name="carla.Sensor.listen"></a>**<font color="#7fb800">listen</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**callback**</font>)<button class="SnipetButton" id="carla.Sensor.listen-snipet_button">snipet &rarr;</button> - <a name="carla.Sensor.listen"></a>**<font color="#7fb800">listen</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**callback**</font>)<button class="SnipetButton" id="carla.Sensor.listen-snipet_button">snippet &rarr;</button>
The function the sensor will be calling to every time a new measurement is received. This function needs for an argument containing an object type [carla.SensorData](#carla.SensorData) to work with. The function the sensor will be calling to every time a new measurement is received. This function needs for an argument containing an object type [carla.SensorData](#carla.SensorData) to work with.
- **Parameters:** - **Parameters:**
- `callback` (_function_) – The called function with one argument containing the sensor data. - `callback` (_function_) – The called function with one argument containing the sensor data.
@ -2038,7 +2038,7 @@ Sets a given time for the red state to be active.
- **Parameters:** - **Parameters:**
- `red_time` (_float<small> – seconds</small>_) - `red_time` (_float<small> – seconds</small>_)
- **Getter:** _[carla.TrafficLight.get_red_time](#carla.TrafficLight.get_red_time)_ - **Getter:** _[carla.TrafficLight.get_red_time](#carla.TrafficLight.get_red_time)_
- <a name="carla.TrafficLight.set_state"></a>**<font color="#7fb800">set_state</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**state**</font>)<button class="SnipetButton" id="carla.TrafficLight.set_state-snipet_button">snipet &rarr;</button> - <a name="carla.TrafficLight.set_state"></a>**<font color="#7fb800">set_state</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**state**</font>)<button class="SnipetButton" id="carla.TrafficLight.set_state-snipet_button">snippet &rarr;</button>
Sets a given state to a traffic light actor. Sets a given state to a traffic light actor.
- **Parameters:** - **Parameters:**
- `state` (_[carla.TrafficLightState](#carla.TrafficLightState)_) - `state` (_[carla.TrafficLightState](#carla.TrafficLightState)_)
@ -2522,7 +2522,7 @@ Sets the destination that the pedestrian will reach.
- `destination` (_[carla.Location](#carla.Location)<small> – meters</small>_) - `destination` (_[carla.Location](#carla.Location)<small> – meters</small>_)
- <a name="carla.WalkerAIController.start"></a>**<font color="#7fb800">start</font>**(<font color="#00a6ed">**self**</font>) - <a name="carla.WalkerAIController.start"></a>**<font color="#7fb800">start</font>**(<font color="#00a6ed">**self**</font>)
Enables AI control for its parent walker. Enables AI control for its parent walker.
- <a name="carla.WalkerAIController.stop"></a>**<font color="#7fb800">stop</font>**(<font color="#00a6ed">**self**</font>)<button class="SnipetButton" id="carla.WalkerAIController.stop-snipet_button">snipet &rarr;</button> - <a name="carla.WalkerAIController.stop"></a>**<font color="#7fb800">stop</font>**(<font color="#00a6ed">**self**</font>)<button class="SnipetButton" id="carla.WalkerAIController.stop-snipet_button">snippet &rarr;</button>
Disables AI control for its parent walker. Disables AI control for its parent walker.
##### Setters ##### Setters
@ -2781,7 +2781,7 @@ Casts a ray from the specified initial_location to final_location. The function
- `initial_location` (_[carla.Location](#carla.Location)_) – The initial position of the ray. - `initial_location` (_[carla.Location](#carla.Location)_) – The initial position of the ray.
- `final_location` (_[carla.Location](#carla.Location)_) – The final position of the ray. - `final_location` (_[carla.Location](#carla.Location)_) – The final position of the ray.
- **Return:** _list([carla.LabelledPoint](#carla.LabelledPoint))_ - **Return:** _list([carla.LabelledPoint](#carla.LabelledPoint))_
- <a name="carla.World.enable_environment_objects"></a>**<font color="#7fb800">enable_environment_objects</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**env_objects_ids**</font>, <font color="#00a6ed">**enable**</font>) - <a name="carla.World.enable_environment_objects"></a>**<font color="#7fb800">enable_environment_objects</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**env_objects_ids**</font>, <font color="#00a6ed">**enable**</font>)<button class="SnipetButton" id="carla.World.enable_environment_objects-snipet_button">snippet &rarr;</button>
Enable or disable a set of EnvironmentObject identified by their id. These objects will appear or disappear from the level. Enable or disable a set of EnvironmentObject identified by their id. These objects will appear or disappear from the level.
- **Parameters:** - **Parameters:**
- `env_objects_ids` (_set(int)_) – Set of EnvironmentObject ids to change. - `env_objects_ids` (_set(int)_) – Set of EnvironmentObject ids to change.
@ -2796,7 +2796,7 @@ Projects the specified point downwards in the scene. The functions casts a ray f
- `location` (_[carla.Location](#carla.Location)_) – The point to be projected. - `location` (_[carla.Location](#carla.Location)_) – The point to be projected.
- `search_distance` (_float_) – The maximum distance to perform the projection. - `search_distance` (_float_) – The maximum distance to perform the projection.
- **Return:** _[carla.LabelledPoint](#carla.LabelledPoint)_ - **Return:** _[carla.LabelledPoint](#carla.LabelledPoint)_
- <a name="carla.World.load_map_layer"></a>**<font color="#7fb800">load_map_layer</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**map_layers**</font>) - <a name="carla.World.load_map_layer"></a>**<font color="#7fb800">load_map_layer</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**map_layers**</font>)<button class="SnipetButton" id="carla.World.load_map_layer-snipet_button">snippet &rarr;</button>
Loads the selected layers to the level. If the layer is already loaded the call has no effect. Loads the selected layers to the level. If the layer is already loaded the call has no effect.
- **Parameters:** - **Parameters:**
- `map_layers` (_[carla.MapLayer](#carla.MapLayer)_) – Mask of level layers to be loaded. - `map_layers` (_[carla.MapLayer](#carla.MapLayer)_) – Mask of level layers to be loaded.
@ -2819,7 +2819,7 @@ Stops the callback for `callback_id` started with __<font color="#7fb800">on_tic
- `callback_id` (_callback_) – The callback to be removed. The ID is returned when creating the callback. - `callback_id` (_callback_) – The callback to be removed. The ID is returned when creating the callback.
- <a name="carla.World.reset_all_traffic_lights"></a>**<font color="#7fb800">reset_all_traffic_lights</font>**(<font color="#00a6ed">**self**</font>) - <a name="carla.World.reset_all_traffic_lights"></a>**<font color="#7fb800">reset_all_traffic_lights</font>**(<font color="#00a6ed">**self**</font>)
Resets the cycle of all traffic lights in the map to the initial state. Resets the cycle of all traffic lights in the map to the initial state.
- <a name="carla.World.spawn_actor"></a>**<font color="#7fb800">spawn_actor</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**blueprint**</font>, <font color="#00a6ed">**transform**</font>, <font color="#00a6ed">**attach_to**=None</font>, <font color="#00a6ed">**attachment**=Rigid</font>)<button class="SnipetButton" id="carla.World.spawn_actor-snipet_button">snipet &rarr;</button> - <a name="carla.World.spawn_actor"></a>**<font color="#7fb800">spawn_actor</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**blueprint**</font>, <font color="#00a6ed">**transform**</font>, <font color="#00a6ed">**attach_to**=None</font>, <font color="#00a6ed">**attachment**=Rigid</font>)<button class="SnipetButton" id="carla.World.spawn_actor-snipet_button">snippet &rarr;</button>
The method will create, return and spawn an actor into the world. The actor will need an available blueprint to be created and a transform (location and rotation). It can also be attached to a parent with a certain attachment type. The method will create, return and spawn an actor into the world. The actor will need an available blueprint to be created and a transform (location and rotation). It can also be attached to a parent with a certain attachment type.
- **Parameters:** - **Parameters:**
- `blueprint` (_[carla.ActorBlueprint](#carla.ActorBlueprint)_) – The reference from which the actor will be created. - `blueprint` (_[carla.ActorBlueprint](#carla.ActorBlueprint)_) – The reference from which the actor will be created.
@ -2842,7 +2842,7 @@ Same as __<font color="#7fb800">spawn_actor()</font>__ but returns <b>None</b> o
- `attach_to` (_[carla.Actor](#carla.Actor)_) – The parent object that the spawned actor will follow around. - `attach_to` (_[carla.Actor](#carla.Actor)_) – The parent object that the spawned actor will follow around.
- `attachment` (_[carla.AttachmentType](#carla.AttachmentType)_) – Determines how fixed and rigorous should be the changes in position according to its parent object. - `attachment` (_[carla.AttachmentType](#carla.AttachmentType)_) – Determines how fixed and rigorous should be the changes in position according to its parent object.
- **Return:** _[carla.Actor](#carla.Actor)_ - **Return:** _[carla.Actor](#carla.Actor)_
- <a name="carla.World.unload_map_layer"></a>**<font color="#7fb800">unload_map_layer</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**map_layers**</font>) - <a name="carla.World.unload_map_layer"></a>**<font color="#7fb800">unload_map_layer</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**map_layers**</font>)<button class="SnipetButton" id="carla.World.unload_map_layer-snipet_button">snippet &rarr;</button>
Unloads the selected layers to the level. If the layer is already unloaded the call has no effect. Unloads the selected layers to the level. If the layer is already unloaded the call has no effect.
- **Parameters:** - **Parameters:**
- `map_layers` (_[carla.MapLayer](#carla.MapLayer)_) – Mask of level layers to be unloaded. - `map_layers` (_[carla.MapLayer](#carla.MapLayer)_) – Mask of level layers to be unloaded.
@ -2894,7 +2894,7 @@ Returns an object containing some data about the simulation such as synchrony be
- <a name="carla.World.get_snapshot"></a>**<font color="#7fb800">get_snapshot</font>**(<font color="#00a6ed">**self**</font>) - <a name="carla.World.get_snapshot"></a>**<font color="#7fb800">get_snapshot</font>**(<font color="#00a6ed">**self**</font>)
Returns a snapshot of the world at a certain moment comprising all the information about the actors. Returns a snapshot of the world at a certain moment comprising all the information about the actors.
- **Return:** _[carla.WorldSnapshot](#carla.WorldSnapshot)_ - **Return:** _[carla.WorldSnapshot](#carla.WorldSnapshot)_
- <a name="carla.World.get_spectator"></a>**<font color="#7fb800">get_spectator</font>**(<font color="#00a6ed">**self**</font>)<button class="SnipetButton" id="carla.World.get_spectator-snipet_button">snipet &rarr;</button> - <a name="carla.World.get_spectator"></a>**<font color="#7fb800">get_spectator</font>**(<font color="#00a6ed">**self**</font>)<button class="SnipetButton" id="carla.World.get_spectator-snipet_button">snippet &rarr;</button>
Returns the spectator actor. The spectator is a special type of actor created by Unreal Engine, usually with ID=0, that acts as a camera and controls the view in the simulator window. Returns the spectator actor. The spectator is a special type of actor created by Unreal Engine, usually with ID=0, that acts as a camera and controls the view in the simulator window.
- **Return:** _[carla.Actor](#carla.Actor)_ - **Return:** _[carla.Actor](#carla.Actor)_
- <a name="carla.World.get_traffic_light"></a>**<font color="#7fb800">get_traffic_light</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**landmark**</font>) - <a name="carla.World.get_traffic_light"></a>**<font color="#7fb800">get_traffic_light</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**landmark**</font>)
@ -3318,9 +3318,81 @@ document.getElementById("snipets-container").innerHTML = null;
} }
</script> </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 off and on several layers in our "_Opt" maps
# Load layered map for Town 01
world = client.load_world('Town01_Opt')
# Toggle all buildings off
world.unload_map_layer(carla.MapLayer.Buildings)
# Toggle all foliage off
world.unload_map_layer(carla.MapLayer.Foliage)
# Toggle all parked vehicles off
world.unload_map_layer(carla.MapLayer.ParkedVehicles)
# 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.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 and on several layers in our "_Opt" maps
# Load layered map for Town 01
world = client.load_world('Town01_Opt')
# Toggle all buildings off
world.unload_map_layer(carla.MapLayer.Buildings)
# Toggle all foliage off
world.unload_map_layer(carla.MapLayer.Foliage)
# Toggle all parked vehicles off
world.unload_map_layer(carla.MapLayer.ParkedVehicles)
# 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.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.Map.get_waypoint-snipet" style="display: none;"> <div id ="carla.Map.get_waypoint-snipet" style="display: none;">
<p class="SnipetFont"> <p class="SnipetFont">
Snipet for carla.Map.get_waypoint Snippet for carla.Map.get_waypoint
</p> </p>
<div id="carla.Map.get_waypoint-code" class="SnipetContent"> <div id="carla.Map.get_waypoint-code" class="SnipetContent">
@ -3344,7 +3416,7 @@ 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> <button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Map.get_waypoint-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.Map.get_waypoint.jpg"> <img src="/img/snipets_images/carla.Map.get_waypoint.jpg">
@ -3353,7 +3425,7 @@ print("R lane marking change: " + str(waypoint.right_lane_marking.lane_change))
<div id ="carla.World.get_spectator-snipet" style="display: none;"> <div id ="carla.World.get_spectator-snipet" style="display: none;">
<p class="SnipetFont"> <p class="SnipetFont">
Snipet for carla.World.get_spectator Snippet for carla.World.get_spectator
</p> </p>
<div id="carla.World.get_spectator-code" class="SnipetContent"> <div id="carla.World.get_spectator-code" class="SnipetContent">
@ -3382,13 +3454,13 @@ 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> <button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.get_spectator-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
</div> </div>
<div id ="carla.WalkerAIController.stop-snipet" style="display: none;"> <div id ="carla.WalkerAIController.stop-snipet" style="display: none;">
<p class="SnipetFont"> <p class="SnipetFont">
Snipet for carla.WalkerAIController.stop Snippet for carla.WalkerAIController.stop
</p> </p>
<div id="carla.WalkerAIController.stop-code" class="SnipetContent"> <div id="carla.WalkerAIController.stop-code" class="SnipetContent">
@ -3406,13 +3478,13 @@ 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> <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> </div>
<div id ="carla.World.spawn_actor-snipet" style="display: none;"> <div id ="carla.World.spawn_actor-snipet" style="display: none;">
<p class="SnipetFont"> <p class="SnipetFont">
Snipet for carla.World.spawn_actor Snippet for carla.World.spawn_actor
</p> </p>
<div id="carla.World.spawn_actor-code" class="SnipetContent"> <div id="carla.World.spawn_actor-code" class="SnipetContent">
@ -3431,13 +3503,13 @@ lane_invasion_sensor = world.spawn_actor(sensor_lane_invasion_bp, transform, att
``` ```
<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> <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>
<div id ="carla.Client.apply_batch_sync-snipet" style="display: none;"> <div id ="carla.Client.apply_batch_sync-snipet" style="display: none;">
<p class="SnipetFont"> <p class="SnipetFont">
Snipet for carla.Client.apply_batch_sync Snippet for carla.Client.apply_batch_sync
</p> </p>
<div id="carla.Client.apply_batch_sync-code" class="SnipetContent"> <div id="carla.Client.apply_batch_sync-code" class="SnipetContent">
@ -3504,13 +3576,13 @@ for i in range(0, len(all_actors), 2):
``` ```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Client.apply_batch_sync-code')">Copy snipet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br> <button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Client.apply_batch_sync-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
</div> </div>
<div id ="carla.ActorBlueprint.set_attribute-snipet" style="display: none;"> <div id ="carla.ActorBlueprint.set_attribute-snipet" style="display: none;">
<p class="SnipetFont"> <p class="SnipetFont">
Snipet for carla.ActorBlueprint.set_attribute Snippet for carla.ActorBlueprint.set_attribute
</p> </p>
<div id="carla.ActorBlueprint.set_attribute-code" class="SnipetContent"> <div id="carla.ActorBlueprint.set_attribute-code" class="SnipetContent">
@ -3538,13 +3610,13 @@ camera_bp.set_attribute('image_size_y', 600)
``` ```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.ActorBlueprint.set_attribute-code')">Copy snipet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br> <button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.ActorBlueprint.set_attribute-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
</div> </div>
<div id ="carla.DebugHelper.draw_box-snipet" style="display: none;"> <div id ="carla.DebugHelper.draw_box-snipet" style="display: none;">
<p class="SnipetFont"> <p class="SnipetFont">
Snipet for carla.DebugHelper.draw_box Snippet for carla.DebugHelper.draw_box
</p> </p>
<div id="carla.DebugHelper.draw_box-code" class="SnipetContent"> <div id="carla.DebugHelper.draw_box-code" class="SnipetContent">
@ -3566,7 +3638,7 @@ for actor_snapshot in world_snapshot:
``` ```
<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> <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"> <img src="/img/snipets_images/carla.DebugHelper.draw_box.jpg">
@ -3575,7 +3647,7 @@ for actor_snapshot in world_snapshot:
<div id ="carla.Sensor.listen-snipet" style="display: none;"> <div id ="carla.Sensor.listen-snipet" style="display: none;">
<p class="SnipetFont"> <p class="SnipetFont">
Snipet for carla.Sensor.listen Snippet for carla.Sensor.listen
</p> </p>
<div id="carla.Sensor.listen-code" class="SnipetContent"> <div id="carla.Sensor.listen-code" class="SnipetContent">
@ -3594,13 +3666,13 @@ camera.listen(lambda image: image.save_to_disk('output/%06d.png' % image.frame,
``` ```
<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> <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>
<div id ="carla.DebugHelper.draw_string-snipet" style="display: none;"> <div id ="carla.DebugHelper.draw_string-snipet" style="display: none;">
<p class="SnipetFont"> <p class="SnipetFont">
Snipet for carla.DebugHelper.draw_string Snippet for carla.DebugHelper.draw_string
</p> </p>
<div id="carla.DebugHelper.draw_string-code" class="SnipetContent"> <div id="carla.DebugHelper.draw_string-code" class="SnipetContent">
@ -3633,13 +3705,42 @@ while True:
``` ```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.DebugHelper.draw_string-code')">Copy snipet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br> <button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.DebugHelper.draw_string-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.enable_environment_objects-snipet" style="display: none;">
<p class="SnipetFont">
Snippet for carla.World.enable_environment_objects
</p>
<div id="carla.World.enable_environment_objects-code" class="SnipetContent">
```py
# This recipe turn visibility off and on for two specifc buildings on the map
# Get the buildings in the world
world = client.get_world()
env_objs = world.get_environment_objects(carla.CityObjectLabel.Buildings)
# Access individual building IDs and save in a set
building_01 = env_objs[0]
building_02 = env_objs[1]
objects_to_toggle = {building_01.id, building_02.id}
# Toggle buildings off
world.enable_environment_objects(objects_to_toggle, False)
# Toggle buildings on
world.enable_environment_objects(objects_to_toggle, True)
```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.enable_environment_objects-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
</div> </div>
<div id ="carla.Client.__init__-snipet" style="display: none;"> <div id ="carla.Client.__init__-snipet" style="display: none;">
<p class="SnipetFont"> <p class="SnipetFont">
Snipet for carla.Client.__init__ Snippet for carla.Client.__init__
</p> </p>
<div id="carla.Client.__init__-code" class="SnipetContent"> <div id="carla.Client.__init__-code" class="SnipetContent">
@ -3678,13 +3779,13 @@ Snipet for carla.Client.__init__
``` ```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Client.__init__-code')">Copy snipet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br> <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>
<div id ="carla.TrafficLight.set_state-snipet" style="display: none;"> <div id ="carla.TrafficLight.set_state-snipet" style="display: none;">
<p class="SnipetFont"> <p class="SnipetFont">
Snipet for carla.TrafficLight.set_state Snippet for carla.TrafficLight.set_state
</p> </p>
<div id="carla.TrafficLight.set_state-code" class="SnipetContent"> <div id="carla.TrafficLight.set_state-code" class="SnipetContent">
@ -3721,7 +3822,7 @@ if vehicle_actor.is_at_traffic_light():
``` ```
<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.TrafficLight.set_state-code')">Copy snipet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snipet</button><br><br> <button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.TrafficLight.set_state-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.TrafficLight.set_state.gif"> <img src="/img/snipets_images/carla.TrafficLight.set_state.gif">

2
PythonAPI/docs/doc_gen.py
View File

@ -115,7 +115,7 @@ def bold(buf):
def snipet(name,class_key): def snipet(name,class_key):
return join(["<button class=\"SnipetButton\" id=\"",class_key,".",name,"-snipet_button\">", "snipet &rarr;", '</button>']) return join(["<button class=\"SnipetButton\" id=\"",class_key,".",name,"-snipet_button\">", "snippet &rarr;", '</button>'])
def code(buf): def code(buf):
return join(['`', buf, '`']) return join(['`', buf, '`'])

4
PythonAPI/docs/doc_gen_snipets.py
View File

@ -105,13 +105,13 @@ class Documentation:
# Header for a snipet # Header for a snipet
md.textn("<div id =\""+snipet_name+"-snipet\" style=\"display: none;\">\n"+ md.textn("<div id =\""+snipet_name+"-snipet\" style=\"display: none;\">\n"+
"<p class=\"SnipetFont\">\n"+ "<p class=\"SnipetFont\">\n"+
"Snipet for "+snipet_name+"\n"+ "Snippet for "+snipet_name+"\n"+
"</p>\n"+ "</p>\n"+
"<div id=\""+snipet_name+"-code\" class=\"SnipetContent\">\n\n```py\n") "<div id=\""+snipet_name+"-code\" class=\"SnipetContent\">\n\n```py\n")
# The snipet code # The snipet code
md.textn(current_snipet.read()) md.textn(current_snipet.read())
# Closing for a snipet # Closing for a snipet
md.textn("\n```\n<button id=\"button1\" class=\"CopyScript\" onclick=\"CopyToClipboard('"+snipet_name+"-code')\">Copy snipet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id=\"button1\" class=\"CloseSnipet\" onclick=\"CloseSnipet()\">Close snipet</button><br><br>\n") md.textn("\n```\n<button id=\"button1\" class=\"CopyScript\" onclick=\"CopyToClipboard('"+snipet_name+"-code')\">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id=\"button1\" class=\"CloseSnipet\" onclick=\"CloseSnipet()\">Close snippet</button><br><br>\n")
# Check if snipet image exists, and add it # Check if snipet image exists, and add it
for snipet_path_to_image in self._snipets_images: for snipet_path_to_image in self._snipets_images:
snipet_image_name = os.path.splitext(os.path.basename(snipet_path_to_image))[0] snipet_image_name = os.path.splitext(os.path.basename(snipet_path_to_image))[0]

15
PythonAPI/docs/snipets/carla.World.enable_environment_objects.py Normal file
View File

@ -0,0 +1,15 @@
# This recipe turn visibility off and on for two specifc buildings on the map
# Get the buildings in the world
world = client.get_world()
env_objs = world.get_environment_objects(carla.CityObjectLabel.Buildings)
# Access individual building IDs and save in a set
building_01 = env_objs[0]
building_02 = env_objs[1]
objects_to_toggle = {building_01.id, building_02.id}
# Toggle buildings off
world.enable_environment_objects(objects_to_toggle, False)
# Toggle buildings on
world.enable_environment_objects(objects_to_toggle, True)

22
PythonAPI/docs/snipets/carla.World.load_map_layer.py Normal file
View File

@ -0,0 +1,22 @@
# This recipe toggles off and on several layers in our "_Opt" maps
# Load layered map for Town 01
world = client.load_world('Town01_Opt')
# Toggle all buildings off
world.unload_map_layer(carla.MapLayer.Buildings)
# Toggle all foliage off
world.unload_map_layer(carla.MapLayer.Foliage)
# Toggle all parked vehicles off
world.unload_map_layer(carla.MapLayer.ParkedVehicles)
# 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)

22
PythonAPI/docs/snipets/carla.World.unload_map_layer.py Normal file
View File

@ -0,0 +1,22 @@
# This recipe toggles off and on several layers in our "_Opt" maps
# Load layered map for Town 01
world = client.load_world('Town01_Opt')
# Toggle all buildings off
world.unload_map_layer(carla.MapLayer.Buildings)
# Toggle all foliage off
world.unload_map_layer(carla.MapLayer.Foliage)
# Toggle all parked vehicles off
world.unload_map_layer(carla.MapLayer.ParkedVehicles)
# 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)