--- - module_name: carla # - CLASSES ------------------------------ classes: - class_name: LightGroup # - DESCRIPTION ------------------------ doc: > This class categorizes the lights on scene into different groups. These groups available are provided as a enum values that can be used as flags. __Note.__ So far, though there is a `vehicle` group, vehicle lights are not available as carla.Light objects. These have to be managed using carla.Vehicle and carla.VehicleLightState. # - PROPERTIES ------------------------- instance_variables: - var_name: None doc: > All lights. - var_name: Vehicle - var_name: Street - var_name: Building - var_name: Other # -------------------------------------- - class_name: LightState # - DESCRIPTION ------------------------ doc: > This class represents all the light variables except the identifier and the location, which are should to be static. Using this class allows to manage all the parametrization of the light in one call. instance_variables: - var_name: intensity type: float var_units: lumens doc: > Intensity of a light. # -------------------------------------- - var_name: color type: carla.Color doc: > Color of a light. # -------------------------------------- - var_name: group type: carla.LightGroup doc: > Group a light belongs to. # -------------------------------------- - var_name: active type: bool doc: > Switch of a light. It is __True__ when the light is on. # - METHODS ---------------------------- methods: - def_name: __init__ params: - param_name: intensity type: float default: 0.0 param_units: lumens doc: > Intensity of the light. Default is `0.0`. # -------------------------------------- - param_name: color type: carla.Color default: carla.Color() doc: > Color of the light. Default is black. # -------------------------------------- - param_name: group type: carla.LightGroup default: carla.LightGroup.None doc: > Group the light belongs to. Default is the generic group `None`. # -------------------------------------- - param_name: active type: bool default: False doc: > Swith of the light. Default is `False`, light is off. # -------------------------------------- - class_name: Light # - DESCRIPTION ------------------------ doc: > This class exposes the lights that exist in the scene, except for vehicle lights. The properties of a light can be queried and changed at will. Lights are automatically turned on when the simulator enters night mode (sun altitude is below zero). # - PROPERTIES ------------------------- instance_variables: - var_name: color type: carla.Color doc: > Color of the light. # -------------------------------------- - var_name: id type: int doc: > Identifier of the light. # -------------------------------------- - var_name: intensity type: float var_units: lumens doc: > Intensity of the light. # -------------------------------------- - var_name: is_on type: bool doc: > Switch of the light. It is __True__ when the light is on. When the night mode starts, this is set to __True__. # -------------------------------------- - var_name: location type: carla.Location var_units: meters doc: > Position of the light. # -------------------------------------- - var_name: light_group type: carla.LightGroup doc: > Group the light belongs to. # -------------------------------------- - var_name: light_state type: carla.LightState doc: > State of the light. Summarizes its attributes, group, and if it is on/off. # - METHODS ---------------------------- methods: - def_name: turn_off doc: > Switches off the light. # -------------------------------------- - def_name: turn_on doc: > Switches on the light. # -------------------------------------- - def_name: set_color doc: > Changes the color of the light to `color`. params: - param_name: color type: carla.Color # -------------------------------------- - def_name: set_intensity doc: > Changes the intensity of the light to `intensity`. params: - param_name: intensity type: float param_units: lumens # -------------------------------------- - def_name: set_light_group doc: > Changes the light to the group `light_group`. params: - param_name: light_group type: carla.LightGroup # -------------------------------------- - def_name: set_light_state doc: > Changes the state of the light to `light_state`. This may change attributes, group and turn the light on/off all at once. params: - param_name: light_state type: carla.LightState # -------------------------------------- - class_name: LightManager # - DESCRIPTION ------------------------ doc: > This class handles the lights in the scene. Its main use is to get and set the state of groups or lists of lights in one call. An instance of this class can be retrieved by the carla.World.get_lightmanager(). __Note.__ So far, though there is a `vehicle` group, vehicle lights are not available as carla.Light objects. These have to be managed using carla.Vehicle and carla.VehicleLightState. # - METHODS ---------------------------- methods: - def_name: is_active doc: > Returns a list with booleans stating if the elements in `lights` are switched on/off. params: - param_name: lights type: list(carla.Light) doc: List of lights to be queried. return: list(bool) # -------------------------------------- - def_name: turn_off doc: > Switches off all the lights in `lights`. params: - param_name: lights type: list(carla.Light) doc: List of lights to be switched off. # -------------------------------------- - def_name: turn_on doc: > Switches on all the lights in `lights`. params: - param_name: lights type: list(carla.Light) doc: List of lights to be switched on. # -------------------------------------- - def_name: get_all_lights doc: > Returns a list containing the lights in a certain group. By default, the group is `None`. params: - param_name: light_group type: carla.LightGroup default: carla.LightGroup.None doc: > Group to filter the lights returned. Default is `None`. return: list(carla.Light) # -------------------------------------- - def_name: get_color doc: > Returns a list with the colors of every element in `lights`. params: - param_name: lights type: list(carla.Light) doc: List of lights to be queried. return: list(carla.Color) # -------------------------------------- - def_name: get_intensity doc: > Returns a list with the intensity of every element in `lights`. params: - param_name: lights type: list(carla.Light) doc: List of lights to be queried. return: list(float) return_units: lumens # -------------------------------------- - def_name: get_light_group doc: > Returns a list with the group of every element in `lights`. params: - param_name: lights type: list(carla.Light) doc: List of lights to be queried. return: list(carla.LightGroup) # -------------------------------------- - def_name: get_light_state doc: > Returns a list with the state of all the attributes of every element in `lights`. params: - param_name: lights type: list(carla.Light) doc: List of lights to be queried. return: list(carla.LightState) # -------------------------------------- - def_name: get_turned_off_lights doc: > Returns a list containing lights switched off in the scene, filtered by group. params: - param_name: light_group type: carla.LightGroup doc: List of lights to be queried. return: list(carla.Light) # -------------------------------------- - def_name: get_turned_on_lights doc: > Returns a list containing lights switched on in the scene, filtered by group. params: - param_name: light_group type: carla.LightGroup doc: List of lights to be queried. return: list(carla.Light) # -------------------------------------- - def_name: set_active doc: > Switches on/off the elements in `lights`. params: - param_name: lights type: list(carla.Light) doc: List of lights to be switched on/off. - param_name: active type: list(bool) doc: List of booleans to be applied. # -------------------------------------- - def_name: set_color doc: > Changes the color of the elements in `lights` to `color`. params: - param_name: lights type: list(carla.Light) doc: List of lights to be changed. - param_name: color type: carla.Color doc: Color to be applied. # -------------------------------------- - def_name: set_colors doc: > Changes the color of each element in `lights` to the corresponding in `colors`. params: - param_name: lights type: list(carla.Light) doc: List of lights to be changed. - param_name: colors type: list(carla.Color) doc: List of colors to be applied. # -------------------------------------- - def_name: set_intensity doc: > Changes the intensity of every element in `lights` to `intensity`. params: - param_name: lights type: list(carla.Light) doc: List of lights to be changed. - param_name: intensity type: float param_units: lumens doc: Intensity to be applied. # -------------------------------------- - def_name: set_intensities doc: > Changes the intensity of each element in `lights` to the corresponding in `intensities`. params: - param_name: lights type: list(carla.Light) doc: List of lights to be changed. - param_name: intensities type: list(float) param_units: lumens doc: List of intensities to be applied. # -------------------------------------- - def_name: set_light_group doc: > Changes the group of every element in `lights` to `light_group`. params: - param_name: lights type: list(carla.Light) doc: List of lights to be changed. - param_name: light_group type: carla.LightGroup doc: Group to be applied. # -------------------------------------- - def_name: set_light_groups doc: > Changes the group of each element in `lights` to the corresponding in `light_groups`. params: - param_name: lights type: list(carla.Light) doc: List of lights to be changed. - param_name: light_groups type: list(carla.LightGroup) doc: List of groups to be applied. # -------------------------------------- - def_name: set_light_state doc: > Changes the state of the attributes of every element in `lights` to `light_state`. params: - param_name: lights type: list(carla.Light) doc: List of lights to be changed. - param_name: light_state type: carla.LightState doc: State of the attributes to be applied. # -------------------------------------- - def_name: set_light_states doc: > Changes the state of the attributes of each element in `lights` to the corresponding in `light_states`. params: - param_name: lights type: list(carla.Light) doc: List of lights to be changed. - param_name: light_states type: list(carla.LightState) doc: List of state of the attributes to be applied. # -------------------------------------- - def_name: set_day_night_cycle doc: > All scene lights have a day-night cycle, automatically turning on and off with the altitude of the sun. This interferes in cases where full control of the scene lights is required, so setting this to __False__ deactivates it. It can reactivated by setting it to __True__. params: - param_name: active type: bool doc: (De)activation of the day-night cycle.