--- - module_name: carla classes: - class_name: Vector2D # - DESCRIPTION ------------------------ doc: > Helper class to perform 2D operations. # - PROPERTIES ------------------------- instance_variables: - var_name: x type: float doc: > X-axis value. - var_name: 'y' type: float doc: > Y-axis value. # - METHODS ---------------------------- methods: - def_name: __init__ params: - param_name: x type: float default: 0.0 - param_name: y type: float default: 0.0 # -------------------------------------- - def_name: __add__ params: - param_name: other type: carla.Vector2D # -------------------------------------- - def_name: __sub__ params: - param_name: other type: carla.Vector2D # -------------------------------------- - def_name: __mul__ params: - param_name: other type: carla.Vector2D # -------------------------------------- - def_name: __truediv__ params: - param_name: other type: carla.Vector2D # -------------------------------------- - def_name: __eq__ return: bool params: - param_name: other type: carla.Vector2D doc: > Returns __True__ if values for every axis are equal. # -------------------------------------- - def_name: __ne__ return: bool params: - param_name: bool type: carla.Vector2D doc: > Returns __True__ if the value for any axis is different. # -------------------------------------- - def_name: __str__ return: str doc: > Returns the axis values for the vector parsed as string. # -------------------------------------- - class_name: Vector3D # - DESCRIPTION ------------------------ doc: > Helper class to perform 3D operations. # - PROPERTIES ------------------------- instance_variables: - var_name: x type: float doc: > X-axis value. - var_name: 'y' type: float doc: > Y-axis value. - var_name: z type: float doc: > Z-axis value. # - METHODS ---------------------------- methods: - def_name: __init__ params: - param_name: x type: float default: 0.0 - param_name: 'y' type: float default: 0.0 - param_name: z type: float default: 0.0 # -------------------------------------- - def_name: __add__ params: - param_name: other type: carla.Vector3D # -------------------------------------- - def_name: __sub__ params: - param_name: other type: carla.Vector3D # -------------------------------------- - def_name: __mul__ params: - param_name: other type: carla.Vector3D # -------------------------------------- - def_name: __truediv__ params: - param_name: other type: carla.Vector3D # -------------------------------------- - def_name: __eq__ params: - param_name: other type: carla.Vector3D return: bool doc: > Returns __True__ if values for every axis are equal. # -------------------------------------- - def_name: __ne__ params: - param_name: other type: carla.Vector3D return: bool doc: > Returns __True__ if the value for any axis is different. # -------------------------------------- - def_name: __str__ return: str doc: > Returns the axis values for the vector parsed as string. # -------------------------------------- - class_name: Location parent: carla.Vector3D # - DESCRIPTION ------------------------ doc: > Represents a spot in the world. # - PROPERTIES ------------------------- instance_variables: - var_name: x type: float var_units: meters doc: > Distance from origin to spot on X axis. - var_name: 'y' type: float var_units: meters doc: > Distance from origin to spot on Y axis. - var_name: z type: float var_units: meters doc: > Distance from origin to spot on Z axis. # - METHODS ---------------------------- methods: - def_name: __init__ params: - param_name: x type: float default: 0.0 - param_name: 'y' type: float default: 0.0 - param_name: z type: float default: 0.0 # -------------------------------------- - def_name: distance params: - param_name: location type: carla.Location doc: > The other point to compute the distance with. return: float return_units: meters doc: > Returns Euclidean distance from this location to another one. # -------------------------------------- - def_name: __eq__ return: bool params: - param_name: other type: carla.Location doc: > Returns __True__ if both locations are the same point in space. # -------------------------------------- - def_name: __ne__ return: bool params: - param_name: other type: carla.Location doc: > Returns __True__ if both locations are different points in space. # -------------------------------------- - def_name: __str__ return: str doc: > Parses the axis' values to string. # -------------------------------------- - class_name: Rotation # - DESCRIPTION ------------------------ doc: > Class that represents a 3D rotation and therefore, an orientation in space. CARLA uses the Unreal Engine coordinates system. This is a Z-up left-handed system.

The constructor method follows a specific order of declaration: `(pitch, yaw, roll)`, which corresponds to `(Y-rotation,Z-rotation,X-rotation)`.

![UE4_Rotation](https://d26ilriwvtzlb.cloudfront.net/8/83/BRMC_9.jpg) *Unreal Engine's coordinates system* # - PROPERTIES ------------------------- instance_variables: - var_name: pitch type: float var_units: degrees doc: > Y-axis rotation angle. - var_name: yaw type: float var_units: degrees doc: > Z-axis rotation angle. - var_name: roll type: float var_units: degrees doc: > X-axis rotation angle. # - METHODS ---------------------------- methods: - def_name: __init__ params: - param_name: pitch type: float default: 0.0 param_units: degrees doc: > Y-axis rotation angle. - param_name: yaw type: float default: 0.0 param_units: degrees doc: > Z-axis rotation angle. - param_name: roll type: float default: 0.0 param_units: degrees doc: > X-axis rotation angle. warning: The declaration order is different in CARLA (pitch,yaw,roll), and in the Unreal Engine Editor (roll,pitch,yaw). When working in a build from source, don't mix up the axes' rotations. # -------------------------------------- - def_name: get_forward_vector params: return: carla.Vector3D doc: > Computes the vector pointing forward according to the rotation of the object. # -------------------------------------- - def_name: get_right_vector params: return: carla.Vector3D doc: > Computes the vector pointing to the right according to the rotation of the object. # -------------------------------------- - def_name: get_up_vector params: return: carla.Vector3D doc: > Computes the vector pointing upwards according to the rotation of the object. # -------------------------------------- - def_name: __eq__ return: bool params: - param_name: other type: carla.Rotation doc: > Returns __True__ if both rotations represent the same orientation for every axis. # -------------------------------------- - def_name: __ne__ params: - param_name: other type: carla.Rotation return: bool doc: > Returns __True__ if both rotations represent the same orientation for every axis. # -------------------------------------- - def_name: __str__ doc: > Parses the axis' orientations to string. # -------------------------------------- - class_name: Transform # - DESCRIPTION ------------------------ doc: > Class that defines a transformation, a combination of location and rotation, without scaling. # - PROPERTIES ------------------------- instance_variables: - var_name: location type: carla.Location doc: > Describes a point in the coordinate system. - var_name: rotation type: carla.Rotation var_units: degrees (pitch, yaw, roll) doc: > Describes a rotation for an object according to Unreal Engine's axis system. # - METHODS ---------------------------- methods: - def_name: __init__ params: - param_name: location type: carla.Location - param_name: rotation type: carla.Rotation param_units: degrees (pitch, yaw, roll) # -------------------------------------- - def_name: transform params: - param_name: in_point type: carla.Location doc: > Location in the space to which the transformation will be applied. doc: > Translates a 3D point from local to global coordinates using the current transformation as frame of reference. # -------------------------------------- - def_name: get_forward_vector return: carla.Vector3D doc: > Computes a forward vector using the rotation of the object. # -------------------------------------- - def_name: get_right_vector return: carla.Vector3D doc: > Computes a right vector using the rotatio of the object. # -------------------------------------- - def_name: get_up_vector return: carla.Vector3D doc: > Computes an up vector using the rotation of the object. # -------------------------------------- - def_name: get_matrix return: list(list(float)) doc: > Computes the 4-matrix representation of the transformation. # -------------------------------------- - def_name: get_inverse_matrix return: list(list(float)) doc: > Computes the 4-matrix representation of the inverse transformation. # -------------------------------------- - def_name: __eq__ return: bool params: - param_name: other type: carla.Transform doc: > Returns __True__ if both location and rotation are equal for this and `other`. # -------------------------------------- - def_name: __ne__ return: bool params: - param_name: other type: carla.Transform doc: > Returns __True__ if any location and rotation are not equal for this and `other`. # -------------------------------------- - def_name: __str__ return: str doc: > Parses both location and rotation to string. # -------------------------------------- - class_name: BoundingBox # - DESCRIPTION ------------------------ doc: > Bounding boxes contain the geometry of an actor or an element in the scene. They can be used by carla.DebugHelper or a carla.Client to draw their shapes for debugging. Check out the snipet in carla.DebugHelper.draw_box where a snapshot of the world is used to draw bounding boxes for traffic lights. # - PROPERTIES ------------------------- instance_variables: - var_name: extent type: carla.Vector3D var_units: meters doc: > Vector from the center of the box to one vertex. The value in each axis equals half the size of the box for that axis. `extent.x * 2` would return the size of the box in the X-axis. - var_name: location type: carla.Location var_units: meters doc: > The center of the bounding box. - var_name: rotation type: carla.Rotation doc: > The orientation of the bounding box. # - METHODS ---------------------------- methods: - def_name: __init__ params: - param_name: location type: carla.Location var_units: meters doc: > Center of the box, relative to its parent. - param_name: extent type: carla.Vector3D param_units: meters doc: > Vector containing half the size of the box for every axis. # -------------------------------------- - def_name: contains return: bool params: - param_name: world_point type: carla.Location param_units: meters doc: > The point in world space to be checked. - param_name: transform type: carla.Transform doc: > Contains location and rotation needed to convert this object's local space to world space. doc: > Returns **True** if a point passed in world space is inside this bounding box. # -------------------------------------- - def_name: get_local_vertices return: list(carla.Location) doc: > Returns a list containing the locations of this object's vertices in local space. # -------------------------------------- - def_name: get_world_vertices return: list(carla.Location) params: - param_name: transform type: carla.Transform doc: > Contains location and rotation needed to convert this object's local space to world space. doc: > Returns a list containing the locations of this object's vertices in world space. # -------------------------------------- - def_name: __eq__ return: bool params: - param_name: other type: carla.BoundingBox doc: > Returns true if both location and extent are equal for this and `other`. # -------------------------------------- - def_name: __ne__ return: bool params: - param_name: other type: carla.BoundingBox doc: > Returns true if either location or extent are different for this and `other`. # -------------------------------------- - def_name: __str__ return: str doc: > Parses the location and extent of the bounding box to string. # -------------------------------------- - class_name: GeoLocation # - DESCRIPTION ------------------------ doc: > Class that contains geographical coordinates simulated data. The carla.Map can convert simulation locations by using the tag in the OpenDRIVE file. # - PROPERTIES ------------------------- instance_variables: - var_name: latitude type: float var_units: degrees doc: > North/South value of a point on the map. - var_name: longitude type: float var_units: degrees doc: > West/East value of a point on the map. - var_name: altitude type: float var_units: meters doc: > Height regarding ground level. # - METHODS ---------------------------- methods: - def_name: __init__ params: - param_name: latitude type: float default: 0.0 param_units: degrees - param_name: longitude type: float default: 0.0 param_units: degrees - param_name: altitude type: float default: 0.0 param_units: meters # -------------------------------------- - def_name: __eq__ params: - param_name: other type: carla.GeoLocation # -------------------------------------- - def_name: __ne__ params: - param_name: other type: carla.GeoLocation # -------------------------------------- - def_name: __str__ # -------------------------------------- ...