---
- module_name: carla
doc: >
# - CLASSES ------------------------------
classes:
- class_name: Timestamp
# - DESCRIPTION ------------------------
doc: >
Class that contains time information for simulated data. This information is automatically retrieved as part of the carla.WorldSnapshot the client gets on every frame, but might also be used in many other situations such as a carla.Sensor retrieveing data.
# - PROPERTIES -------------------------
instance_variables:
- var_name: frame
type: int
doc: >
The number of frames elapsed since the simulator was launched.
- var_name: elapsed_seconds
type: float
doc: >
Simulated seconds elapsed since the beginning of the current episode.
- var_name: delta_seconds
type: float
doc: >
Simulated seconds elapsed since the previous frame.
- var_name: platform_timestamp
type: float
doc: >
Time register of the frame at which this measurement was taken given by the OS in seconds.
# - METHODS ----------------------------
methods:
- def_name: __init__
params:
- param_name: frame
type: int
- param_name: elapsed_seconds
type: float
- param_name: delta_seconds
type: float
- param_name: platform_timestamp
type: float
doc: >
# --------------------------------------
- def_name: __eq__
params:
- param_name: other
type: carla.Timestamp
doc: >
# --------------------------------------
- def_name: __ne__
params:
- param_name: other
type: carla.Timestamp
doc: >
# --------------------------------------
- def_name: __str__
doc: >
# --------------------------------------
- class_name: ActorList
# - DESCRIPTION ------------------------
doc: >
A class that contains every actor present on the scene and provides access to them. The list is automatically created and updated by the server and it can be returned using carla.World.
# - METHODS ----------------------------
methods:
- def_name: __getitem__
return: carla.Actor
params:
- param_name: pos
type: int
doc: >
Returns the actor corresponding to `pos` position in the list.
# --------------------------------------
- def_name: __iter__
doc: >
Allows the iteration for this object.
# --------------------------------------
- def_name: __len__
return: int
doc: >
Returns the amount of actors listed.
# --------------------------------------
- def_name: __str__
return: str
doc: >
Parses to the ID for every actor listed.
# --------------------------------------
- def_name: filter
return: list
params:
- param_name: wildcard_pattern
type: str
doc: >
Filters a list of Actors matching `wildcard_pattern` against their variable **type_id** (which identifies the blueprint used to spawn them). Matching follows [fnmatch](https://docs.python.org/2/library/fnmatch.html) standard.
# --------------------------------------
- def_name: find
return: carla.Actor
params:
- param_name: actor_id
type: int
doc: >
Finds an actor using its identifier and returns it or None if it is not present.
# --------------------------------------
- class_name: WorldSettings
# - DESCRIPTION ------------------------
doc: >
The simulation has some advanced configuration options that are contained in this class and can be managed using carla.World and its methods. These allow the user to choose between client-server synchrony/asynchrony, activation of "no rendering mode" and either if the simulation should run with a fixed or variable time-step. Check [this](adv_synchrony_timestep.md) out if you want to learn about it.
# - PROPERTIES -------------------------
instance_variables:
- var_name: synchronous_mode
type: bool
doc: >
States the synchrony between client and server. When set to true, the server will wait for a client tick in order to move forward. It is false by default.
- var_name: no_rendering_mode
type: bool
doc: >
When enabled, the simulation will run no rendering at all. This is mainly used to avoid overhead during heavy traffic simulations. It is false by default.
- var_name: fixed_delta_seconds
type: float
doc: >
Ensures that the time elapsed between two steps of the simulation is fixed. Set this to 0.0 to work with a variable time-step, as happens by default.
# - METHODS ----------------------------
methods:
- def_name: __init__
params:
- param_name: synchronous_mode
type: bool
default: False
doc: >
Set this to true to enable client-server synchrony.
- param_name: no_rendering_mode
type: bool
default: False
doc: >
Set this to true to completely disable rendering in the simulation.
- param_name: fixed_delta_seconds
type: float
default: 0.0
doc: >
Set this time in seconds to get a fixed time-step in between frames. 0.0 means variable time-step and it is the default mode.
doc: >
Creates an object containing desired settings that could later be applied through carla.World and its method **apply_settings()**.
# --------------------------------------
- def_name: __eq__
return: bool
params:
- param_name: other
type: carla.WorldSettings
doc: >
Settings to be compared with.
doc: >
Returns True if both objects' variables are the same.
# --------------------------------------
- def_name: __ne__
return: bool
params:
- param_name: other
type: carla.WorldSettings
doc: >
Settings to be compared with.
doc: >
Returns True if both objects' variables are different.
# --------------------------------------
- def_name: __str__
return: str
doc: >
Parses the established settings to a string and shows them in command line.
# --------------------------------------
- class_name: AttachmentType
# - DESCRIPTION ------------------------
doc: >
Class that defines attachment options between an actor and its parent. When spawning actors, these can be attached to another actor so their position changes accordingly. This is specially useful for cameras and sensors. [Here](ref_code_recipes.md#attach-sensors-recipe) is a brief recipe in which we can see how sensors can be attached to a car when spawned. Note that the attachment type is declared as an enum within the class.
# - PROPERTIES -------------------------
instance_variables:
- var_name: Rigid
doc: >
With this fixed attatchment the object follow its parent position strictly.
- var_name: SpringArm
doc: >
An attachment that expands or retracts depending on camera situation. SpringArms are an Unreal Engine component so [check this out](ref_code_recipes.md#attach-sensors-recipe) to learn some more about them.
# --------------------------------------
- class_name: World
# - DESCRIPTION ------------------------
doc: >
World objects are created by the client to have a place for the simulation to happen. The world contains the map we can see, meaning the asset, not the navigation map. Navigation maps are part of the carla.Map class. It also manages the weather and actors present in it. There can only be one world per simulation, but it can be changed anytime.
# - PROPERTIES -------------------------
instance_variables:
- var_name: id
type: int
doc: >
The ID of the episode associated with this world. Episodes are different sessions of a simulation. These change everytime a world is disabled or reloaded. Keeping track is useful to avoid possible issues.
- var_name: debug
type: carla.DebugHelper
doc: >
Responsible for creating different shapes for debugging. Take a look at its class to learn more about it.
# - METHODS ----------------------------
methods:
- def_name: __str__
return: string
doc: >
The content of the world is parsed and printed as a brief report of its current state.
# --------------------------------------
- def_name: apply_settings
return: int
params:
- param_name: world_settings
type: carla.WorldSettings
doc: >
This method applies settings contained in an object to the simulation running and returns the ID of the frame they were implemented.
# --------------------------------------
- def_name: get_actor
return: carla.Actor
params:
- param_name: actor_id
type: int
doc: >
Looks up for an actor by ID and returns None if not found.
# --------------------------------------
- def_name: get_actors
return: carla.ActorList
params:
- param_name: actor_ids
type: list
default: None
doc: >
The IDs of the actors being searched. By default it is set to None and returns every actor on scene.
doc: >
Retrieves a list of carla.Actor elements, either using a list of IDs provided or just listing everyone on stage. If an ID does not correspond with any actor, it will be excluded from the list returned, meaning that both the list of IDs and the list of actors may have different lengths.
# --------------------------------------
- def_name: get_blueprint_library
return: carla.BlueprintLibrary
doc: >
Returns a list of actor blueprints available to ease the spawn of these into the world.
# --------------------------------------
- def_name: get_map
return: carla.Map
doc: >
Returns the object containing the navigation map used to describe this world.
# --------------------------------------
- def_name: get_random_location_from_navigation
return: carla.Location
doc: >
This can only be used with walkers. It retrieves a random location to be used as a destination using the **go_to_location()** method in carla.WalkerAIController. This location will be part of a sidewalk. Roads, crosswalks and grass zones are excluded. The method does not take into consideration locations of existing actors so if a collision happens when trying to spawn an actor, it will return an error. Take a look at [`spawn_npc.py`](https://github.com/carla-simulator/carla/blob/e73ad54d182e743b50690ca00f1709b08b16528c/PythonAPI/examples/spawn_npc.py#L179) for an example.
# --------------------------------------
- def_name: get_snapshot
return: carla.WorldSnapshot
doc: >
Returns a snapshot of the world at a certain moment comprising all the information about the actors.
# --------------------------------------
- def_name: get_spectator
return: carla.Actor
doc: >
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.
# --------------------------------------
- def_name: get_settings
return: carla.WorldSettings
doc: >
Returns an object containing some data about the simulation such as synchrony between client and server or rendering mode.
# --------------------------------------
- def_name: get_weather
return: carla.WeatherParameters
doc: >
Retrieves an object containing weather parameters currently active in the simulation, mainly cloudiness, precipitation, wind and sun position.
# --------------------------------------
- def_name: on_tick
return: int
params:
- param_name: callback
type: carla.WorldSnapshot
doc: >
A defined function with a snapshot as compulsory parameter that will be called every tick.
doc: >
The method will start callbacks for a defined function `callback`. It will return the ID for this callback so it can be removed with **remove_on_tick()**.
# --------------------------------------
- def_name: remove_on_tick
params:
- param_name: callback_id
type: callback
doc: >
The callback to be removed.
doc: >
Stops the callback for `callback_id` started with **on_tick()**.
# --------------------------------------
- def_name: set_weather
params:
- param_name: weather
type: carla.WeatherParameters
doc: >
New conditions to be applied.
doc: >
Changes the weather parameteres ruling the simulation to another ones defined in an object.
# --------------------------------------
- def_name: spawn_actor
return: carla.Actor
params:
- param_name: blueprint
type: carla.ActorBlueprint
doc: >
The reference from which the actor will be created.
- param_name: transform
type: carla.Transform
doc: >
Contains the location and orientation the actor will be spawned with.
- param_name: attach_to
type: carla.Actor
default: None
doc: >
The parent object that the spawned actor will follow around.
- param_name: attachment
type: carla.AttachmentType
default: Rigid
doc: >
Determines how fixed and rigorous should be the changes in position according to its parent object.
doc: >
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.
# --------------------------------------
- def_name: tick
return: int
doc: >
This only has effect on synchronous mode, when both client and server move together. The method tells the server when to step to the next frame and returns the id of the newly started frame.
# --------------------------------------
- def_name: try_spawn_actor
return: carla.Actor
params:
- param_name: blueprint
type: carla.ActorBlueprint
doc: >
The reference from which the actor will be created.
- param_name: transform
type: carla.Transform
doc: >
Contains the location and orientation the actor will be spawned with.
- param_name: attach_to
type: carla.Actor
default: None
doc: >
The parent object that the spawned actor will follow around.
- param_name: attachment
type: carla.AttachmentType
default: Rigid
doc: >
Determines how fixed and rigorous should be the changes in position according to its parent object.
doc: >
Same as **spawn_actor()** but returns None on failure instead of throwing an exception.
# --------------------------------------
- def_name: wait_for_tick
return: carla.WorldSnapshot
params:
- param_name: seconds
type: float
default: 10.0
doc: >
Maximum time in seconds the server should wait for a tick. It is set to 10.0 by default.
doc: >
The client tells the server to block calling thread until a **world_tick()** is received.
# --------------------------------------
- class_name: DebugHelper
# - DESCRIPTION ------------------------
doc: >
Helper class part of carla.World that defines methods for creating debug shapes. By default, shapes last one second. They can be permanent, but take into account the resources needed to do so. Check out this [recipe](ref_code_recipes.md#debug-bounding-box-recipe) where the user takes a snapshot of the world and then proceeds to draw bounding boxes for traffic lights.
# - METHODS ----------------------------
methods:
- def_name: draw_point
params:
- param_name: location
type: carla.Location
doc: >
Spot in the coordinate system to center the object.
- param_name: size
type: float
default: 0.1f
doc: >
Density of the point.
- param_name: color
type: carla.Color
default: (255,0,0)
doc: >
RGB code to color the object. Red by default.
- param_name: life_time
type: float
default: -1.0f
doc: >
Lifespan in seconds for the shape. By default it only lasts one frame. Set this to 0 for permanent shapes.
doc: >
Draws a point `location`.
# --------------------------------------
- def_name: draw_line
params:
- param_name: begin
type: carla.Location
doc: >
Point in the coordinate system where the line starts.
- param_name: end
type: carla.Location
doc: >
Spot in the coordinate system where the line ends.
- param_name: thickness
type: float
default: 0.1f
doc: >
Density of the line.
- param_name: color
type: carla.Color
default: (255,0,0)
doc: >
RGB code to color the object. Red by default.
- param_name: life_time
type: float
default: -1.0f
doc: >
Lifespan in seconds for the shape. By default it only lasts one frame. Set this to 0 for permanent shapes.
doc: >
Draws a line in between `begin` and `end`.
# --------------------------------------
- def_name: draw_arrow
params:
- param_name: begin
type: carla.Location
doc: >
Point in the coordinate system where the arrow starts.
- param_name: end
type: carla.Location
doc: >
Point in the coordinate system where the arrow ends and points towards to.
- param_name: thickness
type: float
default: 0.1f
doc: >
Density of the line.
- param_name: arrow_size
type: float
default: 0.1f
doc: >
Size of the tip of the arrow.
- param_name: color
type: carla.Color
default: (255,0,0)
doc: >
RGB code to color the object. Red by default.
- param_name: life_time
type: float
default: -1.0f
doc: >
Lifespan in seconds for the shape. By default it only lasts one frame. Set this to 0 for permanent shapes.
doc: >
Draws an arrow from `begin` to `end` pointing in that direction.
# --------------------------------------
- def_name: draw_box
params:
- param_name: box
type: carla.BoundingBox
doc: >
Object containing a location and the length of a box for every axis.
- param_name: rotation
type: carla.Rotation
doc: >
Orientation of the box according to Unreal Engine's axis system.
- param_name: thickness
type: float
default: 0.1f
doc: >
Density of the lines that define the box.
- param_name: color
type: carla.Color
default: (255,0,0)
doc: >
RGB code to color the object. Red by default.
- param_name: life_time
type: float
default: -1.0f
doc: >
Lifespan in seconds for the shape. By default it only lasts one frame. Set this to 0 for permanent shapes.
doc: >
Draws a box, ussually to act for object colliders.
# --------------------------------------
- def_name: draw_string
params:
- param_name: location
type: carla.Location
doc: >
Spot in the simulation where the text will be centered.
- param_name: text
type: str
doc: >
Text intended to be shown in the world.
- param_name: draw_shadow
type: bool
default: False
doc: >
Casts a shadow for the string that could help in visualization. It is disabled by default.
- param_name: color
type: carla.Color
default: (255,0,0)
doc: >
RGB code to color the string. Red by default.
- param_name: life_time
type: float
default: -1.0f
doc: >
Draws a string in a given location of the simulation which can only be seen server-side.
# --------------------------------------
...