--- - module_name: carla # - CLASSES ------------------------------ classes: - class_name: LaneType # - DESCRIPTION ------------------------ doc: > Class that defines the possible lane types accepted by OpenDRIVE 1.4. This standards define the road information. The snipet in carla.Map.get_waypoint makes use of a waypoint to get the current and adjacent lane types. # - PROPERTIES ------------------------- instance_variables: - var_name: NONE doc: > - var_name: Driving doc: > - var_name: Stop doc: > - var_name: Shoulder doc: > - var_name: Biking doc: > - var_name: Sidewalk doc: > - var_name: Border doc: > - var_name: Restricted doc: > - var_name: Parking doc: > - var_name: Bidirectional doc: > - var_name: Median doc: > - var_name: Special1 doc: > - var_name: Special2 doc: > - var_name: Special3 doc: > - var_name: RoadWorks doc: > - var_name: Tram doc: > - var_name: Rail doc: > - var_name: Entry doc: > - var_name: Exit doc: > - var_name: OffRamp doc: > - var_name: OnRamp doc: > - var_name: Any doc: > Every type except for NONE. - class_name: LaneChange # - DESCRIPTION ------------------------ doc: > Class that defines the permission to turn either left, right, both or none (meaning only going straight is allowed). This information is stored for every carla.Waypoint according to the OpenDRIVE file. The snipet in carla.Map.get_waypoint shows how a waypoint can be used to learn which turns are permitted. # - PROPERTIES ------------------------- instance_variables: - var_name: NONE doc: > Traffic rules do not allow turning right or left, only going straight. - var_name: Right doc: > Traffic rules allow turning right. - var_name: Left doc: > Traffic rules allow turning left. - var_name: Both doc: > Traffic rules allow turning either right or left. - class_name: LaneMarkingColor # - DESCRIPTION ------------------------ doc: > Class that defines the lane marking colors according to OpenDRIVE 1.4. # - PROPERTIES ------------------------- instance_variables: - var_name: Standard doc: > White by default. - var_name: Blue doc: > - var_name: Green doc: > - var_name: Red doc: > - var_name: White doc: > - var_name: Yellow doc: > - var_name: Other doc: > - class_name: LaneMarkingType # - DESCRIPTION ------------------------ doc: > Class that defines the lane marking types accepted by OpenDRIVE 1.4. The snipet in carla.Map.get_waypoint shows how a waypoint can be used to retrieve the information about adjacent lane markings.

__Note on double types:__ Lane markings are defined under the OpenDRIVE standard that determines whereas a line will be considered "BrokenSolid" or "SolidBroken". For each road there is a center lane marking, defined from left to right regarding the lane's directions. The rest of the lane markings are defined in order from the center lane to the closest outside of the road. # - PROPERTIES ------------------------- instance_variables: - var_name: NONE doc: > - var_name: Other doc: > - var_name: Broken doc: > - var_name: Solid doc: > - var_name: SolidSolid doc: > - var_name: SolidBroken doc: > - var_name: BrokenSolid doc: > - var_name: BrokenBroken doc: > - var_name: BottsDots doc: > - var_name: Grass doc: > - var_name: Curb doc: > - class_name: Map # - DESCRIPTION ------------------------ doc: > Class containing the road information and waypoint managing. Data is retrieved from an OpenDRIVE file that describes the road. A query system is defined which works hand in hand with carla.Waypoint to translate geometrical information from the .xodr to natural world points. CARLA is currently working with [OpenDRIVE 1.4 standard](http://www.opendrive.org/docs/OpenDRIVEFormatSpecRev1.4H.pdf). # - PROPERTIES ------------------------- instance_variables: - var_name: name type: str doc: > The name of the map. It corresponds to the .umap from Unreal Engine that is loaded from a CARLA server, which then references to the .xodr road description. # - METHODS ---------------------------- methods: - def_name: __init__ params: - param_name: name type: str doc: > Name of the current map. - param_name: xodr_content type: str doc: > .xodr content in string format. return: list(carla.Transform) doc: > Constructor for this class. Though a map is automatically generated when initializing the world, using this method in no-rendering mode facilitates working with an .xodr without any CARLA server running. # -------------------------------------- - def_name: generate_waypoints params: - param_name: distance type: float param_units: meters doc: > Approximate distance between waypoints. return: list(carla.Waypoint) doc: > Returns a list of waypoints with a certain distance between them for every lane and centered inside of it. Waypoints are not listed in any particular order. Remember that waypoints closer than 2cm within the same road, section and lane will have the same identificator. # -------------------------------------- - def_name: save_to_disk params: - param_name: path doc: > Path where the file will be saved. doc: > Saves the .xodr OpenDRIVE file of the current map to disk. # -------------------------------------- - def_name: to_opendrive doc: > Returns the .xodr OpenDRIVe file of the current map as string. return: str # -------------------------------------- - def_name: transform_to_geolocation params: - param_name: location type: carla.Location return: carla.GeoLocation doc: > Converts a given `location`, a point in the simulation, to a carla.GeoLocation, which represents world coordinates. The geographical location of the map is defined inside OpenDRIVE within the tag . # -------------------------------------- - def_name: get_all_landmarks doc: > Returns all the landmarks in the map. Landmarks retrieved using this method have a __null__ waypoint. return: list(carla.Landmark) # -------------------------------------- - def_name: get_all_landmarks_from_id doc: > Returns the landmarks with a certain OpenDRIVE ID. Landmarks retrieved using this method have a __null__ waypoint. params: - param_name: opendrive_id type: string doc: > The OpenDRIVE ID of the landmarks. return: list(carla.Landmark) # -------------------------------------- - def_name: get_all_landmarks_of_type doc: > Returns the landmarks of a specific type. Landmarks retrieved using this method have a __null__ waypoint. params: - param_name: type type: string doc: > The type of the landmarks. return: list(carla.Landmark) # -------------------------------------- - def_name: get_landmark_group doc: > Returns the landmarks in the same group as the specified landmark (including itself). Returns an empty list if the landmark does not belong to any group. params: - param_name: landmark type: carla.Landmark doc: > A landmark that belongs to the group. return: list(carla.Landmark) # -------------------------------------- - def_name: get_spawn_points return: list(carla.Transform) doc: > Returns a list of recommendations made by the creators of the map to be used as spawning points for the vehicles. The list includes carla.Transform objects with certain location and orientation. Said locations are slightly on-air in order to avoid Z-collisions, so vehicles fall for a bit before starting their way. # -------------------------------------- - def_name: get_topology doc: > 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: [(w0, w1), (w0, w2), (w1, w3), (w2, w3), (w0, w4)]. return: list(tuple(carla.Waypoint, carla.Waypoint)) # -------------------------------------- - def_name: get_waypoint doc: > 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 None 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. params: - param_name: location type: carla.Location param_units: meters doc: > Location used as reference for the carla.Waypoint. - param_name: project_to_road type: bool default: "True" doc: > If **True**, the waypoint will be at the center of the closest lane. This is the default setting. If **False**, the waypoint will be exactly in `location`. None means said location does not belong to a road. - param_name: lane_type type: carla.LaneType default: carla.LaneType.Driving doc: > Limits the search for nearest lane to one or various lane types that can be flagged. return: carla.Waypoint # -------------------------------------- - def_name: get_waypoint_xodr doc: > Returns a waypoint if all the parameters passed are correct. Otherwise, returns __None__. params: - param_name: road_id type: int doc: > ID of the road to get the waypoint. - param_name: lane_id type: int doc: > ID of the lane to get the waypoint. - param_name: s type: float param_units: meters doc: > Specify the length from the road start. return: carla.Waypoint # -------------------------------------- - def_name: get_crosswalks doc: > Returns a list of locations with all crosswalk zones in the form of closed polygons. The first point is repeated, symbolizing where the polygon begins and ends. return: list(carla.Location) # -------------------------------------- - def_name: cook_in_memory_map params: - param_name: path type: str doc: > Path to the intended location of the stored binary map file. doc: > Generates a binary file from the CARLA map containing information used by the Traffic Manager. This method is only used during the import process for maps. # -------------------------------------- - def_name: __str__ # -------------------------------------- - class_name: LaneMarking # - DESCRIPTION ------------------------ doc: > Class that gathers all the information regarding a lane marking according to [OpenDRIVE 1.4 standard](http://www.opendrive.org/docs/OpenDRIVEFormatSpecRev1.4H.pdf) standard. # - PROPERTIES ------------------------- instance_variables: - var_name: color type: carla.LaneMarkingColor doc: > Actual color of the marking. - var_name: lane_change type: carla.LaneChange doc: > Permissions for said lane marking to be crossed. - var_name: type type: carla.LaneMarkingType doc: > Lane marking type. - var_name: width type: float doc: > Horizontal lane marking thickness. # -------------------------------------- - class_name: Waypoint # - DESCRIPTION ------------------------ doc: > 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](../../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 type: int doc: > The identifier is generated using a hash combination of the road, section, lane and s values that correspond to said point in the OpenDRIVE geometry. The s precision is set to 2 centimeters, so 2 waypoints closer than 2 centimeters in the same road, section and lane, will have the same identificator. - var_name: transform type: carla.Transform doc: > Position and orientation of the waypoint according to the current lane information. This data is computed the first time it is accessed. It is not created right away in order to ease computing costs when lots of waypoints are created but their specific transform is not needed. - var_name: road_id type: int doc: > OpenDRIVE road's id. - var_name: section_id type: int doc: > OpenDRIVE section's id, based on the order that they are originally defined. - var_name: is_junction type: bool doc: > True if the current Waypoint is on a junction as defined by OpenDRIVE. - var_name: junction_id type: int doc: > OpenDRIVE junction's id. For more information refer to OpenDRIVE [documentation](http://www.opendrive.org/docs/OpenDRIVEFormatSpecRev1.4H.pdf#page=20) - var_name: lane_id type: int doc: > OpenDRIVE lane's id, this value can be positive or negative which represents the direction of the current lane with respect to the road. For more information refer to OpenDRIVE [documentation](http://www.opendrive.org/docs/OpenDRIVEFormatSpecRev1.4H.pdf#page=20) - var_name: s type: float param_units: meters doc: > OpenDRIVE s value of the current position. - var_name: lane_width type: float param_units: meters doc: > Horizontal size of the road at current s. - var_name: lane_change type: carla.LaneChange doc: > Lane change definition of the current Waypoint's location, based on the traffic rules defined in the OpenDRIVE file. It states if a lane change can be done and in which direction. - var_name: lane_type type: carla.LaneType doc: > The lane type of the current Waypoint, based on OpenDRIVE 1.4 standard. - var_name: right_lane_marking type: carla.LaneMarking doc: > The right lane marking information based on the direction of the Waypoint. - var_name: left_lane_marking type: carla.LaneMarking doc: > The left lane marking information based on the direction of the Waypoint. # - METHODS ---------------------------- methods: - def_name: next params: - param_name: distance type: float param_units: meters doc: > The approximate distance where to get the next waypoints. return: list(carla.Waypoint) doc: > Returns a list of waypoints at a certain approximate `distance` from the current one. It takes into account the road and its possible deviations without performing any lane change and returns one waypoint per option. The list may be empty if the lane is not connected to any other at the specified distance. # -------------------------------------- - def_name: next_until_lane_end params: - param_name: distance type: float param_units: meters doc: > The approximate distance between waypoints. return: list(carla.Waypoint) doc: > Returns a list of waypoints from this to the end of the lane separated by a certain `distance`. # -------------------------------------- - def_name: previous params: - param_name: distance type: float param_units: meters doc: > The approximate distance where to get the previous waypoints. return: list(carla.Waypoint) doc: > This method does not return the waypoint previously visited by an actor, but a list of waypoints at an approximate `distance` but in the opposite direction of the lane. Similarly to **next()**, it takes into account the road and its possible deviations without performing any lane change and returns one waypoint per option. The list may be empty if the lane is not connected to any other at the specified distance. # -------------------------------------- - def_name: previous_until_lane_start params: - param_name: distance type: float param_units: meters doc: > The approximate distance between waypoints. return: list(carla.Waypoint) doc: > Returns a list of waypoints from this to the start of the lane separated by a certain `distance`. # -------------------------------------- - def_name: get_junction return: carla.Junction doc: > If the waypoint belongs to a junction this method returns the associated junction object. Otherwise returns null. # -------------------------------------- - def_name: get_landmarks params: - param_name: distance type: float param_units: meters doc: > The maximum distance to search for landmarks from the current waypoint. - param_name: stop_at_junction type: bool default: False doc: > Enables or disables the landmark search through junctions. return: list(carla.Landmark) doc: > Returns a list of landmarks in the road from the current waypoint until the specified distance. # -------------------------------------- - def_name: get_landmarks_of_type params: - param_name: distance param_units: meters type: float doc: > The maximum distance to search for landmarks from the current waypoint. - param_name: type type: str doc: > The type of landmarks to search. - param_name: stop_at_junction type: bool default: False doc: > Enables or disables the landmark search through junctions. return: list(carla.Landmark) doc: > Returns a list of landmarks in the road of a specified type from the current waypoint until the specified distance. # -------------------------------------- - def_name: get_left_lane return: carla.Waypoint doc: > Generates a Waypoint at the center of the left lane based on the direction of the current Waypoint, taking into account if the lane change is allowed in this location. Will return None if the lane does not exist # -------------------------------------- - def_name: get_right_lane return: carla.Waypoint doc: > Generates a waypoint at the center of the right lane based on the direction of the current waypoint, taking into account if the lane change is allowed in this location. Will return None if the lane does not exist. # -------------------------------------- - def_name: __str__ # -------------------------------------- - class_name: Junction # - DESCRIPTION ------------------------ doc: > Class that embodies the intersections on the road described in the OpenDRIVE file according to OpenDRIVE 1.4 standards. # - PROPERTIES ------------------------- instance_variables: - var_name: id type: int doc: > Identifier found in the OpenDRIVE file. - var_name: bounding_box type: carla.BoundingBox doc: > Bounding box encapsulating the junction lanes. # - METHODS ---------------------------- methods: - def_name: get_waypoints params: - param_name: lane_type type: carla.LaneType doc: > Type of lanes to get the waypoints. return: list(tuple(carla.Waypoint)) doc: > Returns a list of pairs of waypoints. Every tuple on the list contains first an initial and then a final waypoint within the intersection boundaries that describe the beginning and the end of said lane along the junction. Lanes follow their OpenDRIVE definitions so there may be many different tuples with the same starting waypoint due to possible deviations, as this are considered different lanes. # -------------------------------------- - class_name: LandmarkOrientation # - DESCRIPTION ------------------------ doc: > Helper class to define the orientation of a landmark in the road. The definition is not directly translated from OpenDRIVE but converted for the sake of understanding. # - PROPERTIES ------------------------- instance_variables: - var_name: Positive doc: > The landmark faces towards vehicles going on the same direction as the road's geometry definition (lanes 0 and negative in OpenDRIVE). - var_name: Negative doc: > The landmark faces towards vehicles going on the opposite direction to the road's geometry definition (positive lanes in OpenDRIVE). - var_name: Both doc: > Affects vehicles going in both directions of the road. # -------------------------------------- - class_name: LandmarkType # - DESCRIPTION ------------------------ doc: > Helper class containing a set of commonly used landmark types as defined by the default country code in the [OpenDRIVE standard](http://opendrive.org/docs/OpenDRIVEFormatSpecRev1.5M.pdf) (Germany 2017). __carla.Landmark does not reference this class__. The landmark type is a string that varies greatly depending on the country code being used. This class only makes it easier to manage some of the most commonly used in the default set by describing them as an enum. # - PROPERTIES ------------------------- instance_variables: - var_name: Danger doc: > Type 101. - var_name: LanesMerging doc: > Type 121. - var_name: CautionPedestrian doc: > Type 133. - var_name: CautionBicycle doc: > Type 138. - var_name: LevelCrossing doc: > Type 150. - var_name: StopSign doc: > Type 206. - var_name: YieldSign doc: > Type 205. - var_name: MandatoryTurnDirection doc: > Type 209. - var_name: MandatoryLeftRightDirection doc: > Type 211. - var_name: TwoChoiceTurnDirection doc: > Type 214. - var_name: Roundabout doc: > Type 215. - var_name: PassRightLeft doc: > Type 222. - var_name: AccessForbidden doc: > Type 250. - var_name: AccessForbiddenMotorvehicles doc: > Type 251. - var_name: AccessForbiddenTrucks doc: > Type 253. - var_name: AccessForbiddenBicycle doc: > Type 254. - var_name: AccessForbiddenWeight doc: > Type 263. - var_name: AccessForbiddenWidth doc: > Type 264. - var_name: AccessForbiddenHeight doc: > Type 265. - var_name: AccessForbiddenWrongDirection doc: > Type 267. - var_name: ForbiddenUTurn doc: > Type 272. - var_name: MaximumSpeed doc: > Type 274. - var_name: ForbiddenOvertakingMotorvehicles doc: > Type 276. - var_name: ForbiddenOvertakingTrucks doc: > Type 277. - var_name: AbsoluteNoStop doc: > Type 283. - var_name: RestrictedStop doc: > Type 286. - var_name: HasWayNextIntersection doc: > Type 301. - var_name: PriorityWay doc: > Type 306. - var_name: PriorityWayEnd doc: > Type 307. - var_name: CityBegin doc: > Type 310. - var_name: CityEnd doc: > Type 311. - var_name: Highway doc: > Type 330. - var_name: DeadEnd doc: > Type 357. - var_name: RecomendedSpeed doc: > Type 380. - var_name: RecomendedSpeedEnd doc: > Type 381. # -------------------------------------- - class_name: Landmark # - DESCRIPTION ------------------------ doc: > Class that defines any type of traffic landmark or sign affecting a road. These class mediates between the [OpenDRIVE 1.4 standard](http://www.opendrive.org/docs/OpenDRIVEFormatSpecRev1.4H.pdf) definition of the landmarks and their representation in the simulation. This class retrieves all the information defining a landmark in OpenDRIVE and facilitates information about which lanes does it affect and when. Landmarks will be accessed by carla.Waypoint objects trying to retrieve the regulation of their lane. Therefore some attributes depend on the waypoint that is consulting the landmark and so, creating the object. # - PROPERTIES ------------------------- instance_variables: - var_name: road_id type: int doc: > The OpenDRIVE ID of the road where this landmark is defined. Due to OpenDRIVE road definitions, this road may be different from the road the landmark is currently affecting. It is mostly the case in junctions where the road diverges in different routes. Example: a traffic light is defined in one of the divergent roads in a junction, but it affects all the possible routes - var_name: distance type: float var_units: meters doc: > Distance between the landmark and the waypoint creating the object (querying `get_landmarks` or `get_landmarks_of_type`). - var_name: s type: float var_units: meters doc: > Distance where the landmark is positioned along the geometry of the road `road_id`. - var_name: t type: float var_units: meters doc: > Lateral distance where the landmark is positioned from the edge of the road `road_id`. - var_name: id type: str doc: > Unique ID of the landmark in the OpenDRIVE file. - var_name: name type: str doc: > Name of the landmark in the in the OpenDRIVE file. - var_name: is_dynamic type: bool doc: > Indicates if the landmark has state changes over time such as traffic lights. - var_name: orientation type: carla.LandmarkOrientation var_units: degrees doc: > Indicates which lanes the landmark is facing towards to. - var_name: z_offset type: float var_units: meters doc: > Height where the landmark is placed. - var_name: country type: str doc: > Country code where the landmark is defined (default to OpenDRIVE is Germany 2017). - var_name: type type: str doc: > Type identifier of the landmark according to the country code. - var_name: sub_type type: str doc: > Subtype identifier of the landmark according to the country code. - var_name: value type: float doc: > Value printed in the signal (e.g. speed limit, maximum weight, etc). - var_name: unit type: str doc: > Units of measurement for the attribute `value`. - var_name: height type: float var_units: meters doc: > Total height of the signal. - var_name: width type: float var_units: meters doc: > Total width of the signal. - var_name: text type: str doc: > Additional text in the signal. - var_name: h_offset type: float var_units: meters doc: > Orientation offset of the signal relative to the the definition of `road_id` at `s` in OpenDRIVE. - var_name: pitch type: float var_units: meters doc: > Pitch rotation of the signal (Y-axis in [UE coordinates system](https://carla.readthedocs.io/en/latest/python_api/#carlarotation)). - var_name: roll type: float doc: > Roll rotation of the signal (X-axis in [UE coordinates system](https://carla.readthedocs.io/en/latest/python_api/#carlarotation)). - var_name: waypoint type: carla.Waypoint doc: > A waypoint placed in the lane of the one that made the query and at the `s` of the landmark. It is the first waypoint for which the landmark will be effective. - var_name: transform type: carla.Transform doc: > The location and orientation of the landmark in the simulation. # - METHODS ---------------------------- methods: - def_name: get_lane_validities return: list(tuple(int)) doc: > Returns which lanes the landmark is affecting to. As there may be specific lanes where the landmark is not effective, the return is a list of pairs containing ranges of the __lane_id__ affected: Example: In a road with 5 lanes, being 3 not affected: [(from_lane1,to_lane2),(from_lane4,to_lane5)] # -------------------------------------- ...