314 lines
9.1 KiB
YAML
314 lines
9.1 KiB
YAML
---
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- module_name: carla
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doc: >
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# - CLASSES ------------------------------
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classes:
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- class_name: VehicleControl
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# - DESCRIPTION ------------------------
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doc: >
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VehicleControl is used for controlling the basic movement of a vehicle.
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# - PROPERTIES -------------------------
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instance_variables:
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- var_name: throttle
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doc: >
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Scalar value to control the vehicle throttle.
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# --------------------------------------
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- var_name: steer
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doc: >
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Scalar value to control the vehicle steering.
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# --------------------------------------
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- var_name: brake
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doc: >
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Scalar value to control the vehicle brake.
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# --------------------------------------
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- var_name: hand_brake
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doc: >
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If true, hand brake will be used.
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# --------------------------------------
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- var_name: reverse
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doc: >
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If true, vehicle will move reverse.
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# --------------------------------------
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- var_name: manual_gear_shift
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doc: >
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If true, the vehicle will be controlled by changing gears manually.
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# --------------------------------------
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- var_name: gear
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doc: >
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Controls the gear value of the vehicle.
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# - METHODS ----------------------------
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methods:
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- def_name: __init__
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params:
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- param_name: self
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- param_name: throttle
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type: float
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default: 0.0
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- param_name: steer
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type: float
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default: 0.0
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- param_name: brake
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type: float
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default: 0.0
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- param_name: hand_brake
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type: bool
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default: True
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- param_name: reverse
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type: bool
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default: True
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- param_name: manual_gear_shift
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type: bool
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default: True
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- param_name: gear
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type: int
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default: 0
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doc: >
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VehicleControl constructor
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# --------------------------------------
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- def_name: __eq__
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params:
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- param_name: self
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- param_name: other
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return: bool
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doc: >
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Returns True if `self` and `other` are equal
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# --------------------------------------
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- def_name: __ne__
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params:
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- param_name: self
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- param_name: other
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# --------------------------------------
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- class_name: WalkerControl
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doc: >
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WalkerControl is used for controlling the basic movement of a walker.
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# - PROPERTIES -------------------------
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instance_variables:
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- var_name: direction
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doc: >
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Vector that control the direction of the walker.
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# --------------------------------------
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- var_name: speed
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doc: >
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Scalar value to control the walker speed.
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# --------------------------------------
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- var_name: jump
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doc: >
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If true, the walker will perform a jump.
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# - METHODS ----------------------------
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methods:
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- def_name: __init__
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params:
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- param_name: self
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- param_name: direction
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type: carla.Vector3D
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default: [1.0, 0.0, 0.0]
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- param_name: speed
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type: float
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default: 0.0
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- param_name: jump
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type: bool
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default: False
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doc: >
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VehicleControl constructor
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# --------------------------------------
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- def_name: __eq__
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params:
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- param_name: self
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- param_name: other
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return: bool
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doc: >
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Returns True if `self` and `other` are equal
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# --------------------------------------
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- def_name: __ne__
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params:
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- param_name: self
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- param_name: other
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# --------------------------------------
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- class_name: VehiclePhysicsControl
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doc: >
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VehiclePhysicsControl is used for controlling the physics parameters of a vehicle.
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# - PROPERTIES -------------------------
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instance_variables:
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- var_name: torque_curve
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type: list(carla.Vector2D)
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doc: >
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Curve that indicates the torque measured in Nm for a specific RPM of the vehicle's engine.
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# --------------------------------------
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- var_name: max_rpm
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type: float
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doc: >
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The maximum RPM of the vehicle's engine.
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# --------------------------------------
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- var_name: moi
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type: float
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doc: >
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The moment of inertia of the vehicle's engine.
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# --------------------------------------
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- var_name: damping_rate_full_throttle
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type: float
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doc: >
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Damping rate when the throttle is maximum.
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# --------------------------------------
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- var_name: damping_rate_zero_throttle_clutch_engaged
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type: float
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doc: >
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Damping rate when the thottle is zero with clutch engaged.
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# --------------------------------------
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- var_name: damping_rate_zero_throttle_clutch_disengaged
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type: float
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doc: >
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Damping rate when the throttle is zero with clutch disengaged.
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# --------------------------------------
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- var_name: use_gear_autobox
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type: bool
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doc: >
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If true, the vehicle will have automatic transmission.
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# --------------------------------------
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- var_name: gear_switch_time
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type: float
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doc: >
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Switching time between gears.
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# --------------------------------------
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- var_name: clutch_strength
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type: float
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doc: >
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The clutch strength of the vehicle. Measured in Kgm^2/s.
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# --------------------------------------
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- var_name: mass
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type: float
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doc: >
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The mass of the vehicle measured in Kg.
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# --------------------------------------
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- var_name: drag_coefficient
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type: float
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doc: >
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Drag coefficient of the vehicle's chassis.
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# --------------------------------------
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- var_name: center_of_mass
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type: carla.Vector3D
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doc: >
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The center of mass of the vehicle.
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# --------------------------------------
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- var_name: steering_curve
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type: list(carla.Vector2D)
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doc: >
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Curve that indicates the maximum steering for a specific forward speed.
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# --------------------------------------
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- var_name: wheels
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type: list(carla.WheelPhysicsControl)
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doc: >
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List of `carla.WheelPhysicsControl` objects.
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# - METHODS ----------------------------
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methods:
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- def_name: __init__
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params:
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- param_name: self
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- param_name: torque_curve
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default: [[0.0,500.0], [5000.0, 500.0]]
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- param_name: max_rpm
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default: 5000.0
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- param_name: moi
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default: 1.0
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- param_name: damping_rate_full_throttle
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default: 0.15
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- param_name: damping_rate_zero_throttle_clutch_engaged
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default: 2.0
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- param_name: damping_rate_zero_throttle_clutch_disengaged
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default: 0.35
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- param_name: use_gear_autobox
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default: True
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- param_name: gear_switch_time
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default: 0.5
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- param_name: clutch_strength
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default: 10.0
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- param_name: mass
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default: 1000.0
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- param_name: drag_coefficient
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default: 0.3
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- param_name: center_of_mass
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default: [0.0, 0.0, 0.0]
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- param_name: steering_curve
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default: [0.0, 0.0, 0.0]
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- param_name: wheels
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default: list()
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doc: >
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VehiclePhysicsControl constructor
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# --------------------------------------
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- def_name: __eq__
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params:
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- param_name: self
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- param_name: other
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return: bool
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doc: >
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Returns True if `self` and `other` are equal
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# --------------------------------------
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- def_name: __ne__
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params:
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- param_name: self
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- param_name: other
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# --------------------------------------
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- class_name: WheelPhysicsControl
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doc: >
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WheelPhysicsControl is used for controlling the physics parameters of a vehicle's wheel.
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# - PROPERTIES -------------------------
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instance_variables:
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- var_name: tire_friction
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doc: >
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Scalar value that indicates the friction of the wheel.
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# --------------------------------------
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- var_name: damping_rate
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doc: >
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The damping rate of the wheel.
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# --------------------------------------
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- var_name: max_steer_angle
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doc: >
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The maximum angle in degrees that the wheel can steer.
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# --------------------------------------
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- var_name: radius
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doc: >
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The radius of the wheel in centimeters.
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# --------------------------------------
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- var_name: position
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doc: >
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World position of the wheel. Note that it is a read-only parameter.
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# - METHODS ----------------------------
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methods:
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- def_name: __init__
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params:
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- param_name: self
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- param_name: tire_friction
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type: float
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default: 2.0
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- param_name: damping_rate
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type: float
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default: 0.25
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- param_name: max_steer_angle
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type: float
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default: 70.0
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- param_name: radius
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type: float
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default: 30.0
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doc: >
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WheelPhysicsControl constructor
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# --------------------------------------
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- def_name: __eq__
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params:
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- param_name: self
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- param_name: other
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# --------------------------------------
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- def_name: __ne__
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params:
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- param_name: self
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- param_name: other
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# --------------------------------------
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...
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