509 lines
20 KiB
YAML
509 lines
20 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: Timestamp
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# - DESCRIPTION ------------------------
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doc: >
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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.
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# - PROPERTIES -------------------------
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instance_variables:
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- var_name: frame
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type: int
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doc: >
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The number of frames elapsed since the simulator was launched.
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- var_name: elapsed_seconds
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type: float
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doc: >
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Simulated seconds elapsed since the beginning of the current episode.
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- var_name: delta_seconds
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type: float
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doc: >
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Simulated seconds elapsed since the previous frame.
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- var_name: platform_timestamp
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type: float
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doc: >
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Time register of the frame at which this measurement was taken given by the OS in seconds.
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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: frame
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type: int
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- param_name: elapsed_seconds
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type: float
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- param_name: delta_seconds
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type: float
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- param_name: platform_timestamp
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type: float
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doc: >
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# --------------------------------------
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- def_name: __eq__
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params:
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- param_name: other
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type: carla.Timestamp
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doc: >
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# --------------------------------------
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- def_name: __ne__
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params:
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- param_name: other
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type: carla.Timestamp
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doc: >
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# --------------------------------------
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- def_name: __str__
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doc: >
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# --------------------------------------
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- class_name: ActorList
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# - DESCRIPTION ------------------------
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doc: >
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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.
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# - METHODS ----------------------------
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methods:
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- def_name: __getitem__
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return: carla.Actor
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params:
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- param_name: pos
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type: int
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doc: >
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Returns the actor corresponding to `pos` position in the list.
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# --------------------------------------
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- def_name: __iter__
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doc: >
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Allows the iteration for this object.
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# --------------------------------------
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- def_name: __len__
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return: int
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doc: >
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Returns the amount of actors listed.
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# --------------------------------------
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- def_name: __str__
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return: str
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doc: >
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Parses to the ID for every actor listed.
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# --------------------------------------
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- def_name: filter
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return: list
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params:
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- param_name: wildcard_pattern
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type: str
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doc: >
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Filters a list of Actors matching `wildcard_pattern` against their variable **<font color="#f8805a">type_id</font>** (which identifies the blueprint used to spawn them). Matching follows [fnmatch](https://docs.python.org/2/library/fnmatch.html) standard.
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# --------------------------------------
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- def_name: find
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return: carla.Actor
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params:
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- param_name: actor_id
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type: int
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doc: >
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Finds an actor using its identifier and returns it or <b>None</b> if it is not present.
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# --------------------------------------
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- class_name: WorldSettings
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# - DESCRIPTION ------------------------
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doc: >
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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.
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# - PROPERTIES -------------------------
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instance_variables:
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- var_name: synchronous_mode
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type: bool
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doc: >
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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.
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- var_name: no_rendering_mode
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type: bool
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doc: >
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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.
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- var_name: fixed_delta_seconds
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type: float
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doc: >
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Ensures that the time elapsed between two steps of the simulation is fixed. Set this to <b>0.0</b> to work with a variable time-step, as happens by default.
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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: synchronous_mode
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type: bool
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default: False
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doc: >
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Set this to true to enable client-server synchrony.
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- param_name: no_rendering_mode
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type: bool
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default: False
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doc: >
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Set this to true to completely disable rendering in the simulation.
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- param_name: fixed_delta_seconds
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type: float
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default: 0.0
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doc: >
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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.
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doc: >
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Creates an object containing desired settings that could later be applied through carla.World and its method **<font color="#7fb800">apply_settings()</font>**.
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# --------------------------------------
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- def_name: __eq__
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return: bool
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params:
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- param_name: other
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type: carla.WorldSettings
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doc: >
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Settings to be compared with.
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doc: >
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Returns <b>True</b> if both objects' variables are the same.
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# --------------------------------------
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- def_name: __ne__
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return: bool
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params:
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- param_name: other
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type: carla.WorldSettings
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doc: >
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Settings to be compared with.
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doc: >
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Returns <b>True</b> if both objects' variables are different.
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# --------------------------------------
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- def_name: __str__
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return: str
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doc: >
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Parses the established settings to a string and shows them in command line.
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# --------------------------------------
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- class_name: AttachmentType
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# - DESCRIPTION ------------------------
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doc: >
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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.
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# - PROPERTIES -------------------------
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instance_variables:
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- var_name: Rigid
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doc: >
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With this fixed attatchment the object follow its parent position strictly.
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- var_name: SpringArm
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doc: >
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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.
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# --------------------------------------
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- class_name: World
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# - DESCRIPTION ------------------------
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doc: >
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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.
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# - PROPERTIES -------------------------
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instance_variables:
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- var_name: id
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type: int
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doc: >
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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.
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- var_name: debug
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type: carla.DebugHelper
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doc: >
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Responsible for creating different shapes for debugging. Take a look at its class to learn more about it.
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# - METHODS ----------------------------
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methods:
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- def_name: __str__
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return: string
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doc: >
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The content of the world is parsed and printed as a brief report of its current state.
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# --------------------------------------
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- def_name: apply_settings
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return: int
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params:
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- param_name: world_settings
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type: carla.WorldSettings
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doc: >
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This method applies settings contained in an object to the simulation running and returns the ID of the frame they were implemented.
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# --------------------------------------
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- def_name: get_actor
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return: carla.Actor
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params:
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- param_name: actor_id
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type: int
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doc: >
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Looks up for an actor by ID and returns <b>None</b> if not found.
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# --------------------------------------
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- def_name: get_actors
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return: carla.ActorList
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params:
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- param_name: actor_ids
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type: list
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default: None
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doc: >
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The IDs of the actors being searched. By default it is set to <b>None</b> and returns every actor on scene.
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doc: >
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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.
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# --------------------------------------
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- def_name: get_blueprint_library
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return: carla.BlueprintLibrary
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doc: >
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Returns a list of actor blueprints available to ease the spawn of these into the world.
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# --------------------------------------
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- def_name: get_map
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return: carla.Map
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doc: >
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Returns the object containing the navigation map used to describe this world.
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# --------------------------------------
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- def_name: get_random_location_from_navigation
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return: carla.Location
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doc: >
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This can only be used with walkers. It retrieves a random location to be used as a destination using the **<font color="#7fb800">go_to_location()</font>** 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.
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# --------------------------------------
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- def_name: get_snapshot
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return: carla.WorldSnapshot
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doc: >
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Returns a snapshot of the world at a certain moment comprising all the information about the actors.
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# --------------------------------------
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- def_name: get_spectator
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return: carla.Actor
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doc: >
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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.
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# --------------------------------------
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- def_name: get_settings
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return: carla.WorldSettings
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doc: >
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Returns an object containing some data about the simulation such as synchrony between client and server or rendering mode.
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# --------------------------------------
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- def_name: get_weather
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return: carla.WeatherParameters
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doc: >
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Retrieves an object containing weather parameters currently active in the simulation, mainly cloudiness, precipitation, wind and sun position.
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# --------------------------------------
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- def_name: on_tick
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return: int
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params:
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- param_name: callback
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type: carla.WorldSnapshot
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doc: >
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A defined function with a snapshot as compulsory parameter that will be called every tick.
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doc: >
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The method will start callbacks for a defined function `callback`. It will return the ID for this callback so it can be removed with **<font color="#7fb800">remove_on_tick()</font>**.
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# --------------------------------------
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- def_name: remove_on_tick
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params:
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- param_name: callback_id
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type: callback
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doc: >
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The callback to be removed.
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doc: >
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Stops the callback for `callback_id` started with **<font color="#7fb800">on_tick()</font>**.
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# --------------------------------------
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- def_name: set_weather
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params:
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- param_name: weather
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type: carla.WeatherParameters
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doc: >
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New conditions to be applied.
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doc: >
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Changes the weather parameteres ruling the simulation to another ones defined in an object.
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# --------------------------------------
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- def_name: spawn_actor
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return: carla.Actor
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params:
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- param_name: blueprint
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type: carla.ActorBlueprint
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doc: >
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The reference from which the actor will be created.
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- param_name: transform
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type: carla.Transform
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doc: >
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Contains the location and orientation the actor will be spawned with.
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- param_name: attach_to
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type: carla.Actor
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default: None
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doc: >
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The parent object that the spawned actor will follow around.
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- param_name: attachment
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type: carla.AttachmentType
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default: Rigid
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doc: >
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Determines how fixed and rigorous should be the changes in position according to its parent object.
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doc: >
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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.
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# --------------------------------------
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- def_name: tick
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return: int
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doc: >
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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.
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# --------------------------------------
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- def_name: try_spawn_actor
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return: carla.Actor
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params:
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- param_name: blueprint
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type: carla.ActorBlueprint
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doc: >
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The reference from which the actor will be created.
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- param_name: transform
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type: carla.Transform
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doc: >
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Contains the location and orientation the actor will be spawned with.
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- param_name: attach_to
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type: carla.Actor
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default: None
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doc: >
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The parent object that the spawned actor will follow around.
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- param_name: attachment
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type: carla.AttachmentType
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default: Rigid
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doc: >
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Determines how fixed and rigorous should be the changes in position according to its parent object.
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doc: >
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Same as **<font color="#7fb800">spawn_actor()</font>** but returns <b>None</b> on failure instead of throwing an exception.
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# --------------------------------------
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- def_name: wait_for_tick
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return: carla.WorldSnapshot
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params:
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- param_name: seconds
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type: float
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default: 10.0
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doc: >
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Maximum time in seconds the server should wait for a tick. It is set to 10.0 by default.
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doc: >
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The client tells the server to block calling thread until a **<font color="#7fb800">world_tick()</font>** is received.
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# --------------------------------------
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- class_name: DebugHelper
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# - DESCRIPTION ------------------------
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doc: >
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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.
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# - METHODS ----------------------------
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methods:
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- def_name: draw_point
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params:
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- param_name: location
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type: carla.Location
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doc: >
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Spot in the coordinate system to center the object.
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- param_name: size
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type: float
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default: 0.1f
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doc: >
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Density of the point.
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- param_name: color
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type: carla.Color
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default: (255,0,0)
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doc: >
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RGB code to color the object. Red by default.
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- param_name: life_time
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type: float
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default: -1.0f
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doc: >
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Lifespan in seconds for the shape. By default it only lasts one frame. Set this to 0 for permanent shapes.
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doc: >
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Draws a point `location`.
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# --------------------------------------
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- def_name: draw_line
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params:
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- param_name: begin
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type: carla.Location
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doc: >
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Point in the coordinate system where the line starts.
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- param_name: end
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type: carla.Location
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doc: >
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Spot in the coordinate system where the line ends.
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- param_name: thickness
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type: float
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default: 0.1f
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doc: >
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Density of the line.
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- param_name: color
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type: carla.Color
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default: (255,0,0)
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doc: >
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RGB code to color the object. Red by default.
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- param_name: life_time
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type: float
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default: -1.0f
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doc: >
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Lifespan in seconds for the shape. By default it only lasts one frame. Set this to 0 for permanent shapes.
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doc: >
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Draws a line in between `begin` and `end`.
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# --------------------------------------
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- def_name: draw_arrow
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params:
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- param_name: begin
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type: carla.Location
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doc: >
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Point in the coordinate system where the arrow starts.
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- param_name: end
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type: carla.Location
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doc: >
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Point in the coordinate system where the arrow ends and points towards to.
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- param_name: thickness
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type: float
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default: 0.1f
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doc: >
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Density of the line.
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- param_name: arrow_size
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type: float
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default: 0.1f
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doc: >
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Size of the tip of the arrow.
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- param_name: color
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type: carla.Color
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default: (255,0,0)
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doc: >
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RGB code to color the object. Red by default.
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- param_name: life_time
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type: float
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default: -1.0f
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doc: >
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Lifespan in seconds for the shape. By default it only lasts one frame. Set this to 0 for permanent shapes.
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doc: >
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Draws an arrow from `begin` to `end` pointing in that direction.
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# --------------------------------------
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- def_name: draw_box
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params:
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- param_name: box
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type: carla.BoundingBox
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doc: >
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Object containing a location and the length of a box for every axis.
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- param_name: rotation
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type: carla.Rotation
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doc: >
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Orientation of the box according to Unreal Engine's axis system.
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- param_name: thickness
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type: float
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default: 0.1f
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doc: >
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Density of the lines that define the box.
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- param_name: color
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type: carla.Color
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default: (255,0,0)
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doc: >
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RGB code to color the object. Red by default.
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- param_name: life_time
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type: float
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default: -1.0f
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doc: >
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Lifespan in seconds for the shape. By default it only lasts one frame. Set this to 0 for permanent shapes.
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doc: >
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Draws a box, ussually to act for object colliders.
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# --------------------------------------
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- def_name: draw_string
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params:
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- param_name: location
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type: carla.Location
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doc: >
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Spot in the simulation where the text will be centered.
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- param_name: text
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type: str
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doc: >
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Text intended to be shown in the world.
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- param_name: draw_shadow
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type: bool
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default: False
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doc: >
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Casts a shadow for the string that could help in visualization. It is disabled by default.
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- param_name: color
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type: carla.Color
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default: (255,0,0)
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doc: >
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RGB code to color the string. Red by default.
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- param_name: life_time
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type: float
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default: -1.0f
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doc: >
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Draws a string in a given location of the simulation which can only be seen server-side.
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# --------------------------------------
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...
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