450 lines
13 KiB
YAML
450 lines
13 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 Timestamp simulated 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-stamp of the frame at which this measurement was taken, in seconds
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as given by the OS.
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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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Class that provides access to actors.
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# - METHODS ----------------------------
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methods:
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- def_name: find
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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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Find an actor by ID.
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# --------------------------------------
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- def_name: filter
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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 with type_id matching wildcard_pattern.
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note: >
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The wildcard_pattern follows Unix shell-style wildcards (fnmatch).
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# --------------------------------------
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- def_name: __getitem__
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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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# --------------------------------------
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- def_name: __len__
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doc: >
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# --------------------------------------
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- def_name: __iter__
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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: WorldSettings
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# - DESCRIPTION ------------------------
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doc: >
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Class that provides access to modifiable world settings.
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Check it out in our [section](../configuring_the_simulation/)
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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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- var_name: no_rendering_mode
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type: bool
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doc: >
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- var_name: fixed_delta_seconds
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type: float
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doc: >
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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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- 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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- 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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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: AttachmentType
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# - DESCRIPTION ------------------------
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doc: >
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Class that defines the attachment options. See carla.World.spawn_actor.<br>
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Check out this [`recipe`](../python_cookbook/#attach-sensors-recipe)!
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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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Standard fixed attachment.
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- var_name: SpringArm
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doc: >
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Attachment that expands or retracts based on camera situation.
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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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Class that contains the current loaded map.
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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.
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- var_name: debug
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type: carla.DebugHelper
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doc: >
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# - METHODS ----------------------------
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methods:
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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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Return the list of blueprints available in this world. These blueprints
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can be used to spawn actors 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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Return the map that describes this world.
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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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Return the spectator actor. The spectator controls the view in the
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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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# --------------------------------------
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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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Returns the id of the frame when the settings took effect.
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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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Retrieve the weather parameters currently active in the world.
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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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Change the weather in the simulation.
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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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Return a snapshot of the world at this moment.
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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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Find actor by id, return None if not found.
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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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Retrieve a random location to be used as a destination for walkers in carla.WalkerAIController.go_to_location. See [`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_actors
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return: carla.ActorList
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doc: >
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By default it returns a list with every actor present in the world.
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_A list of ids can be used as a parameter_
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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.BlueprintLibrary
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doc: >
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- param_name: transform
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type: carla.Transform
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doc: >
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If attached to parent, transform acts like a relative_transform to the parent actor.
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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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- 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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doc: >
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Spawn an actor into the world based on the blueprint provided at
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transform. If a parent is provided, the actor is attached to
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parent.
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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.BlueprintLibrary
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doc: >
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- param_name: transform
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type: carla.Transform
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doc: >
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If attached to parent, transform acts like a relative_transform to the parent actor.
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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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- 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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doc: >
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Same as SpawnActor but return none on failure instead of throwing an
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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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Block calling thread until a world tick is received.
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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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Returns the ID of the callback so it can be removed with `remove_on_tick`.
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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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doc: >
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Removes on tick callbacks.
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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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Synchronizes with the simulator and returns the id of the newly started frame (only has effect on
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synchronous mode).
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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: DebugHelper
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# - DESCRIPTION ------------------------
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doc: >
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Class that provides drawing debug shapes.
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Check out this [`example`](https://github.com/carla-simulator/carla/blob/master/PythonAPI/util/lane_explorer.py)
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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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- param_name: size
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type: float
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default: 0.1f
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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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- param_name: life_time
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type: float
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default: -1.0f
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- param_name: persistent_lines
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type: bool
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default: True
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doc: >
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_Deprecated, use `life_time = 0` instead_
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doc: >
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Draws a point in the given 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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- param_name: end
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type: carla.Location
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- param_name: thickness
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type: float
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default: 0.1f
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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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- param_name: life_time
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type: float
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default: -1.0f
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- param_name: persistent_lines
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type: bool
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default: True
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doc: >
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_Deprecated, use `life_time = 0` instead_
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doc: >
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Draws a line between two given locations.
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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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- param_name: end
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type: carla.Location
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- param_name: thickness
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type: float
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default: 0.1f
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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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- param_name: color
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type: carla.Color
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default: (255,0,0)
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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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- param_name: persistent_lines
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type: bool
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default: True
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doc: >
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_Deprecated, use `life_time = 0` instead_
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doc: >
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Draws an arrow between two given locations.
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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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- param_name: rotation
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type: carla.Rotation
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- param_name: thickness
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type: float
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default: 0.1f
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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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- param_name: life_time
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type: float
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default: -1.0f
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- param_name: persistent_lines
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type: bool
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default: True
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doc: >
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_Deprecated, use `life_time = 0` instead_
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doc: >
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Draws the carla.BoundingBox of a given bounding_box.<br>
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Check out this [`recipe`](../python_cookbook/#debug-bounding-box-recipe)!
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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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- param_name: text
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type: str
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- param_name: draw_shadow
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type: bool
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default: False
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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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- param_name: life_time
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type: float
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default: -1.0f
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- param_name: persistent_lines
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type: bool
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default: true
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doc: >
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_Deprecated, set a high `life_time` instead_
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doc: >
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Draws a string in a given location.
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note: >
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Strings can only be seen on the server-side.
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# --------------------------------------
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...
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