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#Python API reference
## carla.Actor<a name="carla.Actor"></a>
CARLA defines actors as anything that plays a role in the simulation or can be moved around. That includes: pedestrians, vehicles, sensors and traffic signs (considering traffic lights as part of these). Actors are spawned in the simulation by [carla.World](#carla.World) and they need for a [carla.ActorBlueprint](#carla.ActorBlueprint) to be created. These blueprints belong into a library provided by CARLA, find more about them [here](bp_library.md).
<h3>Instance Variables</h3>
- <a name="carla.Actor.attributes"></a>**<font color="#f8805a">attributes</font>** (_dict_)
A dictionary containing the attributes of the blueprint this actor was based on.
- <a name="carla.Actor.id"></a>**<font color="#f8805a">id</font>** (_int_)
Identifier for this actor. Unique during a given episode.
- <a name="carla.Actor.parent"></a>**<font color="#f8805a">parent</font>** (_[carla.Actor](#carla.Actor)_)
Actors may be attached to a parent actor that they will follow around. This is said actor.
- <a name="carla.Actor.semantic_tags"></a>**<font color="#f8805a">semantic_tags</font>** (_list(int)_)
A list of semantic tags provided by the blueprint listing components for this actor. E.g. a traffic light could be tagged with "pole" and "traffic light". These tags are used by the semantic segmentation sensor. Find more about this and other sensors [here](ref_sensors.md#semantic-segmentation-camera).
- <a name="carla.Actor.type_id"></a>**<font color="#f8805a">type_id</font>** (_str_)
The identifier of the blueprint this actor was based on, e.g. "vehicle.ford.mustang".
<h3>Methods</h3>
- <a name="carla.Actor.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
Parses a summary of this actor's information to string.
- **Return:** _str_
- <a name="carla.Actor.add_impulse"></a>**<font color="#7fb800">add_impulse</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**impulse**</font>)
Adds an impulse to the actor.
- **Parameters:**
- `impulse` (_[carla.Vector3D](#carla.Vector3D)_)
- <a name="carla.Actor.destroy"></a>**<font color="#7fb800">destroy</font>**(<font color="#00a6ed">**self**</font>)
Tells the simulator to destroy this actor and returns <b>True</b> if it was successful. It has no effect if it was already destroyed.
- **Return:** _bool_
- **Warning:** <font color="#ED2F2F">_This method blocks the script until the destruction is completed by the simulator.
_</font>
- <a name="carla.Actor.get_acceleration"></a>**<font color="#7fb800">get_acceleration</font>**(<font color="#00a6ed">**self**</font>)
Returns the actor's 3D acceleration vector the client recieved during last tick. The method does not call the simulator.
- **Return:** _[carla.Vector3D](#carla.Vector3D)_
- <a name="carla.Actor.get_angular_velocity"></a>**<font color="#7fb800">get_angular_velocity</font>**(<font color="#00a6ed">**self**</font>)
Returns the actor's angular velocity vector the client recieved during last tick. The method does not call the simulator.
- **Return:** _[carla.Vector3D](#carla.Vector3D)_
- <a name="carla.Actor.get_location"></a>**<font color="#7fb800">get_location</font>**(<font color="#00a6ed">**self**</font>)
Returns the actor's location the client recieved during last tick. The method does not call the simulator.
- **Return:** _[carla.Location](#carla.Location)_
- <a name="carla.Actor.get_transform"></a>**<font color="#7fb800">get_transform</font>**(<font color="#00a6ed">**self**</font>)
Returns the actor's transform (location and rotation) the client recieved during last tick. The method does not call the simulator.
- **Return:** _[carla.Transform](#carla.Transform)_
- <a name="carla.Actor.get_velocity"></a>**<font color="#7fb800">get_velocity</font>**(<font color="#00a6ed">**self**</font>)
Returns the actor's velocity vector the client recieved during last tick. The method does not call the simulator.
- **Return:** _[carla.Vector3D](#carla.Vector3D)_
- <a name="carla.Actor.get_world"></a>**<font color="#7fb800">get_world</font>**(<font color="#00a6ed">**self**</font>)
Returns the world this actor belongs to.
- **Return:** _[carla.World](#carla.World)_
- <a name="carla.Actor.set_angular_velocity"></a>**<font color="#7fb800">set_angular_velocity</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**angular_velocity**</font>)
Changes the actor's angular velocity vector.
- **Parameters:**
- `angular_velocity` (_[carla.Vector3D](#carla.Vector3D)_)
- <a name="carla.Actor.set_location"></a>**<font color="#7fb800">set_location</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**location**</font>)
Teleports the actor to a given location.
- **Parameters:**
- `location` (_[carla.Location](#carla.Location)_)
- <a name="carla.Actor.set_simulate_physics"></a>**<font color="#7fb800">set_simulate_physics</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**enabled**=True</font>)
Enables or disables the simulation of physics on this actor.
- **Parameters:**
- `enabled` (_bool_)
- <a name="carla.Actor.set_transform"></a>**<font color="#7fb800">set_transform</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**transform**</font>)
Teleports the actor to a given transform (location and rotation).
- **Parameters:**
- `transform` (_[carla.Transform](#carla.Transform)_)
- <a name="carla.Actor.set_velocity"></a>**<font color="#7fb800">set_velocity</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**velocity**</font>)
Sets the actor's velocity vector.
- **Parameters:**
- `velocity` (_[carla.Vector3D](#carla.Vector3D)_)
---
## carla.ActorAttribute<a name="carla.ActorAttribute"></a>
CARLA provides a library of blueprints for actors that can be accessed as [carla.BlueprintLibrary](#carla.BlueprintLibrary). Each of these blueprints has a series of attributes defined internally. Some of these are modifiable, others are not. A list of recommended values is provided for those that can be set.
<h3>Instance Variables</h3>
- <a name="carla.ActorAttribute.id"></a>**<font color="#f8805a">id</font>** (_str_)
The attribute's name and identifier in the library.
- <a name="carla.ActorAttribute.type"></a>**<font color="#f8805a">type</font>** (_[carla.ActorAttributeType](#carla.ActorAttributeType)_)
The attribute's parameter type.
- <a name="carla.ActorAttribute.recommended_values"></a>**<font color="#f8805a">recommended_values</font>** (_list(str)_)
A list of values suggested by those who designed the blueprint.
- <a name="carla.ActorAttribute.is_modifiable"></a>**<font color="#f8805a">is_modifiable</font>** (_bool_)
It is <b>True</b> if the attribute's value can be modified.
<h3>Methods</h3>
- <a name="carla.ActorAttribute.as_bool"></a>**<font color="#7fb800">as_bool</font>**(<font color="#00a6ed">**self**</font>)
Reads the attribute as boolean value.
- <a name="carla.ActorAttribute.as_color"></a>**<font color="#7fb800">as_color</font>**(<font color="#00a6ed">**self**</font>)
Reads the attribute as [carla.Color](#carla.Color).
- <a name="carla.ActorAttribute.as_int"></a>**<font color="#7fb800">as_int</font>**(<font color="#00a6ed">**self**</font>)
Reads the attribute as int.
- <a name="carla.ActorAttribute.as_float"></a>**<font color="#7fb800">as_float</font>**(<font color="#00a6ed">**self**</font>)
Reads the attribute as float.
- <a name="carla.ActorAttribute.as_str"></a>**<font color="#7fb800">as_str</font>**(<font color="#00a6ed">**self**</font>)
Reads the attribute as string.
- <a name="carla.ActorAttribute.__bool__"></a>**<font color="#7fb800">\__bool__</font>**(<font color="#00a6ed">**self**</font>)
Internal method to manage the attribute as bool.
- <a name="carla.ActorAttribute.__int__"></a>**<font color="#7fb800">\__int__</font>**(<font color="#00a6ed">**self**</font>)
Internal method to manage the attribute as int.
- <a name="carla.ActorAttribute.__float__"></a>**<font color="#7fb800">\__float__</font>**(<font color="#00a6ed">**self**</font>)
Internal method to manage the attribute as float.
- <a name="carla.ActorAttribute.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
Parses the attribute ID and its value to string.
- <a name="carla.ActorAttribute.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
Returns true if this actor's attribute and `other` are the same.
- **Parameters:**
- `other` (_bool / int / float / str / [carla.Color](#carla.Color) / [carla.ActorAttribute](#carla.ActorAttribute)_)
- **Return:** _bool_
- <a name="carla.ActorAttribute.__ne__"></a>**<font color="#7fb800">\__ne__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
Returns true if this actor's attribute and `other` are different.
- **Parameters:**
- `other` (_bool / int / float / str / [carla.Color](#carla.Color) / [carla.ActorAttribute](#carla.ActorAttribute)_)
- **Return:** _bool_
- <a name="carla.ActorAttribute.__nonzero__"></a>**<font color="#7fb800">\__nonzero__</font>**(<font color="#00a6ed">**self**</font>)
Returns true if this actor's attribute is not zero or null.
- **Return:** _bool_
---
## carla.ActorAttributeType<a name="carla.ActorAttributeType"></a>
CARLA provides a library of blueprints for actors in [carla.BlueprintLibrary](#carla.BlueprintLibrary) with different attributes each. This class defines the types those at [carla.ActorAttribute](#carla.ActorAttribute) can be as a series of enum. All this information is managed internally and listed here for a better comprehension of how CARLA works.
<h3>Instance Variables</h3>
- <a name="carla.ActorAttributeType.Bool"></a>**<font color="#f8805a">Bool</font>**
- <a name="carla.ActorAttributeType.Int"></a>**<font color="#f8805a">Int</font>**
- <a name="carla.ActorAttributeType.Float"></a>**<font color="#f8805a">Float</font>**
- <a name="carla.ActorAttributeType.RGBColor"></a>**<font color="#f8805a">RGBColor</font>**
- <a name="carla.ActorAttributeType.String"></a>**<font color="#f8805a">String</font>**
---
## carla.ActorBlueprint<a name="carla.ActorBlueprint"></a>
CARLA provides a blueprint library for actors that can be consulted through [carla.BlueprintLibrary](#carla.BlueprintLibrary). Each of these consists of an identifier for the blueprint and a series of attributes that may be modifiable or not. This class is the intermediate step between the library and the actor creation. Actors need an actor blueprint to be spawned. These store the information for said blueprint in an object with its attributes and some tags to categorize them. The user can then customize some attributes and eventually spawn the actors through [carla.World](#carla.World).
<h3>Instance Variables</h3>
- <a name="carla.ActorBlueprint.id"></a>**<font color="#f8805a">id</font>** (_str_)
The identifier of said blueprint inside the library. E.g. `walker.pedestrian.0001`.
- <a name="carla.ActorBlueprint.tags"></a>**<font color="#f8805a">tags</font>** (_list(str)_)
A list of tags each blueprint has that helps describing them. E.g. `['0001', 'pedestrian', 'walker']`.
<h3>Methods</h3>
- <a name="carla.ActorBlueprint.__iter__"></a>**<font color="#7fb800">\__iter__</font>**(<font color="#00a6ed">**self**</font>)
Allows iteration within this class.
- <a name="carla.ActorBlueprint.__len__"></a>**<font color="#7fb800">\__len__</font>**(<font color="#00a6ed">**self**</font>)
Returns the amount of attributes for this blueprint.
- <a name="carla.ActorBlueprint.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
Parses the information of this blueprint to string.
- <a name="carla.ActorBlueprint.has_attribute"></a>**<font color="#7fb800">has_attribute</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**id**</font>)
Returns <b>True</b> if the blueprint contains the attribute `id`.
- **Parameters:**
- `id` (_str_) – e.g. `gender` would return **True** for pedestrians' blueprints.
- **Return:** _bool_
- <a name="carla.ActorBlueprint.has_tag"></a>**<font color="#7fb800">has_tag</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**tag**</font>)
Returns <b>True</b> if the blueprint has the specified `tag` listed.
- **Parameters:**
- `tag` (_str_) – e.g. 'walker'.
- **Return:** _bool_
- <a name="carla.ActorBlueprint.match_tags"></a>**<font color="#7fb800">match_tags</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**wildcard_pattern**</font>)
Returns <b>True</b> if any of the tags listed for this blueprint matches `wildcard_pattern`. Matching follows [fnmatch](https://docs.python.org/2/library/fnmatch.html) standard.
- **Parameters:**
- `wildcard_pattern` (_str_)
- **Return:** _bool_
- <a name="carla.ActorBlueprint.get_attribute"></a>**<font color="#7fb800">get_attribute</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**id**</font>)
Returns the actor's attribute with `id` as identifier if existing.
- **Parameters:**
- `id` (_str_)
- **Return:** _[carla.ActorAttribute](#carla.ActorAttribute)_
- <a name="carla.ActorBlueprint.set_attribute"></a>**<font color="#7fb800">set_attribute</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**id**</font>, <font color="#00a6ed">**value**</font>)
If the `id` attribute is modifiable, changes its value to `value`.
- **Parameters:**
- `id` (_str_) – The identifier for the attribute that is intended to be changed.
- `value` (_str_) – The new value for said attribute.
---
## carla.ActorList<a name="carla.ActorList"></a>
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](#carla.World).
<h3>Methods</h3>
- <a name="carla.ActorList.__getitem__"></a>**<font color="#7fb800">\__getitem__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**pos**</font>)
Returns the actor corresponding to `pos` position in the list.
- **Parameters:**
- `pos` (_int_)
- **Return:** _[carla.Actor](#carla.Actor)_
- <a name="carla.ActorList.__iter__"></a>**<font color="#7fb800">\__iter__</font>**(<font color="#00a6ed">**self**</font>)
Allows the iteration for this object.
- <a name="carla.ActorList.__len__"></a>**<font color="#7fb800">\__len__</font>**(<font color="#00a6ed">**self**</font>)
Returns the amount of actors listed.
- **Return:** _int_
- <a name="carla.ActorList.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
Parses to the ID for every actor listed.
- **Return:** _str_
- <a name="carla.ActorList.filter"></a>**<font color="#7fb800">filter</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**wildcard_pattern**</font>)
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.
- **Parameters:**
- `wildcard_pattern` (_str_)
- **Return:** _list_
- <a name="carla.ActorList.find"></a>**<font color="#7fb800">find</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor_id**</font>)
Finds an actor using its identifier and returns it or <b>None</b> if it is not present.
- **Parameters:**
- `actor_id` (_int_)
- **Return:** _[carla.Actor](#carla.Actor)_
---
## carla.ActorSnapshot<a name="carla.ActorSnapshot"></a>
A class that comprises all the information for an actor at a certain moment in time. These objects are contained in a [carla.WorldSnapshot](#carla.WorldSnapshot) and sent to the client once every tick.
<h3>Instance Variables</h3>
- <a name="carla.ActorSnapshot.id"></a>**<font color="#f8805a">id</font>** (_int_)
An identifier for the snapshot itself.
<h3>Methods</h3>
- <a name="carla.ActorSnapshot.get_acceleration"></a>**<font color="#7fb800">get_acceleration</font>**(<font color="#00a6ed">**self**</font>)
Returns the acceleration vector registered for an actor in that tick.
- **Return:** _[carla.Vector3D](#carla.Vector3D)_
- <a name="carla.ActorSnapshot.get_angular_velocity"></a>**<font color="#7fb800">get_angular_velocity</font>**(<font color="#00a6ed">**self**</font>)
Returns the angular velocity vector registered for an actor in that tick.
- **Return:** _[carla.Vector3D](#carla.Vector3D)_
- <a name="carla.ActorSnapshot.get_transform"></a>**<font color="#7fb800">get_transform</font>**(<font color="#00a6ed">**self**</font>)
Returns the actor's transform (location and rotation) for an actor in that tick.
- **Return:** _[carla.Transform](#carla.Transform)_
- <a name="carla.ActorSnapshot.get_velocity"></a>**<font color="#7fb800">get_velocity</font>**(<font color="#00a6ed">**self**</font>)
Returns the velocity vector registered for an actor in that tick.
- **Return:** _[carla.Vector3D](#carla.Vector3D)_
---
## carla.AttachmentType<a name="carla.AttachmentType"></a>
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.
<h3>Instance Variables</h3>
- <a name="carla.AttachmentType.Rigid"></a>**<font color="#f8805a">Rigid</font>**
With this fixed attatchment the object follow its parent position strictly.
- <a name="carla.AttachmentType.SpringArm"></a>**<font color="#f8805a">SpringArm</font>**
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.
---
## carla.BlueprintLibrary<a name="carla.BlueprintLibrary"></a>
A class that contains the blueprints provided for actor spawning. Its main application is to return [carla.ActorBlueprint](#carla.ActorBlueprint) objects needed to spawn actors. Each blueprint has an identifier and attributes that may or may not be modifiable. The library is automatically created by the server and can be accessed through [carla.World](#carla.World).
[Here](bp_library.md) is a reference containing every available blueprint and its specifics.
<h3>Methods</h3>
- <a name="carla.BlueprintLibrary.__getitem__"></a>**<font color="#7fb800">\__getitem__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**pos**</font>)
Returns the blueprint stored in `pos` position inside the data structure containing them.
- **Parameters:**
- `pos` (_int_)
- **Return:** _[carla.ActorBlueprint](#carla.ActorBlueprint)_
- <a name="carla.BlueprintLibrary.__iter__"></a>**<font color="#7fb800">\__iter__</font>**(<font color="#00a6ed">**self**</font>)
Method that allows iteration of this class.
- <a name="carla.BlueprintLibrary.__len__"></a>**<font color="#7fb800">\__len__</font>**(<font color="#00a6ed">**self**</font>)
Returns the amount of blueprints comprising the library.
- **Return:** _int_
- <a name="carla.BlueprintLibrary.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
Parses the identifiers for every blueprint to string.
- **Return:** _string_
- <a name="carla.BlueprintLibrary.filter"></a>**<font color="#7fb800">filter</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**wildcard_pattern**</font>)
Filters a list of blueprints matching the `wildcard_pattern` against the id and tags of every blueprint contained in this library and returns the result as a new one. Matching follows [fnmatch](https://docs.python.org/2/library/fnmatch.html) standard.
- **Parameters:**
- `wildcard_pattern` (_str_)
- **Return:** _[carla.BlueprintLibrary](#carla.BlueprintLibrary)_
- <a name="carla.BlueprintLibrary.find"></a>**<font color="#7fb800">find</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**id**</font>)
Returns the blueprint corresponding to that identifier.
- **Parameters:**
- `id` (_str_)
- **Return:** _[carla.ActorBlueprint](#carla.ActorBlueprint)_
---
## carla.BoundingBox<a name="carla.BoundingBox"></a>
Helper class defining a box location and its dimensions that will later be used by [carla.DebugHelper](#carla.DebugHelper) or a [carla.Client](#carla.Client) to draw shapes and detect collisions. Bounding boxes normally act for object colliders. 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.
<h3>Instance Variables</h3>
- <a name="carla.BoundingBox.location"></a>**<font color="#f8805a">location</font>** (_[carla.Location](#carla.Location)_)
The center of the bounding box relative to its parent actor.
- <a name="carla.BoundingBox.extent"></a>**<font color="#f8805a">extent</font>** (_[carla.Vector3D](#carla.Vector3D)_)
Vector from the center of the box to one vertex. The value in each axis equals half the size of the box for that axis.
`extent.x * 2` would return the size of the box in the X-axis.
<h3>Methods</h3>
- <a name="carla.BoundingBox.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**location**</font>, <font color="#00a6ed">**extent**</font>)
- **Parameters:**
- `location` (_[carla.Location](#carla.Location)_) – Point to center the box.
- `extent` (_[carla.Vector3D](#carla.Vector3D)_) – Vector containing half the size of the box for every axis.
- <a name="carla.BoundingBox.contains"></a>**<font color="#7fb800">contains</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**world_point**</font>, <font color="#00a6ed">**transform**</font>)
Returns **True** if a point passed in world space is inside this bounding box.
- **Parameters:**
- `world_point` (_[carla.Location](#carla.Location)_) – The point in world space to be checked.
- `transform` (_[carla.Transform](#carla.Transform)_) – Contains location and rotation needed to convert this object's local space to world space.
- **Return:** _bool_
- <a name="carla.BoundingBox.get_local_vertices"></a>**<font color="#7fb800">get_local_vertices</font>**(<font color="#00a6ed">**self**</font>)
Returns a list containing the locations of this object's vertices in local space.
- **Return:** _list([carla.Location](#carla.Location))_
- <a name="carla.BoundingBox.get_world_vertices"></a>**<font color="#7fb800">get_world_vertices</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**transform**</font>)
Returns a list containing the locations of this object's vertices in world space.
- **Parameters:**
- `transform` (_[carla.Transform](#carla.Transform)_) – Contains location and rotation needed to convert this object's local space to world space.
- **Return:** _list([carla.Location](#carla.Location))_
- <a name="carla.BoundingBox.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
Returns true if both location and extent are equal for this and `other`.
- **Parameters:**
- `other` (_[carla.BoundingBox](#carla.BoundingBox)_)
- **Return:** _bool_
- <a name="carla.BoundingBox.__ne__"></a>**<font color="#7fb800">\__ne__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
Returns true if either location or extent are different for this and `other`.
- **Parameters:**
- `other` (_[carla.BoundingBox](#carla.BoundingBox)_)
- **Return:** _bool_
- <a name="carla.BoundingBox.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
Parses the location and extent of the bounding box to string.
- **Return:** _str_
---
## carla.Client<a name="carla.Client"></a>
The Client connects CARLA to the server which runs the simulation. Both server and client contain a CARLA library (libcarla) with some differences that allow communication between them. Many clients can be created and each of these will connect to the RPC server inside the simulation to send commands. The simulation runs server-side. Once the connection is established, the client will only receive data retrieved from the simulation. Walkers are the exception. The client is in charge of managing pedestrians so, if you are running a simulation with multiple clients, some issues may arise. For example, if you spawn walkers through different clients, collisions may happen, as each client is only aware of the ones it is in charge of.
The client also has a recording feature that saves all the information of a simulation while running it. This allows the server to replay it at will to obtain information and experiment with it. [Here](adv_recorder.md) is some information about how to use this recorder.
<h3>Methods</h3>
- <a name="carla.Client.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**host**=127.0.0.1</font>, <font color="#00a6ed">**port**=2000</font>, <font color="#00a6ed">**worker_threads**=0</font>)
Client constructor.
- **Parameters:**
- `host` (_str_) – IP address where a CARLA Simulator instance is running. Default is localhost (127.0.0.1).
- `port` (_int_) – TCP port where the CARLA Simulator instance is running. Default are 2000 and the subsequent 2001.
- `worker_threads` (_int_) – Number of working threads used for background updates. If 0, use all available concurrency.
- <a name="carla.Client.apply_batch"></a>**<font color="#7fb800">apply_batch</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**commands**</font>)
Executes a list of commands on a single simulation step and retrieves no information. If you need information about the response of each command, use the **<font color="#7fb800">apply_batch_sync()</font>** function right below this one. [Here](https://github.com/carla-simulator/carla/blob/10c5f6a482a21abfd00220c68c7f12b4110b7f63/PythonAPI/examples/spawn_npc.py#L126) is an example on how to delete the actors that appear in [carla.ActorList](#carla.ActorList) all at once.
- **Parameters:**
- `commands` (_list_) – A list of commands to execute in batch. Each command is different and has its own parameters. These are supported so far:
[SpawnActor](#command.SpawnActor)
[DestroyActor](#command.DestroyActor)
[ApplyVehicleControl](#command.ApplyVehicleControl)
[ApplyWalkerControl](#command.ApplyWalkerControl)
[ApplyTransform](#command.ApplyTransform)
[ApplyVelocity](#command.ApplyVelocity)
[ApplyAngularVelocity](#command.ApplyAngularVelocity)
[ApplyImpulse](#command.ApplyImpulse)
[SetSimulatePhysics](#command.SetSimulatePhysics)
[SetAutopilot](#command.SetAutopilot).
- <a name="carla.Client.apply_batch_sync"></a>**<font color="#7fb800">apply_batch_sync</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**commands**</font>, <font color="#00a6ed">**due_tick_cue**=False</font>)
Executes a list of commands on a single simulation step, blocks until the commands are linked, and returns a list of <b>command.Response</b> that can be used to determine whether a single command succeeded or not. [Here](https://github.com/carla-simulator/carla/blob/10c5f6a482a21abfd00220c68c7f12b4110b7f63/PythonAPI/examples/spawn_npc.py#L112-L116) is an example of it being used to spawn actors.
- **Parameters:**
- `commands` (_list_) – A list of commands to execute in batch. The commands available are listed right above, in the function **<font color="#7fb800">apply_batch()</font>**.
- `due_tick_cue` (_bool_) – A boolean parameter to specify whether or not to perform a [carla.World.tick](#carla.World.tick) after applying the batch in _synchronous mode_. It is __False__ by default.
- **Return:** _list(command.Response)_
- <a name="carla.Client.get_available_maps"></a>**<font color="#7fb800">get_available_maps</font>**(<font color="#00a6ed">**self**</font>)
Returns a list of strings containing the paths of the maps available on server. These paths are dynamic, they will be created during the simulation and so you will not find them when looking up in your files. One of the possible returns for this method would be:
['/Game/Carla/Maps/Town01',
'/Game/Carla/Maps/Town02',
'/Game/Carla/Maps/Town03',
'/Game/Carla/Maps/Town04',
'/Game/Carla/Maps/Town05',
'/Game/Carla/Maps/Town06',
'/Game/Carla/Maps/Town07'].
- **Return:** _list(str)_
- <a name="carla.Client.get_client_version"></a>**<font color="#7fb800">get_client_version</font>**(<font color="#00a6ed">**self**</font>)
Returns the client libcarla version by consulting it in the "Version.h" file. Both client and server can use different libcarla versions but some issues may arise regarding unexpected incompatibilities.
- **Return:** _str_
- <a name="carla.Client.get_server_version"></a>**<font color="#7fb800">get_server_version</font>**(<font color="#00a6ed">**self**</font>)
Returns the server libcarla version by consulting it in the "Version.h" file. Both client and server should use the same libcarla version.
- **Return:** _str_
- <a name="carla.Client.get_world"></a>**<font color="#7fb800">get_world</font>**(<font color="#00a6ed">**self**</font>)
Returns the world object currently active in the simulation. This world will be later used for example to load maps.
- **Return:** _[carla.World](#carla.World)_
- <a name="carla.Client.load_world"></a>**<font color="#7fb800">load_world</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**map_name**</font>)
Creates a new world with default settings using `map_name` map. All actors in the current world will be destroyed.
- **Parameters:**
- `map_name` (_str_) – Name of the map to be used in this world. Accepts both full paths and map names, e.g. '/Game/Carla/Maps/Town01' or 'Town01'. Remember that these paths are dynamic.
- <a name="carla.Client.get_trafficmanager"></a>**<font color="#7fb800">get_trafficmanager</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**client_connection**=8000</font>)
Returns an instance of the traffic manager related to the specified port. If it does not exist, this will be created.
- **Parameters:**
- `client_connection` (_int_) – Port that will be used by the traffic manager. Default is `8000`.
- **Return:** _[carla.TrafficManager](#carla.TrafficManager)_
- <a name="carla.Client.reload_world"></a>**<font color="#7fb800">reload_world</font>**(<font color="#00a6ed">**self**</font>)
Reload the current world, note that a new world is created with default settings using the same map. All actors present in the world will be destroyed, __but__ traffic manager instances will stay alive.
- **Raises:** RuntimeError when corresponding.
- <a name="carla.Client.replay_file"></a>**<font color="#7fb800">replay_file</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**name**</font>, <font color="#00a6ed">**start**</font>, <font color="#00a6ed">**duration**</font>, <font color="#00a6ed">**follow_id**</font>)
Load a new world with default settings using `map_name` map. All actors present in the current world will be destroyed, __but__ traffic manager instances will stay alive.
- **Parameters:**
- `name` (_str_) – Name of the file containing the information of the simulation.
- `start` (_float_) – Time in seconds where to start playing the simulation. Negative is read as beginning from the end, being -10 just 10 seconds before the recording finished.
- `duration` (_float_) – Time in seconds that will be reenacted using the information `name` file. If the end is reached, the simulation will continue.
- `follow_id` (_int_) – ID of the actor to follow. If this is 0 then camera is disabled.
- <a name="carla.Client.generate_opendrive_world"></a>**<font color="#7fb800">generate_opendrive_world</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**opendrive**</font>)
Loads a new world with a basic 3D topology generated from the content of an OpenDRIVE file. This content is passed as a `string` parameter. It is similar to `client.load_world(map_name)` but allows for custom OpenDRIVE maps in server side. Cars can drive around the map, but there are no graphics besides the road and sidewalks.
- **Parameters:**
- `opendrive` (_str_) – Content of an OpenDRIVE file as `string`.
- <a name="carla.Client.set_replayer_time_factor"></a>**<font color="#7fb800">set_replayer_time_factor</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**time_factor**=1.0</font>)
When used, the time speed of the reenacted simulation is modified at will. It can be used several times while a playback is in curse.
- **Parameters:**
- `time_factor` (_float_) – 1.0 means normal time speed. Greater than 1.0 means fast motion (2.0 would be double speed) and lesser means slow motion (0.5 would be half speed).
- <a name="carla.Client.set_timeout"></a>**<font color="#7fb800">set_timeout</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**seconds**</font>)
Sets in seconds the maxixum time a network call is allowed before blocking it and raising a timeout exceeded error.
- **Parameters:**
- `seconds` (_float_) – New timeout value in seconds. Default is 5 seconds.
- <a name="carla.Client.show_recorder_actors_blocked"></a>**<font color="#7fb800">show_recorder_actors_blocked</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**filename**</font>, <font color="#00a6ed">**min_time**</font>, <font color="#00a6ed">**min_distance**</font>)
The terminal will show the information registered for actors considered blocked. An actor is considered blocked when it does not move a minimum distance in a period of time, being these `min_distance` and `min_time`.
- **Parameters:**
- `filename` (_str_) – Name of the recorded file to load.
- `min_time` (_float_) – Minimum time in seconds the actor has to move a minimum distance before being considered blocked. Default is 60 seconds.
- `min_distance` (_float_) – Minimum distance in centimeters the actor has to move to not be considered blocked. Default is 100 centimeters.
- **Return:** _string_
- <a name="carla.Client.show_recorder_collisions"></a>**<font color="#7fb800">show_recorder_collisions</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**filename**</font>, <font color="#00a6ed">**category1**</font>, <font color="#00a6ed">**category2**</font>)
The terminal will show the collisions registered by the recorder. These can be filtered by specifying the type of actor involved. The categories will be specified in `category1` and `category2` as follows:
'h' = Hero, the one vehicle that can be controlled manually or managed by the user.
'v' = Vehicle
'w' = Walker
't' = Traffic light
'o' = Other
'a' = Any
If you want to see only collisions between a vehicles and a walkers, use for `category1` as 'v' and `category2` as 'w' or vice versa. If you want to see all the collisions (filter off) you can use 'a' for both parameters.
- **Parameters:**
- `filename` (_str_) – Name or absolute path of the file recorded, depending on your previous choice.
- `category1` (_single char_) – Character variable specifying a first type of actor involved in the collision.
- `category2` (_single char_) – Character variable specifying the second type of actor involved in the collision.
- **Return:** _string_
- <a name="carla.Client.show_recorder_file_info"></a>**<font color="#7fb800">show_recorder_file_info</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**filename**</font>, <font color="#00a6ed">**show_all**=False</font>)
The information saved by the recorder will be parsed and shown in your terminal as text (frames, times, events, state, positions...). The information shown can be specified by using the `show_all` parameter. [Here](ref_recorder_binary_file_format.md) is some more information about how to read the recorder file.
- **Parameters:**
- `filename` (_str_) – Name or absolute path of the file recorded, depending on your previous choice.
- `show_all` (_bool_) – When true, will show all the details per frame (traffic light states, positions of all actors, orientation and animation data...), but by default it will only show a summary.
- **Return:** _string_
- <a name="carla.Client.start_recorder"></a>**<font color="#7fb800">start_recorder</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**filename**</font>)
Enables the recording feature, which will start saving every information possible needed by the server to replay the simulation.
- **Parameters:**
- `filename` (_str_) – Name of the file to write the recorded data. A simple name will save the recording in 'CarlaUE4/Saved/recording.log'. Otherwise, if some folder appears in the name, it will be considered an absolute path.
- <a name="carla.Client.stop_recorder"></a>**<font color="#7fb800">stop_recorder</font>**(<font color="#00a6ed">**self**</font>)
Stops the recording in progress. If you specified a path in `filename`, the recording will be there. If not, look inside `CarlaUE4/Saved/`.
---
## carla.CollisionEvent<a name="carla.CollisionEvent"></a>
<div style="padding-left:30px;margin-top:-20px"><small><b>Inherited from _[carla.SensorData](#carla.SensorData)_</b></small></div></p><p>Class that defines a collision data for <b>sensor.other.collision</b>. The sensor creates one of this for every collision detected which may be many for one simulation step. Learn more about this [here](/cameras_and_sensors/#sensorothercollision).
<h3>Instance Variables</h3>
- <a name="carla.CollisionEvent.actor"></a>**<font color="#f8805a">actor</font>** (_[carla.Actor](#carla.Actor)_)
The actor the sensor is attached to, the one that measured the collision.
- <a name="carla.CollisionEvent.other_actor"></a>**<font color="#f8805a">other_actor</font>** (_[carla.Actor](#carla.Actor)_)
The second actor involved in the collision.
- <a name="carla.CollisionEvent.normal_impulse"></a>**<font color="#f8805a">normal_impulse</font>** (_[carla.Vector3D](#carla.Vector3D)_)
Normal impulse resulting of the collision.
---
## carla.Color<a name="carla.Color"></a>
Class that defines a 32-bit RGBA color.
<h3>Instance Variables</h3>
- <a name="carla.Color.r"></a>**<font color="#f8805a">r</font>** (_int_)
Red color (0-255).
- <a name="carla.Color.g"></a>**<font color="#f8805a">g</font>** (_int_)
Green color (0-255).
- <a name="carla.Color.b"></a>**<font color="#f8805a">b</font>** (_int_)
Blue color (0-255).
- <a name="carla.Color.a"></a>**<font color="#f8805a">a</font>** (_int_)
Alpha channel (0-255).
<h3>Methods</h3>
- <a name="carla.Color.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**r**=0</font>, <font color="#00a6ed">**g**=0</font>, <font color="#00a6ed">**b**=0</font>, <font color="#00a6ed">**a**=255</font>)
Initializes a color, black by default.
- **Parameters:**
- `r` (_int_)
- `g` (_int_)
- `b` (_int_)
- `a` (_int_)
- <a name="carla.Color.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
- **Parameters:**
- `other` (_[carla.Color](#carla.Color)_)
- <a name="carla.Color.__ne__"></a>**<font color="#7fb800">\__ne__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
- **Parameters:**
- `other` (_[carla.Color](#carla.Color)_)
- <a name="carla.Color.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
---
## carla.ColorConverter<a name="carla.ColorConverter"></a>
Class that defines conversion patterns that can be applied to a [carla.Image](#carla.Image) in order to show information provided by [carla.Sensor](#carla.Sensor). Depth conversions cause a loss of accuracy, as sensors detect depth as <b>float</b> that is then converted to a grayscale value between 0 and 255. Take a look a this [recipe](ref_code_recipes.md#converted-image-recipe) to see an example of how to create and save image data for <b>sensor.camera.semantic_segmentation</b>.
<h3>Instance Variables</h3>
- <a name="carla.ColorConverter.CityScapesPalette"></a>**<font color="#f8805a">CityScapesPalette</font>**
Converts the image to a segmentated map using tags provided by the blueprint library. Used by <b>sensor.camera.semantic_segmentation</b>.
- <a name="carla.ColorConverter.Depth"></a>**<font color="#f8805a">Depth</font>**
Converts the image to a linear depth map. Used by <b>sensor.camera.depth</b>.
- <a name="carla.ColorConverter.LogarithmicDepth"></a>**<font color="#f8805a">LogarithmicDepth</font>**
Converts the image to a depth map using a logarithmic scale, leading to better precision for small distances at the expense of losing it when further away.
- <a name="carla.ColorConverter.Raw"></a>**<font color="#f8805a">Raw</font>**
No changes applied to the image.
---
## carla.DebugHelper<a name="carla.DebugHelper"></a>
Helper class part of [carla.World](#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.
<h3>Methods</h3>
- <a name="carla.DebugHelper.draw_point"></a>**<font color="#7fb800">draw_point</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**location**</font>, <font color="#00a6ed">**size**=0.1f</font>, <font color="#00a6ed">**color**=(255,0,0)</font>, <font color="#00a6ed">**life_time**=-1.0f</font>)
Draws a point `location`.
- **Parameters:**
- `location` (_[carla.Location](#carla.Location)_) – Spot in the coordinate system to center the object.
- `size` (_float_) – Density of the point.
- `color` (_[carla.Color](#carla.Color)_) – RGB code to color the object. Red by default.
- `life_time` (_float_) – Lifespan in seconds for the shape. By default it only lasts one frame. Set this to 0 for permanent shapes.
- <a name="carla.DebugHelper.draw_line"></a>**<font color="#7fb800">draw_line</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**begin**</font>, <font color="#00a6ed">**end**</font>, <font color="#00a6ed">**thickness**=0.1f</font>, <font color="#00a6ed">**color**=(255,0,0)</font>, <font color="#00a6ed">**life_time**=-1.0f</font>)
Draws a line in between `begin` and `end`.
- **Parameters:**
- `begin` (_[carla.Location](#carla.Location)_) – Point in the coordinate system where the line starts.
- `end` (_[carla.Location](#carla.Location)_) – Spot in the coordinate system where the line ends.
- `thickness` (_float_) – Density of the line.
- `color` (_[carla.Color](#carla.Color)_) – RGB code to color the object. Red by default.
- `life_time` (_float_) – Lifespan in seconds for the shape. By default it only lasts one frame. Set this to 0 for permanent shapes.
- <a name="carla.DebugHelper.draw_arrow"></a>**<font color="#7fb800">draw_arrow</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**begin**</font>, <font color="#00a6ed">**end**</font>, <font color="#00a6ed">**thickness**=0.1f</font>, <font color="#00a6ed">**arrow_size**=0.1f</font>, <font color="#00a6ed">**color**=(255,0,0)</font>, <font color="#00a6ed">**life_time**=-1.0f</font>)
Draws an arrow from `begin` to `end` pointing in that direction.
- **Parameters:**
- `begin` (_[carla.Location](#carla.Location)_) – Point in the coordinate system where the arrow starts.
- `end` (_[carla.Location](#carla.Location)_) – Point in the coordinate system where the arrow ends and points towards to.
- `thickness` (_float_) – Density of the line.
- `arrow_size` (_float_) – Size of the tip of the arrow.
- `color` (_[carla.Color](#carla.Color)_) – RGB code to color the object. Red by default.
- `life_time` (_float_) – Lifespan in seconds for the shape. By default it only lasts one frame. Set this to 0 for permanent shapes.
- <a name="carla.DebugHelper.draw_box"></a>**<font color="#7fb800">draw_box</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**box**</font>, <font color="#00a6ed">**rotation**</font>, <font color="#00a6ed">**thickness**=0.1f</font>, <font color="#00a6ed">**color**=(255,0,0)</font>, <font color="#00a6ed">**life_time**=-1.0f</font>)
Draws a box, ussually to act for object colliders.
- **Parameters:**
- `box` (_[carla.BoundingBox](#carla.BoundingBox)_) – Object containing a location and the length of a box for every axis.
- `rotation` (_[carla.Rotation](#carla.Rotation)_) – Orientation of the box according to Unreal Engine's axis system.
- `thickness` (_float_) – Density of the lines that define the box.
- `color` (_[carla.Color](#carla.Color)_) – RGB code to color the object. Red by default.
- `life_time` (_float_) – Lifespan in seconds for the shape. By default it only lasts one frame. Set this to 0 for permanent shapes.
- <a name="carla.DebugHelper.draw_string"></a>**<font color="#7fb800">draw_string</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**location**</font>, <font color="#00a6ed">**text**</font>, <font color="#00a6ed">**draw_shadow**=False</font>, <font color="#00a6ed">**color**=(255,0,0)</font>, <font color="#00a6ed">**life_time**=-1.0f</font>)
Draws a string in a given location of the simulation which can only be seen server-side.
- **Parameters:**
- `location` (_[carla.Location](#carla.Location)_) – Spot in the simulation where the text will be centered.
- `text` (_str_) – Text intended to be shown in the world.
- `draw_shadow` (_bool_) – Casts a shadow for the string that could help in visualization. It is disabled by default.
- `color` (_[carla.Color](#carla.Color)_) – RGB code to color the string. Red by default.
- `life_time` (_float_)
---
## carla.GearPhysicsControl<a name="carla.GearPhysicsControl"></a>
Class that provides access to vehicle transmission details by defining a gear and when to run on it. This will be later used by [carla.VehiclePhysicsControl](#carla.VehiclePhysicsControl) to help simulate physics.
<h3>Instance Variables</h3>
- <a name="carla.GearPhysicsControl.ratio"></a>**<font color="#f8805a">ratio</font>** (_float_)
The transmission ratio of the gear.
- <a name="carla.GearPhysicsControl.down_ratio"></a>**<font color="#f8805a">down_ratio</font>** (_float_)
Quotient between current RPM and MaxRPM where the autonomous gear box should shift down.
- <a name="carla.GearPhysicsControl.up_ratio"></a>**<font color="#f8805a">up_ratio</font>** (_float_)
Quotient between current RPM and MaxRPM where the autonomous gear box should shift up.
<h3>Methods</h3>
- <a name="carla.GearPhysicsControl.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**ratio**=1.0</font>, <font color="#00a6ed">**down_ratio**=0.5</font>, <font color="#00a6ed">**up_ratio**=0.65</font>)
- **Parameters:**
- `ratio` (_float_)
- `down_ratio` (_float_)
- `up_ratio` (_float_)
- <a name="carla.GearPhysicsControl.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
- **Parameters:**
- `other` (_[carla.GearPhysicsControl](#carla.GearPhysicsControl)_)
- <a name="carla.GearPhysicsControl.__ne__"></a>**<font color="#7fb800">\__ne__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
- **Parameters:**
- `other` (_[carla.GearPhysicsControl](#carla.GearPhysicsControl)_)
- <a name="carla.GearPhysicsControl.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
---
## carla.GeoLocation<a name="carla.GeoLocation"></a>
Class that contains geographical coordinates simulated data. The [carla.Map](#carla.Map) can convert simulation locations by using the <b><georeference></b> tag in the OpenDRIVE file.
<h3>Instance Variables</h3>
- <a name="carla.GeoLocation.latitude"></a>**<font color="#f8805a">latitude</font>** (_float_)
North/South value of a point on the map.
- <a name="carla.GeoLocation.longitude"></a>**<font color="#f8805a">longitude</font>** (_float_)
West/East value of a point on the map.
- <a name="carla.GeoLocation.altitude"></a>**<font color="#f8805a">altitude</font>** (_float_)
Height regarding ground level.
<h3>Methods</h3>
- <a name="carla.GeoLocation.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**latitude**=0.0</font>, <font color="#00a6ed">**longitude**=0.0</font>, <font color="#00a6ed">**altitude**=0.0</font>)
- **Parameters:**
- `latitude` (_float_)
- `longitude` (_float_)
- `altitude` (_float_)
- <a name="carla.GeoLocation.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
- **Parameters:**
- `other` (_[carla.GeoLocation](#carla.GeoLocation)_)
- <a name="carla.GeoLocation.__ne__"></a>**<font color="#7fb800">\__ne__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
- **Parameters:**
- `other` (_[carla.GeoLocation](#carla.GeoLocation)_)
- <a name="carla.GeoLocation.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
---
## carla.GnssMeasurement<a name="carla.GnssMeasurement"></a>
<div style="padding-left:30px;margin-top:-20px"><small><b>Inherited from _[carla.SensorData](#carla.SensorData)_</b></small></div></p><p>Class that defines the Gnss data registered by a <b>sensor.other.gnss</b>. It essentially reports its position with the position of the sensor and an OpenDRIVE geo-reference.
<h3>Instance Variables</h3>
- <a name="carla.GnssMeasurement.altitude"></a>**<font color="#f8805a">altitude</font>** (_float_)
Height regarding ground level.
- <a name="carla.GnssMeasurement.latitude"></a>**<font color="#f8805a">latitude</font>** (_float_)
North/South value of a point on the map.
- <a name="carla.GnssMeasurement.longitude"></a>**<font color="#f8805a">longitude</font>** (_float_)
West/East value of a point on the map.
<h3>Methods</h3>
- <a name="carla.GnssMeasurement.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
---
## carla.IMUMeasurement<a name="carla.IMUMeasurement"></a>
<div style="padding-left:30px;margin-top:-20px"><small><b>Inherited from _[carla.SensorData](#carla.SensorData)_</b></small></div></p><p>Class that defines the data registered by a <b>sensor.other.imu</b>, regarding the sensor's transformation according to the current [carla.World](#carla.World). It essentially acts as accelerometer, gyroscope and compass.
<h3>Instance Variables</h3>
- <a name="carla.IMUMeasurement.accelerometer"></a>**<font color="#f8805a">accelerometer</font>** (_[carla.Vector3D](#carla.Vector3D)_)
Linear acceleration in m/s^2.
- <a name="carla.IMUMeasurement.compass"></a>**<font color="#f8805a">compass</font>** (_float_)
Orientation with regard to the North ((0.0, -1.0, 0.0) in Unreal Engine) in radians.
- <a name="carla.IMUMeasurement.gyroscope"></a>**<font color="#f8805a">gyroscope</font>** (_[carla.Vector3D](#carla.Vector3D)_)
Angular velocity in rad/sec.
<h3>Methods</h3>
- <a name="carla.IMUMeasurement.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
---
## carla.Image<a name="carla.Image"></a>
<div style="padding-left:30px;margin-top:-20px"><small><b>Inherited from _[carla.SensorData](#carla.SensorData)_</b></small></div></p><p>Class that defines an image of 32-bit BGRA colors that will be used as initial data retrieved by camera sensors. There are different camera sensors (currently three, RGB, depth and semantic segmentation) and each of these makes different use for the images. Learn more about them [here](/cameras_and_sensors/).
<h3>Instance Variables</h3>
- <a name="carla.Image.fov"></a>**<font color="#f8805a">fov</font>** (_float_)
Horizontal field of view of the image in degrees.
- <a name="carla.Image.height"></a>**<font color="#f8805a">height</font>** (_int_)
Image height in pixels.
- <a name="carla.Image.width"></a>**<font color="#f8805a">width</font>** (_int_)
Image width in pixels.
- <a name="carla.Image.raw_data"></a>**<font color="#f8805a">raw_data</font>** (_bytes_)
<h3>Methods</h3>
- <a name="carla.Image.convert"></a>**<font color="#7fb800">convert</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**color_converter**</font>)
Converts the image following the `color_converter` pattern.
- **Parameters:**
- `color_converter` (_[carla.ColorConverter](#carla.ColorConverter)_)
- <a name="carla.Image.save_to_disk"></a>**<font color="#7fb800">save_to_disk</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**path**</font>, <font color="#00a6ed">**color_converter**=Raw</font>)
Saves the image to disk using a converter pattern stated as `color_converter`. The default conversion pattern is <b>Raw</b> that will make no changes to the image.
- **Parameters:**
- `path` (_str_) – Path that will contain the image.
- `color_converter` (_[carla.ColorConverter](#carla.ColorConverter)_) – Default <b>Raw</b> will make no changes.
- <a name="carla.Image.__len__"></a>**<font color="#7fb800">\__len__</font>**(<font color="#00a6ed">**self**</font>)
- <a name="carla.Image.__iter__"></a>**<font color="#7fb800">\__iter__</font>**(<font color="#00a6ed">**self**</font>)
- <a name="carla.Image.__getitem__"></a>**<font color="#7fb800">\__getitem__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**pos**</font>)
- **Parameters:**
- `pos` (_int_)
- <a name="carla.Image.__setitem__"></a>**<font color="#7fb800">\__setitem__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**pos**</font>, <font color="#00a6ed">**color**</font>)
- **Parameters:**
- `pos` (_int_)
- `color` (_[carla.Color](#carla.Color)_)
- <a name="carla.Image.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
---
## carla.Junction<a name="carla.Junction"></a>
Class that embodies the intersections on the road described in the OpenDRIVE file according to OpenDRIVE 1.4 standards.
<h3>Instance Variables</h3>
- <a name="carla.Junction.id"></a>**<font color="#f8805a">id</font>** (_int_)
Identificator found in the OpenDRIVE file.
- <a name="carla.Junction.bounding_box"></a>**<font color="#f8805a">bounding_box</font>** (_[carla.BoundingBox](#carla.BoundingBox)_)
Bounding box encapsulating the junction lanes.
<h3>Methods</h3>
- <a name="carla.Junction.get_waypoints"></a>**<font color="#7fb800">get_waypoints</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**lane_type**</font>)
Returns a list of pairs of waypoints. Every tuple on the list contains first an initial and then a final waypoint within the intersection boundaries that describe the beginning and the end of said lane along the junction. Lanes follow their OpenDRIVE definitions so there may be many different tuples with the same starting waypoint due to possible deviations, as this are considered different lanes.
- **Parameters:**
- `lane_type` (_[carla.LaneType](#carla.LaneType)_) – Type of lanes to get the waypoints.
- **Return:** _list(tuple([carla.Waypoint](#carla.Waypoint)))_
---
## carla.Landmark<a name="carla.Landmark"></a>
Class that defines any type of traffic landmark or sign affecting a road. These class mediates between the [OpenDRIVE 1.4 standard](http://www.opendrive.org/docs/OpenDRIVEFormatSpecRev1.4H.pdf) definition of the landmarks and their representation in the simulation. This class retrieves all the information defining a landmark in OpenDRIVE and facilitates information about which lanes does it affect and when.
Landmarks will be accessed by [carla.Waypoint](#carla.Waypoint) objects trying to retrieve the regulation of their lane. Therefore some attributes depend on the waypoint that is consulting the landmark and so, creating the object.
<h3>Instance Variables</h3>
- <a name="carla.Landmark.road_id"></a>**<font color="#f8805a">road_id</font>** (_int_)
The OpenDRIVE ID of the road where this landmark is defined. Due to OpenDRIVE road definitions, this road may be different from the road the landmark is currently affecting. It is mostly the case in junctions where the road diverges in different routes.
<small>Example: a traffic light is defined in one of the divergent roads in a junction, but it affects all the possible routes</small>.
- <a name="carla.Landmark.distance"></a>**<font color="#f8805a">distance</font>** (_float_)
Distance between the landmark and the waypoint creating the object (querying `get_landmarks` or `get_landmarks_of_type`).
- <a name="carla.Landmark.s"></a>**<font color="#f8805a">s</font>** (_float_)
Distance where the landmark is positioned along the geometry of the road `road_id`.
- <a name="carla.Landmark.t"></a>**<font color="#f8805a">t</font>** (_float_)
Lateral distance where the landmark is positioned from the edge of the road `road_id`.
- <a name="carla.Landmark.id"></a>**<font color="#f8805a">id</font>** (_str_)
Unique ID of the landmark in the OpenDRIVE file.
- <a name="carla.Landmark.name"></a>**<font color="#f8805a">name</font>** (_str_)
Name of the landmark in the in the OpenDRIVE file.
- <a name="carla.Landmark.is_dynamic"></a>**<font color="#f8805a">is_dynamic</font>** (_bool_)
Indicates if the landmark has state changes over time such as traffic lights.
- <a name="carla.Landmark.orientation"></a>**<font color="#f8805a">orientation</font>** (_[carla.LandmarkOrientation](#carla.LandmarkOrientation)_)
Indicates which lanes the landmark is facing towards to.
- <a name="carla.Landmark.z_offset"></a>**<font color="#f8805a">z_offset</font>** (_float_)
Height where the landmark is placed.
- <a name="carla.Landmark.country"></a>**<font color="#f8805a">country</font>** (_str_)
Country code where the landmark is defined (default to OpenDRIVE is Germany 2017).
- <a name="carla.Landmark.type"></a>**<font color="#f8805a">type</font>** (_str_)
Type identificator of the landmark according to the country code.
- <a name="carla.Landmark.sub_type"></a>**<font color="#f8805a">sub_type</font>** (_str_)
Subtype identificator of the landmark according to the country code.
- <a name="carla.Landmark.value"></a>**<font color="#f8805a">value</font>** (_float_)
Value printed in the signal (e.g. speed limit, maximum weight, etc).
- <a name="carla.Landmark.unit"></a>**<font color="#f8805a">unit</font>** (_str_)
Units of measurement for the attribute `value`.
- <a name="carla.Landmark.height"></a>**<font color="#f8805a">height</font>** (_float_)
Total height of the signal.
- <a name="carla.Landmark.width"></a>**<font color="#f8805a">width</font>** (_float_)
Total width of the signal.
- <a name="carla.Landmark.text"></a>**<font color="#f8805a">text</font>** (_str_)
Additional text in the signal.
- <a name="carla.Landmark.h_offset"></a>**<font color="#f8805a">h_offset</font>** (_float_)
Orientation offset of the signal relative to the the definition of `road_id` at `s` in OpenDRIVE.
- <a name="carla.Landmark.pitch"></a>**<font color="#f8805a">pitch</font>** (_float_)
Pitch rotation of the signal.
- <a name="carla.Landmark.roll"></a>**<font color="#f8805a">roll</font>** (_float_)
Roll rotation of the signal.
- <a name="carla.Landmark.waypoint"></a>**<font color="#f8805a">waypoint</font>** (_[carla.Waypoint](#carla.Waypoint)_)
A waypoint placed in the lane of the one that made the query and at the `s` of the landmark. It is the first waypoint for which the landmark will be effective.
- <a name="carla.Landmark.transform"></a>**<font color="#f8805a">transform</font>** (_[carla.Transform](#carla.Transform)_)
The location and orientation of the landmark in the simulation.
<h3>Methods</h3>
- <a name="carla.Landmark.get_lane_validities"></a>**<font color="#7fb800">get_lane_validities</font>**(<font color="#00a6ed">**self**</font>)
Returns which lanes the landmark is affecting to. As there may be specific lanes where the landmark is not effective, the return is a list of pairs containing ranges of the __lane_id__ affected:
<small>Example: In a road with 5 lanes, being 3 not affected: [(from_lane1,to_lane2),(from_lane4,to_lane5)]</small>.
- **Return:** _list(tuple(int))_
---
## carla.LandmarkOrientation<a name="carla.LandmarkOrientation"></a>
Helper class to define the orientation of a landmark in the road. The definition is not directly translated from OpenDRIVE but converted for the sake of understanding.
<h3>Instance Variables</h3>
- <a name="carla.LandmarkOrientation.Positive"></a>**<font color="#f8805a">Positive</font>**
The landmark faces towards vehicles going on the same direction as the road's geometry definition (lanes 0 and negative in OpenDRIVE).
- <a name="carla.LandmarkOrientation.Negative"></a>**<font color="#f8805a">Negative</font>**
The landmark faces towards vehicles going on the opposite direction to the road's geometry definition (positive lanes in OpenDRIVE).
- <a name="carla.LandmarkOrientation.Both"></a>**<font color="#f8805a">Both</font>**
Affects vehicles going in both directions of the road.
---
## carla.LandmarkType<a name="carla.LandmarkType"></a>
Helper class containing a set of commonly used landmark types as defined by the default country code in the [OpenDRIVE standard](http://opendrive.org/docs/OpenDRIVEFormatSpecRev1.5M.pdf) (Germany 2017).
__[carla.Landmark](#carla.Landmark) does not reference this class__. The landmark type is a string that varies greatly depending on the country code being used. This class only makes it easier to manage some of the most commonly used in the default set by describing them as an enum.
<h3>Instance Variables</h3>
- <a name="carla.LandmarkType.Danger"></a>**<font color="#f8805a">Danger</font>**
Type 101.
- <a name="carla.LandmarkType.LanesMerging"></a>**<font color="#f8805a">LanesMerging</font>**
Type 121.
- <a name="carla.LandmarkType.CautionPedestrian"></a>**<font color="#f8805a">CautionPedestrian</font>**
Type 133.
- <a name="carla.LandmarkType.CautionBicycle"></a>**<font color="#f8805a">CautionBicycle</font>**
Type 138.
- <a name="carla.LandmarkType.LevelCrossing"></a>**<font color="#f8805a">LevelCrossing</font>**
Type 150.
- <a name="carla.LandmarkType.StopSign"></a>**<font color="#f8805a">StopSign</font>**
Type 206.
- <a name="carla.LandmarkType.YieldSign"></a>**<font color="#f8805a">YieldSign</font>**
Type 205.
- <a name="carla.LandmarkType.MandatoryTurnDirection"></a>**<font color="#f8805a">MandatoryTurnDirection</font>**
Type 209.
- <a name="carla.LandmarkType.MandatoryLeftRightDirection"></a>**<font color="#f8805a">MandatoryLeftRightDirection</font>**
Type 211.
- <a name="carla.LandmarkType.TwoChoiceTurnDirection"></a>**<font color="#f8805a">TwoChoiceTurnDirection</font>**
Type 214.
- <a name="carla.LandmarkType.Roundabout"></a>**<font color="#f8805a">Roundabout</font>**
Type 215.
- <a name="carla.LandmarkType.PassRightLeft"></a>**<font color="#f8805a">PassRightLeft</font>**
Type 222.
- <a name="carla.LandmarkType.AccessForbidden"></a>**<font color="#f8805a">AccessForbidden</font>**
Type 250.
- <a name="carla.LandmarkType.AccessForbiddenMotorvehicles"></a>**<font color="#f8805a">AccessForbiddenMotorvehicles</font>**
Type 251.
- <a name="carla.LandmarkType.AccessForbiddenTrucks"></a>**<font color="#f8805a">AccessForbiddenTrucks</font>**
Type 253.
- <a name="carla.LandmarkType.AccessForbiddenBicycle"></a>**<font color="#f8805a">AccessForbiddenBicycle</font>**
Type 254.
- <a name="carla.LandmarkType.AccessForbiddenWeight"></a>**<font color="#f8805a">AccessForbiddenWeight</font>**
Type 263.
- <a name="carla.LandmarkType.AccessForbiddenWidth"></a>**<font color="#f8805a">AccessForbiddenWidth</font>**
Type 264.
- <a name="carla.LandmarkType.AccessForbiddenHeight"></a>**<font color="#f8805a">AccessForbiddenHeight</font>**
Type 265.
- <a name="carla.LandmarkType.AccessForbiddenWrongDirection"></a>**<font color="#f8805a">AccessForbiddenWrongDirection</font>**
Type 267.
- <a name="carla.LandmarkType.ForbiddenUTurn"></a>**<font color="#f8805a">ForbiddenUTurn</font>**
Type 272.
- <a name="carla.LandmarkType.MaximumSpeed"></a>**<font color="#f8805a">MaximumSpeed</font>**
Type 274.
- <a name="carla.LandmarkType.ForbiddenOvertakingMotorvehicles"></a>**<font color="#f8805a">ForbiddenOvertakingMotorvehicles</font>**
Type 276.
- <a name="carla.LandmarkType.ForbiddenOvertakingTrucks"></a>**<font color="#f8805a">ForbiddenOvertakingTrucks</font>**
Type 277.
- <a name="carla.LandmarkType.AbsoluteNoStop"></a>**<font color="#f8805a">AbsoluteNoStop</font>**
Type 283.
- <a name="carla.LandmarkType.RestrictedStop"></a>**<font color="#f8805a">RestrictedStop</font>**
Type 286.
- <a name="carla.LandmarkType.HasWayNextIntersection"></a>**<font color="#f8805a">HasWayNextIntersection</font>**
Type 301.
- <a name="carla.LandmarkType.PriorityWay"></a>**<font color="#f8805a">PriorityWay</font>**
Type 306.
- <a name="carla.LandmarkType.PriorityWayEnd"></a>**<font color="#f8805a">PriorityWayEnd</font>**
Type 307.
- <a name="carla.LandmarkType.CityBegin"></a>**<font color="#f8805a">CityBegin</font>**
Type 310.
- <a name="carla.LandmarkType.CityEnd"></a>**<font color="#f8805a">CityEnd</font>**
Type 311.
- <a name="carla.LandmarkType.Highway"></a>**<font color="#f8805a">Highway</font>**
Type 330.
- <a name="carla.LandmarkType.RecomendedSpeed"></a>**<font color="#f8805a">RecomendedSpeed</font>**
Type 380.
- <a name="carla.LandmarkType.RecomendedSpeedEnd"></a>**<font color="#f8805a">RecomendedSpeedEnd</font>**
Type 381.
---
## carla.LaneChange<a name="carla.LaneChange"></a>
Class that defines the permission to turn either left, right, both or none (meaning only going straight is allowed). This information is stored for every [carla.Waypoint](#carla.Waypoint) according to the OpenDRIVE file. In this [recipe](ref_code_recipes.md#lanes-recipe) the user creates a waypoint for a current vehicle position and learns which turns are permitted.
<h3>Instance Variables</h3>
- <a name="carla.LaneChange.NONE"></a>**<font color="#f8805a">NONE</font>**
Traffic rules do not allow turning right or left, only going straight.
- <a name="carla.LaneChange.Both"></a>**<font color="#f8805a">Both</font>**
Traffic rules allow turning either right or left.
- <a name="carla.LaneChange.Left"></a>**<font color="#f8805a">Left</font>**
Traffic rules allow turning left.
- <a name="carla.LaneChange.Right"></a>**<font color="#f8805a">Right</font>**
Traffic rules allow turning right.
---
## carla.LaneInvasionEvent<a name="carla.LaneInvasionEvent"></a>
<div style="padding-left:30px;margin-top:-20px"><small><b>Inherited from _[carla.SensorData](#carla.SensorData)_</b></small></div></p><p>Class that defines lanes invasion for <b>sensor.other.lane_invasion</b>. It works only client-side and is dependant on OpenDRIVE to provide reliable information. The sensor creates one of this every time there is a lane invasion, which may be more than once per simulation step. Learn more about this [here](/cameras_and_sensors/#sensorotherlane_invasion).
<h3>Instance Variables</h3>
- <a name="carla.LaneInvasionEvent.actor"></a>**<font color="#f8805a">actor</font>** (_[carla.Actor](#carla.Actor)_)
Gets the actor the sensor is attached to, the one that invaded another lane.
- <a name="carla.LaneInvasionEvent.crossed_lane_markings"></a>**<font color="#f8805a">crossed_lane_markings</font>** (_list([carla.LaneMarking](#carla.LaneMarking))_)
List of lane markings that have been crossed and detected by the sensor.
<h3>Methods</h3>
- <a name="carla.LaneInvasionEvent.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
---
## carla.LaneMarking<a name="carla.LaneMarking"></a>
Class that gathers all the information regarding a lane marking according to [OpenDRIVE 1.4 standard](http://www.opendrive.org/docs/OpenDRIVEFormatSpecRev1.4H.pdf) standard.
<h3>Instance Variables</h3>
- <a name="carla.LaneMarking.color"></a>**<font color="#f8805a">color</font>** (_[carla.LaneMarkingColor](#carla.LaneMarkingColor)_)
Actual color of the marking.
- <a name="carla.LaneMarking.lane_change"></a>**<font color="#f8805a">lane_change</font>** (_[carla.LaneChange](#carla.LaneChange)_)
Permissions for said lane marking to be crossed.
- <a name="carla.LaneMarking.type"></a>**<font color="#f8805a">type</font>** (_[carla.LaneMarkingType](#carla.LaneMarkingType)_)
Lane marking type.
- <a name="carla.LaneMarking.width"></a>**<font color="#f8805a">width</font>** (_float_)
Horizontal lane marking thickness.
---
## carla.LaneMarkingColor<a name="carla.LaneMarkingColor"></a>
Class that defines the lane marking colors according to OpenDRIVE 1.4.
<h3>Instance Variables</h3>
- <a name="carla.LaneMarkingColor.Standard"></a>**<font color="#f8805a">Standard</font>**
White by default.
- <a name="carla.LaneMarkingColor.Blue"></a>**<font color="#f8805a">Blue</font>**
- <a name="carla.LaneMarkingColor.Green"></a>**<font color="#f8805a">Green</font>**
- <a name="carla.LaneMarkingColor.Red"></a>**<font color="#f8805a">Red</font>**
- <a name="carla.LaneMarkingColor.White"></a>**<font color="#f8805a">White</font>**
- <a name="carla.LaneMarkingColor.Yellow"></a>**<font color="#f8805a">Yellow</font>**
- <a name="carla.LaneMarkingColor.Other"></a>**<font color="#f8805a">Other</font>**
---
## carla.LaneMarkingType<a name="carla.LaneMarkingType"></a>
Class that defines the lane marking types accepted by OpenDRIVE 1.4. Take a look at this [recipe](ref_code_recipes.md#lanes-recipe) where the user creates a [carla.Waypoint](#carla.Waypoint) for a vehicle location and retrieves from it the information about adjacent lane markings.
__Note on double types:__ Lane markings are defined under the OpenDRIVE standard that determines whereas a line will be considered "BrokenSolid" or "SolidBroken". For each road there is a center lane marking, defined from left to right regarding the lane's directions. The rest of the lane markings are defined in order from the center lane to the closest outside of the road.
<h3>Instance Variables</h3>
- <a name="carla.LaneMarkingType.NONE"></a>**<font color="#f8805a">NONE</font>**
- <a name="carla.LaneMarkingType.BottsDots"></a>**<font color="#f8805a">BottsDots</font>**
- <a name="carla.LaneMarkingType.Broken"></a>**<font color="#f8805a">Broken</font>**
- <a name="carla.LaneMarkingType.BrokenBroken"></a>**<font color="#f8805a">BrokenBroken</font>**
- <a name="carla.LaneMarkingType.BrokenSolid"></a>**<font color="#f8805a">BrokenSolid</font>**
- <a name="carla.LaneMarkingType.Curb"></a>**<font color="#f8805a">Curb</font>**
- <a name="carla.LaneMarkingType.Grass"></a>**<font color="#f8805a">Grass</font>**
- <a name="carla.LaneMarkingType.Solid"></a>**<font color="#f8805a">Solid</font>**
- <a name="carla.LaneMarkingType.SolidBroken"></a>**<font color="#f8805a">SolidBroken</font>**
- <a name="carla.LaneMarkingType.SolidSolid"></a>**<font color="#f8805a">SolidSolid</font>**
- <a name="carla.LaneMarkingType.Other"></a>**<font color="#f8805a">Other</font>**
---
## carla.LaneType<a name="carla.LaneType"></a>
Class that defines the possible lane types accepted by OpenDRIVE 1.4. This standards define the road information. For instance in this [recipe](ref_code_recipes.md#lanes-recipe) the user creates a [carla.Waypoint](#carla.Waypoint) for the current location of a vehicle and uses it to get the current and adjacent lane types.
<h3>Instance Variables</h3>
- <a name="carla.LaneType.NONE"></a>**<font color="#f8805a">NONE</font>**
- <a name="carla.LaneType.Bidirectional"></a>**<font color="#f8805a">Bidirectional</font>**
- <a name="carla.LaneType.Biking"></a>**<font color="#f8805a">Biking</font>**
- <a name="carla.LaneType.Border"></a>**<font color="#f8805a">Border</font>**
- <a name="carla.LaneType.Driving"></a>**<font color="#f8805a">Driving</font>**
- <a name="carla.LaneType.Entry"></a>**<font color="#f8805a">Entry</font>**
- <a name="carla.LaneType.Exit"></a>**<font color="#f8805a">Exit</font>**
- <a name="carla.LaneType.Median"></a>**<font color="#f8805a">Median</font>**
- <a name="carla.LaneType.OffRamp"></a>**<font color="#f8805a">OffRamp</font>**
- <a name="carla.LaneType.OnRamp"></a>**<font color="#f8805a">OnRamp</font>**
- <a name="carla.LaneType.Parking"></a>**<font color="#f8805a">Parking</font>**
- <a name="carla.LaneType.Rail"></a>**<font color="#f8805a">Rail</font>**
- <a name="carla.LaneType.Restricted"></a>**<font color="#f8805a">Restricted</font>**
- <a name="carla.LaneType.RoadWorks"></a>**<font color="#f8805a">RoadWorks</font>**
- <a name="carla.LaneType.Shoulder"></a>**<font color="#f8805a">Shoulder</font>**
- <a name="carla.LaneType.Sidewalk"></a>**<font color="#f8805a">Sidewalk</font>**
- <a name="carla.LaneType.Special1"></a>**<font color="#f8805a">Special1</font>**
- <a name="carla.LaneType.Special2"></a>**<font color="#f8805a">Special2</font>**
- <a name="carla.LaneType.Special3"></a>**<font color="#f8805a">Special3</font>**
- <a name="carla.LaneType.Stop"></a>**<font color="#f8805a">Stop</font>**
- <a name="carla.LaneType.Tram"></a>**<font color="#f8805a">Tram</font>**
- <a name="carla.LaneType.Any"></a>**<font color="#f8805a">Any</font>**
Every type except for NONE.
---
## carla.LidarMeasurement<a name="carla.LidarMeasurement"></a>
<div style="padding-left:30px;margin-top:-20px"><small><b>Inherited from _[carla.SensorData](#carla.SensorData)_</b></small></div></p><p>Class that defines the lidar data retrieved by a <b>sensor.lidar.ray_cast</b>. This essentially simulates a rotating lidar using ray-casting. Learn more about this [here](/cameras_and_sensors/#sensorlidarray_cast).
<h3>Instance Variables</h3>
- <a name="carla.LidarMeasurement.channels"></a>**<font color="#f8805a">channels</font>** (_int_)
Number of lasers shot.
- <a name="carla.LidarMeasurement.horizontal_angle"></a>**<font color="#f8805a">horizontal_angle</font>** (_float_)
Horizontal angle the Lidar is rotated at the time of the measurement (in radians).
- <a name="carla.LidarMeasurement.raw_data"></a>**<font color="#f8805a">raw_data</font>** (_bytes_)
List of 3D points received as data.
<h3>Methods</h3>
- <a name="carla.LidarMeasurement.get_point_count"></a>**<font color="#7fb800">get_point_count</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**channel**</font>)
Retrieves the number of points sorted by channel that are generated by this measure. Sorting by channel allows to identify the original channel for every point.
- **Parameters:**
- `channel` (_int_)
- <a name="carla.LidarMeasurement.save_to_disk"></a>**<font color="#7fb800">save_to_disk</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**path**</font>)
Saves the point cloud to disk as a <b>.ply</b> file describing data from 3D scanners. The files generated are ready to be used within [MeshLab](http://www.meshlab.net/), an open source system for processing said files. Just take into account that axis may differ from Unreal Engine and so, need to be reallocated.
- **Parameters:**
- `path` (_str_)
- <a name="carla.LidarMeasurement.__len__"></a>**<font color="#7fb800">\__len__</font>**(<font color="#00a6ed">**self**</font>)
- <a name="carla.LidarMeasurement.__iter__"></a>**<font color="#7fb800">\__iter__</font>**(<font color="#00a6ed">**self**</font>)
- <a name="carla.LidarMeasurement.__getitem__"></a>**<font color="#7fb800">\__getitem__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**pos**</font>)
- **Parameters:**
- `pos` (_int_)
- <a name="carla.LidarMeasurement.__setitem__"></a>**<font color="#7fb800">\__setitem__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**pos**</font>, <font color="#00a6ed">**location**</font>)
- **Parameters:**
- `pos` (_int_)
- `location` (_[carla.Location](#carla.Location)_)
- <a name="carla.LidarMeasurement.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
---
## carla.Location<a name="carla.Location"></a>
<div style="padding-left:30px;margin-top:-20px"><small><b>Inherited from _[carla.Vector3D](#carla.Vector3D)_</b></small></div></p><p>Represents a spot in the world.
<h3>Instance Variables</h3>
- <a name="carla.Location.x"></a>**<font color="#f8805a">x</font>** (_float_)
Distance in meters from origin to spot on X axis.
- <a name="carla.Location.y"></a>**<font color="#f8805a">y</font>** (_float_)
Distance in meters from origin to spot on Y axis.
- <a name="carla.Location.z"></a>**<font color="#f8805a">z</font>** (_float_)
Distance in meters from origin to spot on Z axis.
<h3>Methods</h3>
- <a name="carla.Location.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**x**=0.0</font>, <font color="#00a6ed">**y**=0.0</font>, <font color="#00a6ed">**z**=0.0</font>)
- **Parameters:**
- `x` (_float_)
- `y` (_float_)
- `z` (_float_)
- <a name="carla.Location.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
Returns true if both locations are the same point in space.
- **Parameters:**
- `other` (_[carla.Location](#carla.Location)_) – The other point to be compared with.
- **Return:** _bool_
- <a name="carla.Location.__ne__"></a>**<font color="#7fb800">\__ne__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
Returns true if both locations are different points in space.
- **Parameters:**
- `other` (_[carla.Location](#carla.Location)_) – The other point to be compared with.
- **Return:** _bool_
- <a name="carla.Location.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
Parses the axis' values to string.
- **Return:** _str_
- <a name="carla.Location.distance"></a>**<font color="#7fb800">distance</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**location**</font>)
Returns Euclidean distance in meters from this location to another one.
- **Parameters:**
- `location` (_[carla.Location](#carla.Location)_) – The other point to compute the distance with.
- **Return:** _float_
---
## carla.Map<a name="carla.Map"></a>
Class containing the road information and waypoint managing. Data is retrieved from an OpenDRIVE file that describes the road. A query system is defined which works hand in hand with [carla.Waypoint](#carla.Waypoint) to translate geometrical information from the .xodr to natural world points. CARLA is currently working with [OpenDRIVE 1.4 standard](http://www.opendrive.org/docs/OpenDRIVEFormatSpecRev1.4H.pdf).
<h3>Instance Variables</h3>
- <a name="carla.Map.name"></a>**<font color="#f8805a">name</font>** (_str_)
The name of the map. It corresponds to the .umap from Unreal Engine that is loaded from a CARLA server, which then references to the .xodr road description.
<h3>Methods</h3>
- <a name="carla.Map.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**name**</font>, <font color="#00a6ed">**xodr_content**</font>)
Constructor for this class. Though a map is automatically generated when initializing the world, using this method in no-rendering mode facilitates working with an .xodr without any CARLA server running.
- **Parameters:**
- `name` (_str_) – Name of the current map.
- `xodr_content` (_str_) – .xodr content in string format.
- **Return:** _list([carla.Transform](#carla.Transform))_
- <a name="carla.Map.generate_waypoints"></a>**<font color="#7fb800">generate_waypoints</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**distance**</font>)
Returns a list of waypoints with a certain distance between them for every lane and centered inside of it. Waypoints are not listed in any particular order. Remember that waypoints closer than 2cm within the same road, section and lane will have the same identificator.
- **Parameters:**
- `distance` (_float_) – Approximate distance between waypoints.
- **Return:** _list([carla.Waypoint](#carla.Waypoint))_
- <a name="carla.Map.get_spawn_points"></a>**<font color="#7fb800">get_spawn_points</font>**(<font color="#00a6ed">**self**</font>)
Returns a list of recommendations made by the creators of the map to be used as spawning points for the vehicles. The list includes [carla.Transform](#carla.Transform) objects with certain location and orientation. Said locations are slightly on-air in order to avoid Z-collisions, so vehicles fall for a bit before starting their way.
- **Return:** _list([carla.Transform](#carla.Transform))_
- <a name="carla.Map.get_topology"></a>**<font color="#7fb800">get_topology</font>**(<font color="#00a6ed">**self**</font>)
Returns a list of tuples describing a minimal graph of the topology of the OpenDRIVE file. The tuples contain pairs of waypoints located either at the point a road begins or ends. The first one is the origin and the second one represents another road end that can be reached. This graph can be loaded into [NetworkX](https://networkx.github.io/) to work with. Output could look like this: <b>[(w0, w1), (w0, w2), (w1, w3), (w2, w3), (w0, w4)]</b>.
- **Return:** _list(tuple([carla.Waypoint](#carla.Waypoint), [carla.Waypoint](#carla.Waypoint)))_
- <a name="carla.Map.get_waypoint"></a>**<font color="#7fb800">get_waypoint</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**location**</font>, <font color="#00a6ed">**project_to_road**=True</font>, <font color="#00a6ed">**lane_type**=[carla.LaneType.Driving](#carla.LaneType.Driving)</font>)
Returns a waypoint that can be located in an exact location or translated to the center of the nearest lane. Said lane type can be defined using flags such as `LaneType.Driving & LaneType.Shoulder`.
The method will return <b>None</b> if the waypoint is not found, which may happen only when trying to retrieve a waypoint for an exact location. That eases checking if a point is inside a certain road, as otherwise, it will return the corresponding waypoint.
- **Parameters:**
- `location` (_[carla.Location](#carla.Location)_) – Location used as reference for the [carla.Waypoint](#carla.Waypoint).
- `project_to_road` (_bool_) – If **True**, the waypoint will be at the center of the closest lane. This is the default setting. If **False**, the waypoint will be exactly in `location`. <b>None</b> means said location does not belong to a road.
- `lane_type` (_[carla.LaneType](#carla.LaneType)_) – Limits the search for nearest lane to one or various lane types that can be flagged.
- **Return:** _[carla.Waypoint](#carla.Waypoint)_
- <a name="carla.Map.get_waypoint_xodr"></a>**<font color="#7fb800">get_waypoint_xodr</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**road_id**</font>, <font color="#00a6ed">**lane_id**</font>, <font color="#00a6ed">**s**</font>)
Get a waypoint if all the parameters passed are correct, otherwise return None.
- **Parameters:**
- `road_id` (_int_) – Id of the road from where getting the waypoint.
- `lane_id` (_int_) – Id of the lane to get the waypoint.
- `s` (_float_) – Specify the length from the road start.
- **Return:** _[carla.Waypoint](#carla.Waypoint)_
- <a name="carla.Map.save_to_disk"></a>**<font color="#7fb800">save_to_disk</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**path**</font>)
Saves the .xodr OpenDRIVE file of the current map to disk.
- **Parameters:**
- `path` – Path where the file will be saved.
- <a name="carla.Map.to_opendrive"></a>**<font color="#7fb800">to_opendrive</font>**(<font color="#00a6ed">**self**</font>)
Returns the .xodr OpenDRIVe file of the current map as string.
- **Return:** _str_
- <a name="carla.Map.transform_to_geolocation"></a>**<font color="#7fb800">transform_to_geolocation</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**location**</font>)
Converts a given `location`, a point in the simulation, to a [carla.GeoLocation](#carla.GeoLocation), which represents world coordinates. The geographical location of the map is defined inside OpenDRIVE within the tag <b><georeference></b>.
- **Parameters:**
- `location` (_[carla.Location](#carla.Location)_)
- **Return:** _[carla.GeoLocation](#carla.GeoLocation)_
- <a name="carla.Map.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
---
## carla.ObstacleDetectionEvent<a name="carla.ObstacleDetectionEvent"></a>
<div style="padding-left:30px;margin-top:-20px"><small><b>Inherited from _[carla.SensorData](#carla.SensorData)_</b></small></div></p><p>Class that defines the obstacle data for <b>sensor.other.obstacle</b>. Learn more about this [here](/cameras_and_sensors/#sensorotherobstacle).
<h3>Instance Variables</h3>
- <a name="carla.ObstacleDetectionEvent.actor"></a>**<font color="#f8805a">actor</font>** (_[carla.Actor](#carla.Actor)_)
The actor the sensor is attached to.
- <a name="carla.ObstacleDetectionEvent.other_actor"></a>**<font color="#f8805a">other_actor</font>** (_[carla.Actor](#carla.Actor)_)
The actor or object considered to be an obstacle.
- <a name="carla.ObstacleDetectionEvent.distance"></a>**<font color="#f8805a">distance</font>** (_float_)
Distance between `actor` and `other`.
<h3>Methods</h3>
- <a name="carla.ObstacleDetectionEvent.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
---
## carla.RadarDetection<a name="carla.RadarDetection"></a>
Data contained inside a [carla.RadarMeasurement](#carla.RadarMeasurement). Each of these represents one of the points in the cloud that a <b>sensor.other.radar</b> registers and contains the distance, angle and velocity in relation to the radar.
<h3>Instance Variables</h3>
- <a name="carla.RadarDetection.altitude"></a>**<font color="#f8805a">altitude</font>** (_float_)
Altitude angle of the detection in radians.
- <a name="carla.RadarDetection.azimuth"></a>**<font color="#f8805a">azimuth</font>** (_float_)
Azimuth angle of the detection in radians.
- <a name="carla.RadarDetection.depth"></a>**<font color="#f8805a">depth</font>** (_float_)
Distance in meters from the sensor to the detection position.
- <a name="carla.RadarDetection.velocity"></a>**<font color="#f8805a">velocity</font>** (_float_)
The velocity of the detected object towards the sensor in m/s.
<h3>Methods</h3>
- <a name="carla.RadarDetection.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
---
## carla.RadarMeasurement<a name="carla.RadarMeasurement"></a>
<div style="padding-left:30px;margin-top:-20px"><small><b>Inherited from _[carla.SensorData](#carla.SensorData)_</b></small></div></p><p>Class that defines and gathers the measures registered by a <b>sensor.other.radar</b>, representing a wall of points in front of the sensor with a distance, angle and velocity in relation to it. The data consists of a [carla.RadarDetection](#carla.RadarDetection) array.
<h3>Instance Variables</h3>
- <a name="carla.RadarMeasurement.raw_data"></a>**<font color="#f8805a">raw_data</font>** (_bytes_)
The complete information of the [carla.RadarDetection](#carla.RadarDetection) the radar has registered.
<h3>Methods</h3>
- <a name="carla.RadarMeasurement.get_detection_count"></a>**<font color="#7fb800">get_detection_count</font>**(<font color="#00a6ed">**self**</font>)
Retrieves the number of entries generated, same as **<font color="#7fb800">\__str__()</font>**.
- <a name="carla.RadarMeasurement.__len__"></a>**<font color="#7fb800">\__len__</font>**(<font color="#00a6ed">**self**</font>)
- <a name="carla.RadarMeasurement.__iter__"></a>**<font color="#7fb800">\__iter__</font>**(<font color="#00a6ed">**self**</font>)
- <a name="carla.RadarMeasurement.__getitem__"></a>**<font color="#7fb800">\__getitem__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**pos**</font>)
- **Parameters:**
- `pos` (_int_)
- <a name="carla.RadarMeasurement.__setitem__"></a>**<font color="#7fb800">\__setitem__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**pos**</font>, <font color="#00a6ed">**detection**</font>)
- **Parameters:**
- `pos` (_int_)
- `detection` (_[carla.RadarDetection](#carla.RadarDetection)_)
- <a name="carla.RadarMeasurement.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
---
## carla.Rotation<a name="carla.Rotation"></a>
Class that represents a 3D rotation and therefore, an orientation in space.
![UE4_Rotation](https://d26ilriwvtzlb.cloudfront.net/8/83/BRMC_9.jpg) _Unreal Engine's standard (from [UE4 docs](https://wiki.unrealengine.com/Blueprint_Rotating_Movement_Component))_.
<h3>Instance Variables</h3>
- <a name="carla.Rotation.pitch"></a>**<font color="#f8805a">pitch</font>** (_float_)
Degrees around the Y-axis.
- <a name="carla.Rotation.yaw"></a>**<font color="#f8805a">yaw</font>** (_float_)
Degrees around the Z-axis.
- <a name="carla.Rotation.roll"></a>**<font color="#f8805a">roll</font>** (_float_)
Degrees around the X-axis.
<h3>Methods</h3>
- <a name="carla.Rotation.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**pitch**=0.0</font>, <font color="#00a6ed">**yaw**=0.0</font>, <font color="#00a6ed">**roll**=0.0</font>)
- **Parameters:**
- `pitch` (_float_) – Y rotation in degrees.
- `yaw` (_float_) – Z rotation in degrees.
- `roll` (_float_) – X rotation in degrees.
- <a name="carla.Rotation.get_forward_vector"></a>**<font color="#7fb800">get_forward_vector</font>**(<font color="#00a6ed">**self**</font>)
Computes the vector pointing forward according to the orientation of each axis.
- **Return:** _[carla.Vector3D](#carla.Vector3D)_
- <a name="carla.Rotation.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
Returns true if both rotations represent the same orientation of each axis.
- **Parameters:**
- `other` (_[carla.Rotation](#carla.Rotation)_) – The other rotation to be compared with.
- **Return:** _bool_
- <a name="carla.Rotation.__ne__"></a>**<font color="#7fb800">\__ne__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
Returns true if both rotations represent the same orientation of each axis.
- **Parameters:**
- `other` (_[carla.Rotation](#carla.Rotation)_) – The other rotation to be compared with.
- **Return:** _bool_
- <a name="carla.Rotation.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
Parses the axis' orientations to string.
---
## carla.Sensor<a name="carla.Sensor"></a>
<div style="padding-left:30px;margin-top:-20px"><small><b>Inherited from _[carla.Actor](#carla.Actor)_</b></small></div></p><p>Sensors compound a specific family of actors quite diverse and unique. They are normally spawned as attachment/sons of a vehicle (take a look at [carla.World](#carla.World) to learn about actor spawning). Sensors are thoroughly designed to retrieve different types of data that they are listening to. The data they receive is shaped as different subclasses inherited from [carla.SensorData](#carla.SensorData) (depending on the sensor).
Most sensors can be divided in two groups: those receiving data on every tick (cameras, point clouds and some specific sensors) and those who only receive under certain circumstances (trigger detectors). CARLA provides a specific set of sensors and their blueprint can be found in [carla.BlueprintLibrary](#carla.BlueprintLibrary). All the information on their preferences and settlement can be found [here](/cameras_and_sensors/), but the list of those available in CARLA so far goes as follow:
<b>Receive data on every tick:</b>
- Gnss sensor.
- IMU sensor.
- Radar.
- [Depth camera](/cameras_and_sensors/#sensorcameradepth).
- [Lidar raycast](/cameras_and_sensors/#sensorlidarray_cast).
- [RGB camera](/cameras_and_sensors/#sensorcamerargb).
- [Semantic Segmentation camera](/cameras_and_sensors/#sensorcamerasemantic_segmentation).
<b>Only receive data when triggered:</b>
- [Collision detector](/cameras_and_sensors/#sensorothercollision).
- [Lane invasion detector](/cameras_and_sensors/#sensorotherlane_invasion).
- [Obstacle detector](/cameras_and_sensors/#sensorotherobstacle).
<h3>Instance Variables</h3>
- <a name="carla.Sensor.is_listening"></a>**<font color="#f8805a">is_listening</font>** (_boolean_)
When <b>True</b> the sensor will be waiting for data.
<h3>Methods</h3>
- <a name="carla.Sensor.listen"></a>**<font color="#7fb800">listen</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**callback**</font>)
The function the sensor will be calling to every time a new measurement is received. This function needs for an argument containing an object type [carla.SensorData](#carla.SensorData) to work with.
- **Parameters:**
- `callback` (_function_) – The called function with one argument containing the sensor data.
- <a name="carla.Sensor.stop"></a>**<font color="#7fb800">stop</font>**(<font color="#00a6ed">**self**</font>)
Commands the sensor to stop listening for data.
- <a name="carla.Sensor.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
---
## carla.SensorData<a name="carla.SensorData"></a>
Base class for all the objects containing data generated by a [carla.Sensor](#carla.Sensor). This objects should be the argument of the function said sensor is listening to, in order to work with them. Each of these sensors needs for a specific type of sensor data. The relation between available sensors and their corresponding data goes like:
- Cameras (RGB, depth and semantic segmentation): [carla.Image](#carla.Image).
- Collision detector: [carla.CollisionEvent](#carla.CollisionEvent).
- Gnss detector: [carla.GnssMeasurement](#carla.GnssMeasurement).
- IMU detector: [carla.IMUMeasurement](#carla.IMUMeasurement).
- Lane invasion detector: [carla.LaneInvasionEvent](#carla.LaneInvasionEvent).
- Lidar raycast: [carla.LidarMeasurement](#carla.LidarMeasurement).
- Obstacle detector: [carla.ObstacleDetectionEvent](#carla.ObstacleDetectionEvent).
- Radar detector: [carla.RadarMeasurement](#carla.RadarMeasurement).
<h3>Instance Variables</h3>
- <a name="carla.SensorData.frame"></a>**<font color="#f8805a">frame</font>** (_int_)
Frame count when the data was generated.
- <a name="carla.SensorData.timestamp"></a>**<font color="#f8805a">timestamp</font>** (_float_)
Simulation-time when the data was generated.
- <a name="carla.SensorData.transform"></a>**<font color="#f8805a">transform</font>** (_[carla.Transform](#carla.Transform)_)
Sensor's transform when the data was generated.
---
## carla.Timestamp<a name="carla.Timestamp"></a>
Class that contains time information for simulated data. This information is automatically retrieved as part of the [carla.WorldSnapshot](#carla.WorldSnapshot) the client gets on every frame, but might also be used in many other situations such as a [carla.Sensor](#carla.Sensor) retrieveing data.
<h3>Instance Variables</h3>
- <a name="carla.Timestamp.frame"></a>**<font color="#f8805a">frame</font>** (_int_)
The number of frames elapsed since the simulator was launched.
- <a name="carla.Timestamp.elapsed_seconds"></a>**<font color="#f8805a">elapsed_seconds</font>** (_float_)
Simulated seconds elapsed since the beginning of the current episode.
- <a name="carla.Timestamp.delta_seconds"></a>**<font color="#f8805a">delta_seconds</font>** (_float_)
Simulated seconds elapsed since the previous frame.
- <a name="carla.Timestamp.platform_timestamp"></a>**<font color="#f8805a">platform_timestamp</font>** (_float_)
Time register of the frame at which this measurement was taken given by the OS in seconds.
<h3>Methods</h3>
- <a name="carla.Timestamp.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**frame**</font>, <font color="#00a6ed">**elapsed_seconds**</font>, <font color="#00a6ed">**delta_seconds**</font>, <font color="#00a6ed">**platform_timestamp**</font>)
- **Parameters:**
- `frame` (_int_)
- `elapsed_seconds` (_float_)
- `delta_seconds` (_float_)
- `platform_timestamp` (_float_)
- <a name="carla.Timestamp.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
- **Parameters:**
- `other` (_[carla.Timestamp](#carla.Timestamp)_)
- <a name="carla.Timestamp.__ne__"></a>**<font color="#7fb800">\__ne__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
- **Parameters:**
- `other` (_[carla.Timestamp](#carla.Timestamp)_)
- <a name="carla.Timestamp.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
---
## carla.TrafficLight<a name="carla.TrafficLight"></a>
<div style="padding-left:30px;margin-top:-20px"><small><b>Inherited from _[carla.TrafficSign](#carla.TrafficSign)_</b></small></div></p><p>A traffic light actor, considered a specific type of traffic sign. As traffic lights will mostly appear at junctions, they belong to a group which contains the different traffic lights in it. Inside the group, traffic lights are differenciated by their pole index.
Within a group the state of traffic lights is changed in a cyclic pattern: one index is chosen and it spends a few seconds in green, yellow and eventually red. The rest of the traffic lights remain frozen in red this whole time, meaning that there is a gap in the last seconds of the cycle where all the traffic lights are red. However, the state of a traffic light can be changed manually. Take a look at this [recipe](ref_code_recipes.md#traffic-lights-recipe) to learn how to do so.
<h3>Instance Variables</h3>
- <a name="carla.TrafficLight.state"></a>**<font color="#f8805a">state</font>** (_[carla.TrafficLightState](#carla.TrafficLightState)_)
Current state of the traffic light.
<h3>Methods</h3>
- <a name="carla.TrafficLight.freeze"></a>**<font color="#7fb800">freeze</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**freeze**</font>)
Stops the traffic light at its current state.
- **Parameters:**
- `freeze` (_bool_)
- <a name="carla.TrafficLight.is_frozen"></a>**<font color="#7fb800">is_frozen</font>**(<font color="#00a6ed">**self**</font>)
The client returns <b>True</b> if a traffic light is frozen according to last tick. The method does not call the simulator.
- **Return:** _bool_
- <a name="carla.TrafficLight.get_pole_index"></a>**<font color="#7fb800">get_pole_index</font>**(<font color="#00a6ed">**self**</font>)
Returns the index of the pole that identifies it as part of the traffic light group of a junction.
- **Return:** _int_
- <a name="carla.TrafficLight.get_group_traffic_lights"></a>**<font color="#7fb800">get_group_traffic_lights</font>**(<font color="#00a6ed">**self**</font>)
Returns all traffic lights in the group this one belongs to.
- **Return:** _list([carla.TrafficLight](#carla.TrafficLight))_
- **Note:** <font color="#8E8E8E">_This function calls the simulator.
_</font>
- <a name="carla.TrafficLight.get_elapsed_time"></a>**<font color="#7fb800">get_elapsed_time</font>**(<font color="#00a6ed">**self**</font>)
The client returns the time in seconds since current light state started according to last tick. The method does not call the simulator.
- **Return:** _float_
- <a name="carla.TrafficLight.get_state"></a>**<font color="#7fb800">get_state</font>**(<font color="#00a6ed">**self**</font>)
The client returns the state of the traffic light according to last tick. The method does not call the simulator.
- **Return:** _[carla.TrafficLightState](#carla.TrafficLightState)_
- <a name="carla.TrafficLight.get_green_time"></a>**<font color="#7fb800">get_green_time</font>**(<font color="#00a6ed">**self**</font>)
The client returns the seconds set for the traffic light to be green according to last tick. The method does not call the simulator.
- **Return:** _float_
- <a name="carla.TrafficLight.get_red_time"></a>**<font color="#7fb800">get_red_time</font>**(<font color="#00a6ed">**self**</font>)
The client returns the seconds set for the traffic light to be red according to last tick. The method does not call the simulator.
- **Return:** _float_
- <a name="carla.TrafficLight.get_yellow_time"></a>**<font color="#7fb800">get_yellow_time</font>**(<font color="#00a6ed">**self**</font>)
The client returns the the seconds set for the traffic light to be yellow according to last tick. The method does not call the simulator.
- **Return:** _float_
- <a name="carla.TrafficLight.set_state"></a>**<font color="#7fb800">set_state</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**state**</font>)
Sets a given state to a traffic light actor.
- **Parameters:**
- `state` (_[carla.TrafficLightState](#carla.TrafficLightState)_)
- <a name="carla.TrafficLight.set_green_time"></a>**<font color="#7fb800">set_green_time</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**green_time**</font>)
- **Parameters:**
- `green_time` (_float_) – Sets a given time (in seconds) for the green light to be active.
- <a name="carla.TrafficLight.set_red_time"></a>**<font color="#7fb800">set_red_time</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**red_time**</font>)
Sets a given time (in seconds) for the red state to be active.
- **Parameters:**
- `red_time` (_float_)
- <a name="carla.TrafficLight.set_yellow_time"></a>**<font color="#7fb800">set_yellow_time</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**yellow_time**</font>)
Sets a given time (in seconds) for the yellow light to be active.
- **Parameters:**
- `yellow_time` (_float_)
- <a name="carla.TrafficLight.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
---
## carla.TrafficLightState<a name="carla.TrafficLightState"></a>
All possible states for traffic lights. These can either change at a specific time step or be changed manually. Take a look at this [recipe](ref_code_recipes.md#traffic-lights-recipe) to see an example.
<h3>Instance Variables</h3>
- <a name="carla.TrafficLightState.Green"></a>**<font color="#f8805a">Green</font>**
- <a name="carla.TrafficLightState.Red"></a>**<font color="#f8805a">Red</font>**
- <a name="carla.TrafficLightState.Yellow"></a>**<font color="#f8805a">Yellow</font>**
- <a name="carla.TrafficLightState.Off"></a>**<font color="#f8805a">Off</font>**
- <a name="carla.TrafficLightState.Unknown"></a>**<font color="#f8805a">Unknown</font>**
---
## carla.TrafficManager<a name="carla.TrafficManager"></a>
The traffic manager is a module built on top of the CARLA API in C++. It handles any group of vehicles set to autopilot mode to populate the simulation with realistic urban traffic conditions and give the chance to user to customize some behaviours. The architecture of the traffic manager is divided in five different goal-oriented stages and a PID controller where the information flows until eventually, a [carla.VehicleControl](#carla.VehicleControl) is applied to every vehicle registered in a traffic manager.
In order to learn more, visit the [documentation](../traffic_manager) regarding this module.
<h3>Methods</h3>
- <a name="carla.TrafficManager.force_lane_change"></a>**<font color="#7fb800">force_lane_change</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**direction**</font>)
Forces a vehicle to change either to the lane on its left or right, if existing, as indicated in `direction`. This method applies the lane change no matter what, disregarding possible collisions.
- **Parameters:**
- `actor` (_[carla.Actor](#carla.Actor)_) – Vehicle being forced to change lanes.
- `direction` (_bool_) – Destination lane. __True__ is the one on the left and __False__ is the right one.
- <a name="carla.TrafficManager.ignore_vehicles_percentage"></a>**<font color="#7fb800">ignore_vehicles_percentage</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**perc**</font>)
During the collision detection stage, which runs every frame, this method sets a percent chance that collisions with another vehicle will be ignored for a vehicle.
- **Parameters:**
- `actor` (_[carla.Actor](#carla.Actor)_) – The vehicle that is going to ignore other vehicles.
- `perc` (_float_) – Between 0 and 100. Amount of times collisions will be ignored.
- <a name="carla.TrafficManager.ignore_walkers_percentage"></a>**<font color="#7fb800">ignore_walkers_percentage</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**perc**</font>)
During the collision detection stage, which runs every frame, this method sets a percent chance that collisions with walkers will be ignored for a vehicle.
- **Parameters:**
- `actor` (_[carla.Actor](#carla.Actor)_) – The vehicle that is going to ignore walkers on scene.
- `perc` (_float_) – Between 0 and 100. Amount of times collisions will be ignored.
- <a name="carla.TrafficManager.ignore_lights_percentage"></a>**<font color="#7fb800">ignore_lights_percentage</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**perc**</font>)
During the traffic light stage, which runs every frame, this method sets the percent chance that traffic lights will be ignored for a vehicle.
- **Parameters:**
- `actor` (_[carla.Actor](#carla.Actor)_) – The actor that is going to ignore traffic lights.
- `perc` (_float_) – Between 0 and 100. Amount of times traffic lights will be ignored.
- <a name="carla.TrafficManager.reset_traffic_lights"></a>**<font color="#7fb800">reset_traffic_lights</font>**(<font color="#00a6ed">**self**</font>)
Resets every traffic light in the map to its initial state.
- <a name="carla.TrafficManager.auto_lane_change"></a>**<font color="#7fb800">auto_lane_change</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**enable**</font>)
Turns on or off lane changing behaviour for a vehicle.
- **Parameters:**
- `actor` (_[carla.Actor](#carla.Actor)_) – The vehicle whose settings are changed.
- `enable` (_bool_) – __True__ is default and enables lane changes. __False__ will disable them.
- <a name="carla.TrafficManager.distance_to_leading_vehicle"></a>**<font color="#7fb800">distance_to_leading_vehicle</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**distance**</font>)
Sets the minimum distance in meters that a vehicle has to keep with the others. The distance is in meters and will affect the minimum moving distance. It is computed from front to back of the vehicle objects.
- **Parameters:**
- `actor` (_[carla.Actor](#carla.Actor)_) – Vehicle whose minimum distance is being changed.
- `distance` (_float_) – Meters between both vehicles.
- <a name="carla.TrafficManager.collision_detection"></a>**<font color="#7fb800">collision_detection</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**reference_actor**</font>, <font color="#00a6ed">**other_actor**</font>, <font color="#00a6ed">**detect_collision**</font>)
Tunes on/off collisions between a vehicle and another specific actor. In order to ignore all other vehicles, traffic lights or walkers, use the specific __ignore__ methods described in this same section.
- **Parameters:**
- `reference_actor` (_[carla.Actor](#carla.Actor)_) – Vehicle that is going to ignore collisions.
- `other_actor` (_[carla.Actor](#carla.Actor)_) – The actor that `reference_actor` is going to ignore collisions with.
- `detect_collision` (_bool_) – __True__ is default and enables collisions. __False will disable them.
- <a name="carla.TrafficManager.global_percentage_speed_difference"></a>**<font color="#7fb800">global_percentage_speed_difference</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**percentage**</font>)
Sets the difference the vehicle's intended speed and its current speed limit. Speed limits can be exceeded by setting the `perc` to a negative value.
Default is 30. Exceeding a speed limit can be done using negative percentages.
- **Parameters:**
- `percentage` (_float_) – Percentage difference between intended speed and the current limit.
- <a name="carla.TrafficManager.global_distance_to_leading_vehicle"></a>**<font color="#7fb800">global_distance_to_leading_vehicle</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**distance**</font>)
Sets the minimum distance in meters that vehicles have to keep with the rest. The distance is in meters and will affect the minimum moving distance. It is computed from center to center of the vehicle objects.
- **Parameters:**
- `distance` (_float_) – Meters between vehicles.
- <a name="carla.TrafficManager.vehicle_percentage_speed_difference"></a>**<font color="#7fb800">vehicle_percentage_speed_difference</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**percentage**</font>)
Sets the difference the vehicle's intended speed and its current speed limit. Speed limits can be exceeded by setting the `perc` to a negative value.
Default is 30. Exceeding a speed limit can be done using negative percentages.
- **Parameters:**
- `actor` (_[carla.Actor](#carla.Actor)_) – Vehicle whose speed behaviour is being changed.
- `percentage` (_float_) – Percentage difference between intended speed and the current limit.
---
## carla.TrafficSign<a name="carla.TrafficSign"></a>
<div style="padding-left:30px;margin-top:-20px"><small><b>Inherited from _[carla.Actor](#carla.Actor)_</b></small></div></p><p>Traffic signs appearing in the simulation except for traffic lights. These have their own class inherited from this in [carla.TrafficLight](#carla.TrafficLight). Right now, speed signs, stops and yields are mainly the ones implemented, but many others are borne in mind.
<h3>Instance Variables</h3>
- <a name="carla.TrafficSign.trigger_volume"></a>**<font color="#f8805a">trigger_volume</font>**
A [carla.BoundingBox](#carla.BoundingBox) situated near a traffic sign where the [carla.Actor](#carla.Actor) who is inside can know about it.
---
## carla.Transform<a name="carla.Transform"></a>
Class that defines a transformation, a combination of location and rotation, without scaling.
<h3>Instance Variables</h3>
- <a name="carla.Transform.location"></a>**<font color="#f8805a">location</font>** (_[carla.Location](#carla.Location)_)
Describes a point in the coordinate system.
- <a name="carla.Transform.rotation"></a>**<font color="#f8805a">rotation</font>** (_[carla.Rotation](#carla.Rotation)_)
Describes a rotation for an object according to Unreal Engine's axis system.
<h3>Methods</h3>
- <a name="carla.Transform.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**location**</font>, <font color="#00a6ed">**rotation**</font>)
- **Parameters:**
- `location` (_[carla.Location](#carla.Location)_)
- `rotation` (_[carla.Rotation](#carla.Rotation)_)
- <a name="carla.Transform.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
Returns true if both location and rotation are equal for this and `other`.
- **Parameters:**
- `other` (_[carla.Transform](#carla.Transform)_)
- **Return:** _bool_
- <a name="carla.Transform.__ne__"></a>**<font color="#7fb800">\__ne__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
Returns true if any location and rotation are not equal for this and `other`.
- **Parameters:**
- `other` (_[carla.Transform](#carla.Transform)_)
- **Return:** _bool_
- <a name="carla.Transform.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
Parses both location and rotation to string.
- **Return:** _str_
- <a name="carla.Transform.get_forward_vector"></a>**<font color="#7fb800">get_forward_vector</font>**(<font color="#00a6ed">**self**</font>)
Computes a forward vector using its rotation.
- **Return:** _[carla.Vector3D](#carla.Vector3D)_
- <a name="carla.Transform.transform"></a>**<font color="#7fb800">transform</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**in_point**</font>)
Translates a 3D point from global to local coordinates using the current transformation as frame of reference.
- **Parameters:**
- `in_point` (_[carla.Location](#carla.Location)_) – Location in the space to which the transformation will be applied.
---
## carla.Vector2D<a name="carla.Vector2D"></a>
Helper class to perform 2D operations.
<h3>Instance Variables</h3>
- <a name="carla.Vector2D.x"></a>**<font color="#f8805a">x</font>** (_float_)
X-axis value.
- <a name="carla.Vector2D.y"></a>**<font color="#f8805a">y</font>** (_float_)
Y-axis value.
<h3>Methods</h3>
- <a name="carla.Vector2D.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**x**=0.0</font>, <font color="#00a6ed">**y**=0.0</font>)
- **Parameters:**
- `x` (_float_)
- `y` (_float_)
- <a name="carla.Vector2D.__add__"></a>**<font color="#7fb800">\__add__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
Defines addition between 2D vectors and applies it to this.
- **Parameters:**
- `other` (_[carla.Vector2D](#carla.Vector2D)_)
- <a name="carla.Vector2D.__sub__"></a>**<font color="#7fb800">\__sub__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
Defines substraction between 2D vectors and applies it to this.
- **Parameters:**
- `other` (_[carla.Vector2D](#carla.Vector2D)_)
- <a name="carla.Vector2D.__mul__"></a>**<font color="#7fb800">\__mul__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
Defines multiplication between 2D vectors and applies it to this.
- **Parameters:**
- `other` (_[carla.Vector2D](#carla.Vector2D)_)
- <a name="carla.Vector2D.__truediv__"></a>**<font color="#7fb800">\__truediv__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
Defines division between 2D vectors and applies it to this.
- **Parameters:**
- `other` (_[carla.Vector2D](#carla.Vector2D)_)
- <a name="carla.Vector2D.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
Returns true if values for every axis are equal.
- **Parameters:**
- `other` (_[carla.Vector2D](#carla.Vector2D)_)
- **Return:** _bool_
- <a name="carla.Vector2D.__ne__"></a>**<font color="#7fb800">\__ne__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**bool**</font>)
Returns true if the value for any axis is different.
- **Parameters:**
- `bool` (_[carla.Vector2D](#carla.Vector2D)_)
- **Return:** _bool_
- <a name="carla.Vector2D.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
Returns the axis values for the vector parsed as string.
- **Return:** _str_
---
## carla.Vector3D<a name="carla.Vector3D"></a>
Helper class to perform 3D operations.
<h3>Instance Variables</h3>
- <a name="carla.Vector3D.x"></a>**<font color="#f8805a">x</font>** (_float_)
X-axis value.
- <a name="carla.Vector3D.y"></a>**<font color="#f8805a">y</font>** (_float_)
Y-axis value.
- <a name="carla.Vector3D.z"></a>**<font color="#f8805a">z</font>** (_float_)
Z-axis value.
<h3>Methods</h3>
- <a name="carla.Vector3D.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**x**=0.0</font>, <font color="#00a6ed">**y**=0.0</font>, <font color="#00a6ed">**z**=0.0</font>)
- **Parameters:**
- `x` (_float_)
- `y` (_float_)
- `z` (_float_)
- <a name="carla.Vector3D.__add__"></a>**<font color="#7fb800">\__add__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
Defines addition between 3D vectors and applies it to this.
- **Parameters:**
- `other` (_[carla.Vector3D](#carla.Vector3D)_)
- <a name="carla.Vector3D.__sub__"></a>**<font color="#7fb800">\__sub__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
Defines substraction between 3D vectors and applies it to this.
- **Parameters:**
- `other` (_[carla.Vector3D](#carla.Vector3D)_)
- <a name="carla.Vector3D.__mul__"></a>**<font color="#7fb800">\__mul__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
Defines multiplication between 3D vectors and applies it to this.
- **Parameters:**
- `other` (_[carla.Vector3D](#carla.Vector3D)_)
- <a name="carla.Vector3D.__truediv__"></a>**<font color="#7fb800">\__truediv__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
Defines division between 3D vectors and applies it to this.
- **Parameters:**
- `other` (_[carla.Vector3D](#carla.Vector3D)_)
- <a name="carla.Vector3D.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
Returns true if values for every axis are equal.
- **Parameters:**
- `other` (_[carla.Vector3D](#carla.Vector3D)_)
- **Return:** _bool_
- <a name="carla.Vector3D.__ne__"></a>**<font color="#7fb800">\__ne__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
Returns true if the value for any axis is different.
- **Parameters:**
- `other` (_[carla.Vector3D](#carla.Vector3D)_)
- **Return:** _bool_
- <a name="carla.Vector3D.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
Returns the axis values for the vector parsed as string.
- **Return:** _str_
---
## carla.Vehicle<a name="carla.Vehicle"></a>
<div style="padding-left:30px;margin-top:-20px"><small><b>Inherited from _[carla.Actor](#carla.Actor)_</b></small></div></p><p>One of the most important group of actors in CARLA. These include any type of vehicle from cars to trucks, motorbikes, vans, bycicles and also official vehicles such as police cars. A wide set of these actors is provided in [carla.BlueprintLibrary](#carla.BlueprintLibrary) to facilitate differente requirements. Vehicles can be either manually controlled or set to an autopilot mode that will be conducted client-side by the <b>traffic manager</b>.
<h3>Instance Variables</h3>
- <a name="carla.Vehicle.bounding_box"></a>**<font color="#f8805a">bounding_box</font>** (_[carla.BoundingBox](#carla.BoundingBox)_)
The vehicle's collider volume.
<h3>Methods</h3>
- <a name="carla.Vehicle.get_light_state"></a>**<font color="#7fb800">get_light_state</font>**(<font color="#00a6ed">**self**</font>)
Returns a flag representing the vehicle light state, this represents which lights are active or not.
- **Return:** _[carla.VehicleLightState](#carla.VehicleLightState)_
- <a name="carla.Vehicle.set_light_state"></a>**<font color="#7fb800">set_light_state</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**light_state**</font>)
Sets the light state of a vehicle using a VehicleLightState flag, this represents which lights are active or not.
- **Parameters:**
- `light_state` (_[carla.VehicleLightState](#carla.VehicleLightState)_)
- <a name="carla.Vehicle.apply_control"></a>**<font color="#7fb800">apply_control</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**control**</font>)
Applies a control object on the next tick, containing driving parameters such as throttle, steering or gear shifting.
- **Parameters:**
- `control` (_[carla.VehicleControl](#carla.VehicleControl)_)
- <a name="carla.Vehicle.apply_physics_control"></a>**<font color="#7fb800">apply_physics_control</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**physics_control**</font>)
Applies a physics control object in the next tick containing the parameters that define the vehicle as a corporeal body. E.g.: moment of inertia, mass, drag coefficient and many more.
- **Parameters:**
- `physics_control` (_[carla.VehiclePhysicsControl](#carla.VehiclePhysicsControl)_)
- <a name="carla.Vehicle.get_control"></a>**<font color="#7fb800">get_control</font>**(<font color="#00a6ed">**self**</font>)
The client returns the control applied in the last tick. The method does not call the simulator.
- **Return:** _[carla.VehicleControl](#carla.VehicleControl)_
- <a name="carla.Vehicle.get_physics_control"></a>**<font color="#7fb800">get_physics_control</font>**(<font color="#00a6ed">**self**</font>)
The simulator returns the last physics control applied to this vehicle.
- **Return:** _[carla.VehiclePhysicsControl](#carla.VehiclePhysicsControl)_
- **Warning:** <font color="#ED2F2F">_This function does call the simulator to retrieve the value._</font>
- <a name="carla.Vehicle.get_speed_limit"></a>**<font color="#7fb800">get_speed_limit</font>**(<font color="#00a6ed">**self**</font>)
The client returns the speed limit affecting this vehicle according to last tick (it does not call the simulator). The speed limit is updated when passing by a speed limit signal, so a vehicle might have none right after spawning.
- **Return:** _float_
- <a name="carla.Vehicle.get_traffic_light"></a>**<font color="#7fb800">get_traffic_light</font>**(<font color="#00a6ed">**self**</font>)
Retrieves the traffic light actor affecting this vehicle (if any) according to last tick. The method does not call the simulator.
- **Return:** _[carla.TrafficLight](#carla.TrafficLight)_
- <a name="carla.Vehicle.get_traffic_light_state"></a>**<font color="#7fb800">get_traffic_light_state</font>**(<font color="#00a6ed">**self**</font>)
The client returns the state of the traffic light affecting this vehicle according to last tick. The method does not call the simulator. If no traffic light is currently affecting the vehicle, returns <b>green</b>.
- **Return:** _[carla.TrafficLightState](#carla.TrafficLightState)_
- <a name="carla.Vehicle.is_at_traffic_light"></a>**<font color="#7fb800">is_at_traffic_light</font>**(<font color="#00a6ed">**self**</font>)
Vehicles will be affected by a traffic light when the light is red and the vehicle is inside its bounding box. The client returns whether a traffic light is affecting this vehicle according to last tick (it does not call the simulator).
- **Return:** _bool_
- <a name="carla.Vehicle.set_autopilot"></a>**<font color="#7fb800">set_autopilot</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**enabled**=True</font>)
Turns on/off this vehicle's server-side autopilot. When autopilot mode is on, the vehicle will be conducted by the traffic manager client-side.
- **Parameters:**
- `enabled` (_bool_)
- <a name="carla.Vehicle.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
- **Return:** _str_
---
## carla.VehicleControl<a name="carla.VehicleControl"></a>
Manages the basic movement of a vehicle using typical driving controls.
<h3>Instance Variables</h3>
- <a name="carla.VehicleControl.throttle"></a>**<font color="#f8805a">throttle</font>** (_float_)
A scalar value to control the vehicle throttle [0.0, 1.0]. Default is 0.0.
- <a name="carla.VehicleControl.steer"></a>**<font color="#f8805a">steer</font>** (_float_)
A scalar value to control the vehicle steering [-1.0, 1.0]. Default is 0.0.
- <a name="carla.VehicleControl.brake"></a>**<font color="#f8805a">brake</font>** (_float_)
A scalar value to control the vehicle brake [0.0, 1.0]. Default is 0.0.
- <a name="carla.VehicleControl.hand_brake"></a>**<font color="#f8805a">hand_brake</font>** (_bool_)
Determines whether hand brake will be used. Default is <b>False</b>.
- <a name="carla.VehicleControl.reverse"></a>**<font color="#f8805a">reverse</font>** (_bool_)
Determines whether the vehicle will move backwards. Default is <b>False</b>.
- <a name="carla.VehicleControl.manual_gear_shift"></a>**<font color="#f8805a">manual_gear_shift</font>** (_bool_)
Determines whether the vehicle will be controlled by changing gears manually. Default is <b>False</b>.
- <a name="carla.VehicleControl.gear"></a>**<font color="#f8805a">gear</font>** (_int_)
States which gear is the vehicle running on.
<h3>Methods</h3>
- <a name="carla.VehicleControl.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**throttle**=0.0</font>, <font color="#00a6ed">**steer**=0.0</font>, <font color="#00a6ed">**brake**=0.0</font>, <font color="#00a6ed">**hand_brake**=True</font>, <font color="#00a6ed">**reverse**=True</font>, <font color="#00a6ed">**manual_gear_shift**=True</font>, <font color="#00a6ed">**gear**=0</font>)
- **Parameters:**
- `throttle` (_float_)
- `steer` (_float_)
- `brake` (_float_)
- `hand_brake` (_bool_)
- `reverse` (_bool_)
- `manual_gear_shift` (_bool_)
- `gear` (_int_)
- <a name="carla.VehicleControl.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
- **Parameters:**
- `other` (_[carla.VehicleControl](#carla.VehicleControl)_)
- <a name="carla.VehicleControl.__ne__"></a>**<font color="#7fb800">\__ne__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
- **Parameters:**
- `other` (_[carla.VehicleControl](#carla.VehicleControl)_)
- <a name="carla.VehicleControl.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
---
## carla.VehicleLightState<a name="carla.VehicleLightState"></a>
Class that recaps the state of the lights of a vehicle, these can be used as a flags. E.g: `VehicleLightState.HighBeam & VehicleLightState.Brake` will return `True` when both are active. Lights are off by default in any situation and should be managed by the user via script. The blinkers blink automatically. _Warning: Right now, not all vehicles have been prepared to work with this functionality, this will be added to all of them in later updates_.
<h3>Instance Variables</h3>
- <a name="carla.VehicleLightState.NONE"></a>**<font color="#f8805a">NONE</font>**
All lights off.
- <a name="carla.VehicleLightState.Position"></a>**<font color="#f8805a">Position</font>**
- <a name="carla.VehicleLightState.LowBeam"></a>**<font color="#f8805a">LowBeam</font>**
- <a name="carla.VehicleLightState.HighBeam"></a>**<font color="#f8805a">HighBeam</font>**
- <a name="carla.VehicleLightState.Brake"></a>**<font color="#f8805a">Brake</font>**
- <a name="carla.VehicleLightState.RightBlinker"></a>**<font color="#f8805a">RightBlinker</font>**
- <a name="carla.VehicleLightState.LeftBlinker"></a>**<font color="#f8805a">LeftBlinker</font>**
- <a name="carla.VehicleLightState.Reverse"></a>**<font color="#f8805a">Reverse</font>**
- <a name="carla.VehicleLightState.Fog"></a>**<font color="#f8805a">Fog</font>**
- <a name="carla.VehicleLightState.Interior"></a>**<font color="#f8805a">Interior</font>**
- <a name="carla.VehicleLightState.Special1"></a>**<font color="#f8805a">Special1</font>**
This is reserved for certain vehicles that can have special lights, like a siren.
- <a name="carla.VehicleLightState.Special2"></a>**<font color="#f8805a">Special2</font>**
This is reserved for certain vehicles that can have special lights, like a siren.
- <a name="carla.VehicleLightState.All"></a>**<font color="#f8805a">All</font>**
All lights on.
---
## carla.VehiclePhysicsControl<a name="carla.VehiclePhysicsControl"></a>
Summarizes the parameters that will be used to simulate a [carla.Vehicle](#carla.Vehicle) as a physical object. The specific settings for the wheels though are stipulated using [carla.WheelPhysicsControl](#carla.WheelPhysicsControl).
<h3>Instance Variables</h3>
- <a name="carla.VehiclePhysicsControl.torque_curve"></a>**<font color="#f8805a">torque_curve</font>** (_list([carla.Vector2D](#carla.Vector2D))_)
Curve that indicates the torque measured in Nm for a specific RPM of the vehicle's engine.
- <a name="carla.VehiclePhysicsControl.max_rpm"></a>**<font color="#f8805a">max_rpm</font>** (_float_)
The maximum RPM of the vehicle's engine.
- <a name="carla.VehiclePhysicsControl.moi"></a>**<font color="#f8805a">moi</font>** (_float_)
The moment of inertia of the vehicle's engine.
- <a name="carla.VehiclePhysicsControl.damping_rate_full_throttle"></a>**<font color="#f8805a">damping_rate_full_throttle</font>** (_float_)
Damping ratio when the throttle is maximum.
- <a name="carla.VehiclePhysicsControl.damping_rate_zero_throttle_clutch_engaged"></a>**<font color="#f8805a">damping_rate_zero_throttle_clutch_engaged</font>** (_float_)
Damping ratio when the throttle is zero with clutch engaged.
- <a name="carla.VehiclePhysicsControl.damping_rate_zero_throttle_clutch_disengaged"></a>**<font color="#f8805a">damping_rate_zero_throttle_clutch_disengaged</font>** (_float_)
Damping ratio when the throttle is zero with clutch disengaged.
- <a name="carla.VehiclePhysicsControl.use_gear_autobox"></a>**<font color="#f8805a">use_gear_autobox</font>** (_bool_)
If <b>True</b>, the vehicle will have an automatic transmission.
- <a name="carla.VehiclePhysicsControl.gear_switch_time"></a>**<font color="#f8805a">gear_switch_time</font>** (_float_)
Switching time between gears.
- <a name="carla.VehiclePhysicsControl.clutch_strength"></a>**<font color="#f8805a">clutch_strength</font>** (_float_)
The clutch strength of the vehicle in Kgm^2/s.
- <a name="carla.VehiclePhysicsControl.final_ratio"></a>**<font color="#f8805a">final_ratio</font>** (_float_)
The fixed ratio from transmission to wheels.
- <a name="carla.VehiclePhysicsControl.forward_gears"></a>**<font color="#f8805a">forward_gears</font>** (_list([carla.GearPhysicsControl](#carla.GearPhysicsControl))_)
List of objects defining the vehicle's gears.
- <a name="carla.VehiclePhysicsControl.mass"></a>**<font color="#f8805a">mass</font>** (_float_)
The mass of the vehicle in Kg.
- <a name="carla.VehiclePhysicsControl.drag_coefficient"></a>**<font color="#f8805a">drag_coefficient</font>** (_float_)
Drag coefficient of the vehicle's chassis.
- <a name="carla.VehiclePhysicsControl.center_of_mass"></a>**<font color="#f8805a">center_of_mass</font>** (_[carla.Vector3D](#carla.Vector3D)_)
The center of mass of the vehicle.
- <a name="carla.VehiclePhysicsControl.steering_curve"></a>**<font color="#f8805a">steering_curve</font>** (_list([carla.Vector2D](#carla.Vector2D))_)
Curve that indicates the maximum steering for a specific forward speed.
- <a name="carla.VehiclePhysicsControl.wheels"></a>**<font color="#f8805a">wheels</font>** (_list([carla.WheelPhysicsControl](#carla.WheelPhysicsControl))_)
List of wheel physics objects. This list should have 4 elements, where index 0 corresponds to the front left wheel, index 1 corresponds to the front right wheel, index 2 corresponds to the back left wheel and index 3 corresponds to the back right wheel. For 2 wheeled vehicles, set the same values for both front and back wheels.
<h3>Methods</h3>
- <a name="carla.VehiclePhysicsControl.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**torque_curve**=[[0.0, 500.0], [5000.0, 500.0]]</font>, <font color="#00a6ed">**max_rpm**=5000.0</font>, <font color="#00a6ed">**moi**=1.0</font>, <font color="#00a6ed">**damping_rate_full_throttle**=0.15</font>, <font color="#00a6ed">**damping_rate_zero_throttle_clutch_engaged**=2.0</font>, <font color="#00a6ed">**damping_rate_zero_throttle_clutch_disengaged**=0.35</font>, <font color="#00a6ed">**use_gear_autobox**=True</font>, <font color="#00a6ed">**gear_switch_time**=0.5</font>, <font color="#00a6ed">**clutch_strength**=10.0</font>, <font color="#00a6ed">**final_ratio**=4.0</font>, <font color="#00a6ed">**forward_gears**=list()</font>, <font color="#00a6ed">**mass**=1000.0</font>, <font color="#00a6ed">**drag_coefficient**=0.3</font>, <font color="#00a6ed">**center_of_mass**=[0.0, 0.0, 0.0]</font>, <font color="#00a6ed">**steering_curve**=[[0.0, 1.0], [10.0, 0.5]]</font>, <font color="#00a6ed">**wheels**=list()</font>)
VehiclePhysicsControl constructor.
- **Parameters:**
- `torque_curve` (_list([carla.Vector2D](#carla.Vector2D))_)
- `max_rpm` (_float_)
- `moi` (_float_)
- `damping_rate_full_throttle` (_float_)
- `damping_rate_zero_throttle_clutch_engaged` (_float_)
- `damping_rate_zero_throttle_clutch_disengaged` (_float_)
- `use_gear_autobox` (_bool_)
- `gear_switch_time` (_float_)
- `clutch_strength` (_float_)
- `final_ratio` (_float_)
- `forward_gears` (_list([carla.GearPhysicsControl](#carla.GearPhysicsControl))_)
- `drag_coefficient` (_float_)
- `center_of_mass` (_[carla.Vector3D](#carla.Vector3D)_)
- `steering_curve` (_[carla.Vector2D](#carla.Vector2D)_)
- `wheels` (_list([carla.WheelPhysicsControl](#carla.WheelPhysicsControl))_)
- <a name="carla.VehiclePhysicsControl.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
- **Parameters:**
- `other` (_[carla.VehiclePhysicsControl](#carla.VehiclePhysicsControl)_)
- <a name="carla.VehiclePhysicsControl.__ne__"></a>**<font color="#7fb800">\__ne__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
- **Parameters:**
- `other` (_[carla.VehiclePhysicsControl](#carla.VehiclePhysicsControl)_)
- <a name="carla.VehiclePhysicsControl.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
---
## carla.Walker<a name="carla.Walker"></a>
<div style="padding-left:30px;margin-top:-20px"><small><b>Inherited from _[carla.Actor](#carla.Actor)_</b></small></div></p><p>This class inherits from the [carla.Actor](#carla.Actor) and defines pedestrians in the simulation. Walkers are a special type of actor that can be controlled either by an AI ([carla.WalkerAIController](#carla.WalkerAIController)) or manually via script, using a series of [carla.WalkerControl](#carla.WalkerControl) to move these and their skeletons.
<h3>Instance Variables</h3>
- <a name="carla.Walker.bounding_box"></a>**<font color="#f8805a">bounding_box</font>** (_[carla.BoundingBox](#carla.BoundingBox)_)
The walker's collider defined by a bounding box.
<h3>Methods</h3>
- <a name="carla.Walker.apply_control"></a>**<font color="#7fb800">apply_control</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**control**</font>)
On the next tick, the control will move the walker in a certain direction with a certain speed. Jumps can be commanded too.
- **Parameters:**
- `control` (_[carla.WalkerControl](#carla.WalkerControl)_)
- <a name="carla.Walker.apply_control"></a>**<font color="#7fb800">apply_control</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**control**</font>)
On the next tick, the control defines a list of bone transformations that will be applied to the walker's skeleton.
- **Parameters:**
- `control` (_[carla.WalkerBoneControl](#carla.WalkerBoneControl)_)
- <a name="carla.Walker.get_control"></a>**<font color="#7fb800">get_control</font>**(<font color="#00a6ed">**self**</font>)
The client returns the control applied to this walker during last tick. The method does not call the simulator.
- **Return:** _[carla.WalkerControl](#carla.WalkerControl)_
- <a name="carla.Walker.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
- **Return:** _str_
---
## carla.WalkerAIController<a name="carla.WalkerAIController"></a>
<div style="padding-left:30px;margin-top:-20px"><small><b>Inherited from _[carla.Actor](#carla.Actor)_</b></small></div></p><p>Class that conducts AI control for a walker. The controllers are defined as actors, but they are quite different from the rest. They need to be attached to a parent actor during their creation, which is the walker they will be controlling (take a look at [carla.World](#carla.World) if you are yet to learn on how to spawn actors). They also need for a special blueprint (already defined in [carla.BlueprintLibrary](#carla.BlueprintLibrary) as "controller.ai.walker"). This is an empty blueprint, as the AI controller will be invisible in the simulation but will follow its parent around to dictate every step of the way.
<h3>Methods</h3>
- <a name="carla.WalkerAIController.start"></a>**<font color="#7fb800">start</font>**(<font color="#00a6ed">**self**</font>)
Enables AI control for its parent walker.
- <a name="carla.WalkerAIController.stop"></a>**<font color="#7fb800">stop</font>**(<font color="#00a6ed">**self**</font>)
Disables AI control for its parent walker.
- <a name="carla.WalkerAIController.go_to_location"></a>**<font color="#7fb800">go_to_location</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**destination**</font>)
Sets the destination that the pedestrian will reach.
- **Parameters:**
- `destination` (_[carla.Location](#carla.Location)_)
- <a name="carla.WalkerAIController.set_max_speed"></a>**<font color="#7fb800">set_max_speed</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**speed**=1.4</font>)
Sets a speed for the walker in meters per second.
- **Parameters:**
- `speed` (_float_) – speed in m/s. An easy walking speed is set by default.
- <a name="carla.WalkerAIController.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
---
## carla.WalkerBoneControl<a name="carla.WalkerBoneControl"></a>
This class grants bone specific manipulation for walker. The skeletons of walkers have been unified for clarity and the transform applied to each bone are always relative to its parent. Take a look [here](tuto_G_control_walker_skeletons.md) to learn more on how to create a walker and define its movement.
<h3>Instance Variables</h3>
- <a name="carla.WalkerBoneControl.bone_transforms"></a>**<font color="#f8805a">bone_transforms</font>** (_list([name,transform])_)
List of tuples where the first value is the bone's name and the second value stores the transformation (changes in location and rotation) that will be applied to it.
<h3>Methods</h3>
- <a name="carla.WalkerBoneControl.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**list(name,transform)**</font>)
Intializes an object containing moves to be applied on tick. These are listed with the name of the bone and the transform that will be applied to it.
- **Parameters:**
- `list(name,transform)` (_tuple_)
- <a name="carla.WalkerBoneControl.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
---
## carla.WalkerControl<a name="carla.WalkerControl"></a>
This class defines specific directions that can be commanded to a [carla.Walker](#carla.Walker) to control it via script. The walker's animations will blend automatically with the parameters defined in this class when applied, though specific skeleton moves can be obtained through class.WalkerBoneControl.
AI control can be settled for walkers, but the control used to do so is [carla.WalkerAIController](#carla.WalkerAIController).
<h3>Instance Variables</h3>
- <a name="carla.WalkerControl.direction"></a>**<font color="#f8805a">direction</font>** (_[carla.Vector3D](#carla.Vector3D)_)
Vector using global coordinates that will correspond to the direction of the walker.
- <a name="carla.WalkerControl.speed"></a>**<font color="#f8805a">speed</font>** (_float_)
A scalar value to control the walker's speed.
- <a name="carla.WalkerControl.jump"></a>**<font color="#f8805a">jump</font>** (_bool_)
If <b>True</b>, the walker will perform a jump.
<h3>Methods</h3>
- <a name="carla.WalkerControl.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**direction**=[1.0, 0.0, 0.0]</font>, <font color="#00a6ed">**speed**=0.0</font>, <font color="#00a6ed">**jump**=False</font>)
- **Parameters:**
- `direction` (_[carla.Vector3D](#carla.Vector3D)_)
- `speed` (_float_)
- `jump` (_bool_)
- <a name="carla.WalkerControl.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
Compares every variable with `other` and returns <b>True</b> if these are all the same.
- **Parameters:**
- `other` (_[carla.WalkerControl](#carla.WalkerControl)_)
- <a name="carla.WalkerControl.__ne__"></a>**<font color="#7fb800">\__ne__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
Compares every variable with `other` and returns <b>True</b> if any of these differ.
- **Parameters:**
- `other` (_[carla.WalkerControl](#carla.WalkerControl)_)
- <a name="carla.WalkerControl.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
---
## carla.Waypoint<a name="carla.Waypoint"></a>
Waypoints in CARLA are described as 3D directed points. They store a certain [carla.Transform](#carla.Transform) which locates the waypoint in a road and orientates it according to the lane. They also store the road information belonging to said point regarding its lane and lane markings. All of this information is retrieved as provided by the OpenDRIVE file.
<h3>Instance Variables</h3>
- <a name="carla.Waypoint.id"></a>**<font color="#f8805a">id</font>** (_int_)
The identificator is generated using a hash combination of the <b>road</b>, <b>section</b>, <b>lane</b> and <b>s</b> values that correspond to said point in the OpenDRIVE geometry. The <b>s</b> precision is set to 2 centimeters, so 2 waypoints closer than 2 centimeters in the same road, section and lane, will have the same identificator.
- <a name="carla.Waypoint.transform"></a>**<font color="#f8805a">transform</font>** (_[carla.Transform](#carla.Transform)_)
Position and orientation of the waypoint according to the current lane information. This data is computed the first time it is accessed. It is not created right away in order to ease computing costs when lots of waypoints are created but their specific transform is not needed.
- <a name="carla.Waypoint.road_id"></a>**<font color="#f8805a">road_id</font>** (_int_)
OpenDRIVE road's id.
- <a name="carla.Waypoint.section_id"></a>**<font color="#f8805a">section_id</font>** (_int_)
OpenDRIVE section's id, based on the order that they are originally defined.
- <a name="carla.Waypoint.lane_id"></a>**<font color="#f8805a">lane_id</font>** (_int_)
OpenDRIVE lane's id, this value can be positive or negative which represents the direction of the current lane with respect to the road. For more information refer to OpenDRIVE [documentation](http://www.opendrive.org/docs/OpenDRIVEFormatSpecRev1.4H.pdf#page=20).
- <a name="carla.Waypoint.s"></a>**<font color="#f8805a">s</font>** (_float_)
OpenDRIVE <b>s</b> value of the current position.
- <a name="carla.Waypoint.is_junction"></a>**<font color="#f8805a">is_junction</font>** (_bool_)
<b>True</b> if the current Waypoint is on a junction as defined by OpenDRIVE.
- <a name="carla.Waypoint.lane_width"></a>**<font color="#f8805a">lane_width</font>** (_float_)
Horizontal size of the road at current <b>s</b>.
- <a name="carla.Waypoint.lane_change"></a>**<font color="#f8805a">lane_change</font>** (_[carla.LaneChange](#carla.LaneChange)_)
Lane change definition of the current Waypoint's location, based on the traffic rules defined in the OpenDRIVE file. It states if a lane change can be done and in which direction.
- <a name="carla.Waypoint.lane_type"></a>**<font color="#f8805a">lane_type</font>** (_[carla.LaneType](#carla.LaneType)_)
The lane type of the current Waypoint, based on OpenDRIVE 1.4 standard.
- <a name="carla.Waypoint.right_lane_marking"></a>**<font color="#f8805a">right_lane_marking</font>** (_[carla.LaneMarking](#carla.LaneMarking)_)
The right lane marking information based on the direction of the Waypoint.
- <a name="carla.Waypoint.left_lane_marking"></a>**<font color="#f8805a">left_lane_marking</font>** (_[carla.LaneMarking](#carla.LaneMarking)_)
The left lane marking information based on the direction of the Waypoint.
<h3>Methods</h3>
- <a name="carla.Waypoint.get_left_lane"></a>**<font color="#7fb800">get_left_lane</font>**(<font color="#00a6ed">**self**</font>)
Generates a Waypoint at the center of the left lane based on the direction of the current Waypoint, taking into account if the lane change is allowed in this location.
Will return <b>None</b> if the lane does not exist.
- **Return:** _[carla.Waypoint](#carla.Waypoint)_
- <a name="carla.Waypoint.get_right_lane"></a>**<font color="#7fb800">get_right_lane</font>**(<font color="#00a6ed">**self**</font>)
Generates a waypoint at the center of the right lane based on the direction of the current waypoint, taking into account if the lane change is allowed in this location.
Will return <b>None</b> if the lane does not exist.
- **Return:** _[carla.Waypoint](#carla.Waypoint)_
- <a name="carla.Waypoint.next"></a>**<font color="#7fb800">next</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**distance**</font>)
Returns a list of waypoints at a certain approximate `distance` from the current one. It takes into account the road and its possible deviations without performing any lane change and returns one waypoint per option.
The list may be empty if the lane is not connected to any other at the specified distance.
- **Parameters:**
- `distance` (_float_) – The approximate distance where to get the next waypoints.
- **Return:** _list([carla.Waypoint](#carla.Waypoint))_
- <a name="carla.Waypoint.next_until_lane_end"></a>**<font color="#7fb800">next_until_lane_end</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**distance**</font>)
Returns a list of waypoints from this to the end of the lane separated by a certain `distance`.
- **Parameters:**
- `distance` (_float_) – The approximate distance between waypoints.
- **Return:** _list([carla.Waypoint](#carla.Waypoint))_
- <a name="carla.Waypoint.previous"></a>**<font color="#7fb800">previous</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**distance**</font>)
This method does not return the waypoint previously visited by an actor, but a list of waypoints at an approximate `distance` but in the opposite direction of the lane. Similarly to **<font color="#7fb800">next()</font>**, it takes into account the road and its possible deviations without performing any lane change and returns one waypoint per option.
The list may be empty if the lane is not connected to any other at the specified distance.
- **Parameters:**
- `distance` (_float_) – The approximate distance where to get the previous waypoints.
- **Return:** _list([carla.Waypoint](#carla.Waypoint))_
- <a name="carla.Waypoint.previous_until_lane_start"></a>**<font color="#7fb800">previous_until_lane_start</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**distance**</font>)
Returns a list of waypoints from this to the start of the lane separated by a certain `distance`.
- **Parameters:**
- `distance` (_float_) – The approximate distance between waypoints.
- **Return:** _list([carla.Waypoint](#carla.Waypoint))_
- <a name="carla.Waypoint.get_landmarks"></a>**<font color="#7fb800">get_landmarks</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**distance**</font>, <font color="#00a6ed">**stop_at_junction**=False</font>)
Returns a list of landmarks in the road from the current waypoint until the specified distance.
- **Parameters:**
- `distance` (_float_) – The maximum distance to search for landmarks from the current waypoint.
- `stop_at_junction` (_bool_) – Enables or disables the landmark search through junctions.
- **Return:** _list([carla.Landmark](#carla.Landmark))_
- <a name="carla.Waypoint.get_landmarks_of_type"></a>**<font color="#7fb800">get_landmarks_of_type</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**distance**</font>, <font color="#00a6ed">**type**</font>, <font color="#00a6ed">**stop_at_junction**=False</font>)
Returns a list of landmarks in the road of a specified type from the current waypoint until the specified distance.
- **Parameters:**
- `distance` (_float_) – The maximum distance to search for landmarks from the current waypoint.
- `type` (_str_) – The type of landmarks to search.
- `stop_at_junction` (_bool_) – Enables or disables the landmark search through junctions.
- **Return:** _list([carla.Landmark](#carla.Landmark))_
- <a name="carla.Waypoint.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
---
## carla.WeatherParameters<a name="carla.WeatherParameters"></a>
This class defines objects containing lightning and weather specifications that can later be applied in [carla.World](#carla.World). So far, these conditions only intervene with [sensor.camera.rgb](/bp_library/). They neither affect the actor's physics nor other sensors.
Each of these parameters acts indepently from the rest. Increasing the rainfall will not automatically create puddles nor change the road's humidity. That makes for a better customization but means that realistic conditions need to be scripted. However an example of dynamic weather conditions working realistically can be found [here](https://github.com/carla-simulator/carla/blob/master/PythonAPI/examples/dynamic_weather.py).
<h3>Instance Variables</h3>
- <a name="carla.WeatherParameters.cloudiness"></a>**<font color="#f8805a">cloudiness</font>** (_float_)
Values range from 0 to 100, being 0 a clear sky and 100 one completely covered with clouds.
- <a name="carla.WeatherParameters.precipitation"></a>**<font color="#f8805a">precipitation</font>** (_float_)
Rain intensity values range from 0 to 100, being 0 none at all and 100 a heavy rain.
- <a name="carla.WeatherParameters.precipitation_deposits"></a>**<font color="#f8805a">precipitation_deposits</font>** (_float_)
Determines the creation of puddles. Values range from 0 to 100, being 0 none at all and 100 a road completely capped with water. Puddles are created with static noise, meaning that they will always appear at the same locations.
- <a name="carla.WeatherParameters.wind_intensity"></a>**<font color="#f8805a">wind_intensity</font>** (_float_)
Controls the strenght of the wind with values from 0, no wind at all, to 100, a strong wind. The wind does affect rain direction and leaves from trees, so this value is restricted to avoid animation issues.
- <a name="carla.WeatherParameters.fog_density"></a>**<font color="#f8805a">fog_density</font>** (_float_)
Fog density. It only affects the RGB camera sensor. Values range from 0 to 100.
- <a name="carla.WeatherParameters.fog_distance"></a>**<font color="#f8805a">fog_distance</font>** (_float_)
Fog start distance (in meters). Values range from 0 to infinite.
- <a name="carla.WeatherParameters.wetness"></a>**<font color="#f8805a">wetness</font>** (_float_)
Wetness intensity. It only affects the RGB camera sensor. Values range from 0 to 100.
- <a name="carla.WeatherParameters.sun_azimuth_angle"></a>**<font color="#f8805a">sun_azimuth_angle</font>** (_float_)
The azimuth angle of the sun in degrees. Values range from 0 to 360. Zero is an origin point in a sphere determined by Unreal Engine.
- <a name="carla.WeatherParameters.sun_altitude_angle"></a>**<font color="#f8805a">sun_altitude_angle</font>** (_float_)
Altitude angle of the sun in degrees. Values range from -90 to 90 corresponding to midnight and midday each.
<h3>Methods</h3>
- <a name="carla.WeatherParameters.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**cloudiness**=0.0</font>, <font color="#00a6ed">**precipitation**=0.0</font>, <font color="#00a6ed">**precipitation_deposits**=0.0</font>, <font color="#00a6ed">**wind_intensity**=0.0</font>, <font color="#00a6ed">**sun_azimuth_angle**=0.0</font>, <font color="#00a6ed">**sun_altitude_angle**=0.0</font>)
Method to initialize an object defining weather conditions. This class has some presets for different noon and sunset conditions listed in a note below.
- **Parameters:**
- `cloudiness` (_float_) – 0 is a clear sky, 100 complete overcast.
- `precipitation` (_float_) – 0 is no rain at all, 100 a heavy rain.
- `precipitation_deposits` (_float_) – 0 means no puddles on the road, 100 means roads completely capped by rain.
- `wind_intensity` (_float_) – 0 is calm, 100 a strong wind.
- `sun_azimuth_angle` (_float_) – 90 is midday, -90 is midnight.
- `sun_altitude_angle` (_float_) – 0 is an arbitrary North, 180 its corresponding South.
- **Note:** <font color="#8E8E8E">_ClearNoon, CloudyNoon, WetNoon, WetCloudyNoon, SoftRainNoon, MidRainyNoon, HardRainNoon, ClearSunset, CloudySunset, WetSunset, WetCloudySunset, SoftRainSunset, MidRainSunset, HardRainSunset.
_</font>
- <a name="carla.WeatherParameters.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
Returns <b>True</b> if both objects' variables are the same.
- **Return:** _bool_
- <a name="carla.WeatherParameters.__ne__"></a>**<font color="#7fb800">\__ne__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
Returns <b>True</b> if both objects' variables are different.
- **Return:** _bool_
- <a name="carla.WeatherParameters.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
---
## carla.WheelPhysicsControl<a name="carla.WheelPhysicsControl"></a>
Class that defines specific physical parameters for wheel objects that will be part of a [carla.VehiclePhysicsControl](#carla.VehiclePhysicsControl) to simulate vehicle it as a material object.
<h3>Instance Variables</h3>
- <a name="carla.WheelPhysicsControl.tire_friction"></a>**<font color="#f8805a">tire_friction</font>** (_float_)
A scalar value that indicates the friction of the wheel.
- <a name="carla.WheelPhysicsControl.damping_rate"></a>**<font color="#f8805a">damping_rate</font>** (_float_)
Damping rate of the wheel.
- <a name="carla.WheelPhysicsControl.max_steer_angle"></a>**<font color="#f8805a">max_steer_angle</font>** (_float_)
Maximum angle in degrees that the wheel can steer.
- <a name="carla.WheelPhysicsControl.radius"></a>**<font color="#f8805a">radius</font>** (_float_)
Radius of the wheel in centimeters.
- <a name="carla.WheelPhysicsControl.max_brake_torque"></a>**<font color="#f8805a">max_brake_torque</font>** (_float_)
Maximum brake torque in Nm.
- <a name="carla.WheelPhysicsControl.max_handbrake_torque"></a>**<font color="#f8805a">max_handbrake_torque</font>** (_float_)
Maximum handbrake torque in Nm.
- <a name="carla.WheelPhysicsControl.position"></a>**<font color="#f8805a">position</font>** (_[carla.Vector3D](#carla.Vector3D)_)
World position of the wheel. This is a read-only parameter.
<h3>Methods</h3>
- <a name="carla.WheelPhysicsControl.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**tire_friction**=2.0</font>, <font color="#00a6ed">**damping_rate**=0.25</font>, <font color="#00a6ed">**max_steer_angle**=70.0</font>, <font color="#00a6ed">**radius**=30.0</font>, <font color="#00a6ed">**max_brake_torque**=1500.0</font>, <font color="#00a6ed">**max_handbrake_torque**=3000.0</font>, <font color="#00a6ed">**position**=(0.0,0.0,0.0)</font>)
- **Parameters:**
- `tire_friction` (_float_)
- `damping_rate` (_float_)
- `max_steer_angle` (_float_)
- `radius` (_float_)
- `max_brake_torque` (_float_)
- `max_handbrake_torque` (_float_)
- `position` (_[carla.Vector3D](#carla.Vector3D)_)
- <a name="carla.WheelPhysicsControl.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
- **Parameters:**
- `other` (_[carla.WheelPhysicsControl](#carla.WheelPhysicsControl)_)
- <a name="carla.WheelPhysicsControl.__ne__"></a>**<font color="#7fb800">\__ne__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
- **Parameters:**
- `other` (_[carla.WheelPhysicsControl](#carla.WheelPhysicsControl)_)
- <a name="carla.WheelPhysicsControl.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
---
## carla.World<a name="carla.World"></a>
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](#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.
<h3>Instance Variables</h3>
- <a name="carla.World.id"></a>**<font color="#f8805a">id</font>** (_int_)
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.
- <a name="carla.World.debug"></a>**<font color="#f8805a">debug</font>** (_[carla.DebugHelper](#carla.DebugHelper)_)
Responsible for creating different shapes for debugging. Take a look at its class to learn more about it.
<h3>Methods</h3>
- <a name="carla.World.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
The content of the world is parsed and printed as a brief report of its current state.
- **Return:** _string_
- <a name="carla.World.apply_settings"></a>**<font color="#7fb800">apply_settings</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**world_settings**</font>)
This method applies settings contained in an object to the simulation running and returns the ID of the frame they were implemented.
- **Parameters:**
- `world_settings` (_[carla.WorldSettings](#carla.WorldSettings)_)
- **Return:** _int_
- <a name="carla.World.get_actor"></a>**<font color="#7fb800">get_actor</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor_id**</font>)
Looks up for an actor by ID and returns <b>None</b> if not found.
- **Parameters:**
- `actor_id` (_int_)
- **Return:** _[carla.Actor](#carla.Actor)_
- <a name="carla.World.get_actors"></a>**<font color="#7fb800">get_actors</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor_ids**=None</font>)
Retrieves a list of [carla.Actor](#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.
- **Parameters:**
- `actor_ids` (_list_) – The IDs of the actors being searched. By default it is set to <b>None</b> and returns every actor on scene.
- **Return:** _[carla.ActorList](#carla.ActorList)_
- <a name="carla.World.get_blueprint_library"></a>**<font color="#7fb800">get_blueprint_library</font>**(<font color="#00a6ed">**self**</font>)
Returns a list of actor blueprints available to ease the spawn of these into the world.
- **Return:** _[carla.BlueprintLibrary](#carla.BlueprintLibrary)_
- <a name="carla.World.get_map"></a>**<font color="#7fb800">get_map</font>**(<font color="#00a6ed">**self**</font>)
Returns the object containing the navigation map used to describe this world.
- **Return:** _[carla.Map](#carla.Map)_
- <a name="carla.World.get_random_location_from_navigation"></a>**<font color="#7fb800">get_random_location_from_navigation</font>**(<font color="#00a6ed">**self**</font>)
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](#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.
- **Return:** _[carla.Location](#carla.Location)_
- <a name="carla.World.get_snapshot"></a>**<font color="#7fb800">get_snapshot</font>**(<font color="#00a6ed">**self**</font>)
Returns a snapshot of the world at a certain moment comprising all the information about the actors.
- **Return:** _[carla.WorldSnapshot](#carla.WorldSnapshot)_
- <a name="carla.World.get_spectator"></a>**<font color="#7fb800">get_spectator</font>**(<font color="#00a6ed">**self**</font>)
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.
- **Return:** _[carla.Actor](#carla.Actor)_
- <a name="carla.World.get_settings"></a>**<font color="#7fb800">get_settings</font>**(<font color="#00a6ed">**self**</font>)
Returns an object containing some data about the simulation such as synchrony between client and server or rendering mode.
- **Return:** _[carla.WorldSettings](#carla.WorldSettings)_
- <a name="carla.World.get_weather"></a>**<font color="#7fb800">get_weather</font>**(<font color="#00a6ed">**self**</font>)
Retrieves an object containing weather parameters currently active in the simulation, mainly cloudiness, precipitation, wind and sun position.
- **Return:** _[carla.WeatherParameters](#carla.WeatherParameters)_
- <a name="carla.World.on_tick"></a>**<font color="#7fb800">on_tick</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**callback**</font>)
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>**.
- **Parameters:**
- `callback` (_[carla.WorldSnapshot](#carla.WorldSnapshot)_) – A defined function with a snapshot as compulsory parameter that will be called every tick.
- **Return:** _int_
- <a name="carla.World.remove_on_tick"></a>**<font color="#7fb800">remove_on_tick</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**callback_id**</font>)
Stops the callback for `callback_id` started with **<font color="#7fb800">on_tick()</font>**.
- **Parameters:**
- `callback_id` (_callback_) – The callback to be removed.
- <a name="carla.World.set_weather"></a>**<font color="#7fb800">set_weather</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**weather**</font>)
Changes the weather parameteres ruling the simulation to another ones defined in an object.
- **Parameters:**
- `weather` (_[carla.WeatherParameters](#carla.WeatherParameters)_) – New conditions to be applied.
- <a name="carla.World.spawn_actor"></a>**<font color="#7fb800">spawn_actor</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**blueprint**</font>, <font color="#00a6ed">**transform**</font>, <font color="#00a6ed">**attach_to**=None</font>, <font color="#00a6ed">**attachment**=Rigid</font>)
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.
- **Parameters:**
- `blueprint` (_[carla.ActorBlueprint](#carla.ActorBlueprint)_) – The reference from which the actor will be created.
- `transform` (_[carla.Transform](#carla.Transform)_) – Contains the location and orientation the actor will be spawned with.
- `attach_to` (_[carla.Actor](#carla.Actor)_) – The parent object that the spawned actor will follow around.
- `attachment` (_[carla.AttachmentType](#carla.AttachmentType)_) – Determines how fixed and rigorous should be the changes in position according to its parent object.
- **Return:** _[carla.Actor](#carla.Actor)_
- <a name="carla.World.tick"></a>**<font color="#7fb800">tick</font>**(<font color="#00a6ed">**self**</font>)
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.
- **Return:** _int_
- <a name="carla.World.try_spawn_actor"></a>**<font color="#7fb800">try_spawn_actor</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**blueprint**</font>, <font color="#00a6ed">**transform**</font>, <font color="#00a6ed">**attach_to**=None</font>, <font color="#00a6ed">**attachment**=Rigid</font>)
Same as **<font color="#7fb800">spawn_actor()</font>** but returns <b>None</b> on failure instead of throwing an exception.
- **Parameters:**
- `blueprint` (_[carla.ActorBlueprint](#carla.ActorBlueprint)_) – The reference from which the actor will be created.
- `transform` (_[carla.Transform](#carla.Transform)_) – Contains the location and orientation the actor will be spawned with.
- `attach_to` (_[carla.Actor](#carla.Actor)_) – The parent object that the spawned actor will follow around.
- `attachment` (_[carla.AttachmentType](#carla.AttachmentType)_) – Determines how fixed and rigorous should be the changes in position according to its parent object.
- **Return:** _[carla.Actor](#carla.Actor)_
- <a name="carla.World.wait_for_tick"></a>**<font color="#7fb800">wait_for_tick</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**seconds**=10.0</font>)
The client tells the server to block calling thread until a **<font color="#7fb800">world_tick()</font>** is received.
- **Parameters:**
- `seconds` (_float_) – Maximum time in seconds the server should wait for a tick. It is set to 10.0 by default.
- **Return:** _[carla.WorldSnapshot](#carla.WorldSnapshot)_
---
## carla.WorldSettings<a name="carla.WorldSettings"></a>
The simulation has some advanced configuration options that are contained in this class and can be managed using [carla.World](#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.
<h3>Instance Variables</h3>
- <a name="carla.WorldSettings.synchronous_mode"></a>**<font color="#f8805a">synchronous_mode</font>** (_bool_)
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.
- <a name="carla.WorldSettings.no_rendering_mode"></a>**<font color="#f8805a">no_rendering_mode</font>** (_bool_)
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.
- <a name="carla.WorldSettings.fixed_delta_seconds"></a>**<font color="#f8805a">fixed_delta_seconds</font>** (_float_)
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.
<h3>Methods</h3>
- <a name="carla.WorldSettings.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**synchronous_mode**=False</font>, <font color="#00a6ed">**no_rendering_mode**=False</font>, <font color="#00a6ed">**fixed_delta_seconds**=0.0</font>)
Creates an object containing desired settings that could later be applied through [carla.World](#carla.World) and its method **<font color="#7fb800">apply_settings()</font>**.
- **Parameters:**
- `synchronous_mode` (_bool_) – Set this to true to enable client-server synchrony.
- `no_rendering_mode` (_bool_) – Set this to true to completely disable rendering in the simulation.
- `fixed_delta_seconds` (_float_) – 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.
- <a name="carla.WorldSettings.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
Returns <b>True</b> if both objects' variables are the same.
- **Parameters:**
- `other` (_[carla.WorldSettings](#carla.WorldSettings)_) – Settings to be compared with.
- **Return:** _bool_
- <a name="carla.WorldSettings.__ne__"></a>**<font color="#7fb800">\__ne__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
Returns <b>True</b> if both objects' variables are different.
- **Parameters:**
- `other` (_[carla.WorldSettings](#carla.WorldSettings)_) – Settings to be compared with.
- **Return:** _bool_
- <a name="carla.WorldSettings.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)
Parses the established settings to a string and shows them in command line.
- **Return:** _str_
---
## carla.WorldSnapshot<a name="carla.WorldSnapshot"></a>
This snapshot comprises all the information for every actor on scene at a certain moment of time. It creates and gives acces to a data structure containing a series of [carla.ActorSnapshot](#carla.ActorSnapshot). The client recieves a new snapshot on every tick that cannot be stored.
<h3>Instance Variables</h3>
- <a name="carla.WorldSnapshot.id"></a>**<font color="#f8805a">id</font>** (_int_)
A value unique for every snapshot to differenciate them.
- <a name="carla.WorldSnapshot.frame"></a>**<font color="#f8805a">frame</font>** (_int_)
Simulation frame in which the snapshot was taken.
- <a name="carla.WorldSnapshot.timestamp"></a>**<font color="#f8805a">timestamp</font>** (_[carla.Timestamp](#carla.Timestamp)_)
Precise moment in time when snapshot was taken. This class works in seconds as given by the operative system.
<h3>Methods</h3>
- <a name="carla.WorldSnapshot.__eq__"></a>**<font color="#7fb800">\__eq__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
Returns <b>True</b> if both **<font color="#f8805a">timestamp</font>** are the same.
- **Parameters:**
- `other` (_[carla.WorldSnapshot](#carla.WorldSnapshot)_)
- **Return:** _bool_
- <a name="carla.WorldSnapshot.__iter__"></a>**<font color="#7fb800">\__iter__</font>**(<font color="#00a6ed">**self**</font>)
Method that enables iteration for this class using **<font color="#f8805a">timestamp</font>** as reference value.
- <a name="carla.WorldSnapshot.__ne__"></a>**<font color="#7fb800">\__ne__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**other**</font>)
Returns <b>True</b> if both **<font color="#f8805a">timestamp</font>** are different.
- **Parameters:**
- `other` (_[carla.WorldSnapshot](#carla.WorldSnapshot)_)
- **Return:** _bool_
- <a name="carla.WorldSnapshot.__len__"></a>**<font color="#7fb800">\__len__</font>**(<font color="#00a6ed">**self**</font>)
Returns the amount of [carla.ActorSnapshot](#carla.ActorSnapshot) present in this snapshot.
- **Return:** _int_
- <a name="carla.WorldSnapshot.find"></a>**<font color="#7fb800">find</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor_id**</font>)
Given a certain actor ID, returns its corresponding snapshot or <b>None</b> if it is not found.
- **Parameters:**
- `actor_id` (_int_)
- **Return:** _[carla.ActorSnapshot](#carla.ActorSnapshot)_
- <a name="carla.WorldSnapshot.has_actor"></a>**<font color="#7fb800">has_actor</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor_id**</font>)
Given a certain actor ID, checks if there is a snapshot corresponding it and so, if the actor was present at that moment.
- **Parameters:**
- `actor_id` (_int_)
- **Return:** _bool_
---
## command.ApplyAngularVelocity<a name="command.ApplyAngularVelocity"></a>
Command adaptation of **<font color="#7fb800">set_angular_velocity()</font>** in [carla.Actor](#carla.Actor). Sets an actor's angular velocity.
<h3>Instance Variables</h3>
- <a name="command.ApplyAngularVelocity.actor_id"></a>**<font color="#f8805a">actor_id</font>** (_int_)
Actor affected by the command.
- <a name="command.ApplyAngularVelocity.angular_velocity"></a>**<font color="#f8805a">angular_velocity</font>** (_[carla.Vector3D](#carla.Vector3D)_)
The 3D angular velocity that will be applied to the actor.
<h3>Methods</h3>
- <a name="command.ApplyAngularVelocity.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**angular_velocity**</font>)
- **Parameters:**
- `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to.
- `angular_velocity` (_[carla.Vector3D](#carla.Vector3D)_)
---
## command.ApplyImpulse<a name="command.ApplyImpulse"></a>
Command adaptation of **<font color="#7fb800">add_impulse()</font>** in [carla.Actor](#carla.Actor). Adds impulse to an actor.
<h3>Instance Variables</h3>
- <a name="command.ApplyImpulse.actor_id"></a>**<font color="#f8805a">actor_id</font>** (_int_)
Actor affected by the command.
- <a name="command.ApplyImpulse.impulse"></a>**<font color="#f8805a">impulse</font>** (_[carla.Vector3D](#carla.Vector3D)_)
Impulse applied to the actor.
<h3>Methods</h3>
- <a name="command.ApplyImpulse.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**impulse**</font>)
- **Parameters:**
- `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to.
- `impulse` (_[carla.Vector3D](#carla.Vector3D)_)
---
## command.ApplyTransform<a name="command.ApplyTransform"></a>
Command adaptation of **<font color="#7fb800">set_transform()</font>** in [carla.Actor](#carla.Actor). Sets a new transform to an actor.
<h3>Instance Variables</h3>
- <a name="command.ApplyTransform.actor_id"></a>**<font color="#f8805a">actor_id</font>** (_int_)
Actor affected by the command.
- <a name="command.ApplyTransform.transform"></a>**<font color="#f8805a">transform</font>** (_[carla.Transform](#carla.Transform)_)
Transformation to be applied.
<h3>Methods</h3>
- <a name="command.ApplyTransform.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**transform**</font>)
- **Parameters:**
- `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to.
- `transform` (_[carla.Transform](#carla.Transform)_)
---
## command.ApplyVehicleControl<a name="command.ApplyVehicleControl"></a>
Command adaptation of **<font color="#7fb800">apply_control()</font>** in [carla.Vehicle](#carla.Vehicle). Applies a certain control to a vehicle.
<h3>Instance Variables</h3>
- <a name="command.ApplyVehicleControl.actor_id"></a>**<font color="#f8805a">actor_id</font>** (_int_)
Vehicle actor affected by the command.
- <a name="command.ApplyVehicleControl.control"></a>**<font color="#f8805a">control</font>** (_[carla.VehicleControl](#carla.VehicleControl)_)
Vehicle control to be applied.
<h3>Methods</h3>
- <a name="command.ApplyVehicleControl.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**control**</font>)
- **Parameters:**
- `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to.
- `control` (_[carla.VehicleControl](#carla.VehicleControl)_)
---
## command.ApplyVelocity<a name="command.ApplyVelocity"></a>
Command adaptation of **<font color="#7fb800">set_velocity()</font>** in [carla.Actor](#carla.Actor). Sets an actor's velocity.
<h3>Instance Variables</h3>
- <a name="command.ApplyVelocity.actor_id"></a>**<font color="#f8805a">actor_id</font>** (_int_)
Actor affected by the command.
- <a name="command.ApplyVelocity.velocity"></a>**<font color="#f8805a">velocity</font>** (_[carla.Vector3D](#carla.Vector3D)_)
The 3D velocity applied to the actor.
<h3>Methods</h3>
- <a name="command.ApplyVelocity.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**velocity**</font>)
- **Parameters:**
- `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to.
- `velocity` (_[carla.Vector3D](#carla.Vector3D)_)
---
## command.ApplyWalkerControl<a name="command.ApplyWalkerControl"></a>
Command adaptation of **<font color="#7fb800">apply_control()</font>** in [carla.Walker](#carla.Walker). Applies a control to a walker.
<h3>Instance Variables</h3>
- <a name="command.ApplyWalkerControl.actor_id"></a>**<font color="#f8805a">actor_id</font>** (_int_)
Walker actor affected by the command.
- <a name="command.ApplyWalkerControl.control"></a>**<font color="#f8805a">control</font>** (_[carla.WalkerControl](#carla.WalkerControl)_)
Walker control to be applied.
<h3>Methods</h3>
- <a name="command.ApplyWalkerControl.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**control**</font>)
- **Parameters:**
- `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to.
- `control` (_[carla.WalkerControl](#carla.WalkerControl)_)
---
## command.ApplyWalkerState<a name="command.ApplyWalkerState"></a>
Apply a state to the walker actor. Specially useful to initialize an actor them with a specific location, orientation and speed.
<h3>Instance Variables</h3>
- <a name="command.ApplyWalkerState.actor_id"></a>**<font color="#f8805a">actor_id</font>** (_int_)
Walker actor affected by the command.
- <a name="command.ApplyWalkerState.transform"></a>**<font color="#f8805a">transform</font>** (_[carla.Transform](#carla.Transform)_)
Transform to be applied.
- <a name="command.ApplyWalkerState.speed"></a>**<font color="#f8805a">speed</font>** (_float_)
Speed to be applied.
<h3>Methods</h3>
- <a name="command.ApplyWalkerState.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**transform**</font>, <font color="#00a6ed">**speed**</font>)
- **Parameters:**
- `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to.
- `transform` (_[carla.Transform](#carla.Transform)_)
- `speed` (_float_)
---
## command.DestroyActor<a name="command.DestroyActor"></a>
Command adaptation of **<font color="#7fb800">destroy()</font>** in [carla.Actor](#carla.Actor) that tells the simulator to destroy this actor. It has no effect if the actor was already destroyed. When executed with **<font color="#7fb800">apply_batch_synch()</font>** in [carla.Client](#carla.Client) there will be a <b>command.Response</b> that will return a boolean stating whether the actor was successfully destroyed.
<h3>Instance Variables</h3>
- <a name="command.DestroyActor.actor_id"></a>**<font color="#f8805a">actor_id</font>** (_int_)
Actor affected by the command.
<h3>Methods</h3>
- <a name="command.DestroyActor.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>)
- **Parameters:**
- `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to.
---
## command.Response<a name="command.Response"></a>
States the result of executing a command as either the ID of the actor to whom the command was applied to (when succeeded) or an error string (when failed). actor ID, depending on whether or not the command succeeded. The method **<font color="#7fb800">apply_batch_sync()</font>** in [carla.Client](#carla.Client) returns a list of these to summarize the execution of a batch.
<h3>Instance Variables</h3>
- <a name="command.Response.actor_id"></a>**<font color="#f8805a">actor_id</font>** (_int_)
Actor to whom the command was applied to. States that the command was successful.
- <a name="command.Response.error"></a>**<font color="#f8805a">error</font>** (_str_)
A string stating the command has failed.
<h3>Methods</h3>
- <a name="command.Response.has_error"></a>**<font color="#7fb800">has_error</font>**(<font color="#00a6ed">**self**</font>)
Returns <b>True</b> if the command represents a successful execution and <b>False</b> if not.
- **Return:** _bool_
---
## command.SetAutopilot<a name="command.SetAutopilot"></a>
Command adaptation of **<font color="#7fb800">set_autopilot()</font>** in [carla.Vehicle](#carla.Vehicle). Turns on/off the vehicle's server-side autopilot.
<h3>Instance Variables</h3>
- <a name="command.SetAutopilot.actor_id"></a>**<font color="#f8805a">actor_id</font>** (_int_)
Actor that is affected by the command.
- <a name="command.SetAutopilot.enabled"></a>**<font color="#f8805a">enabled</font>** (_bool_)
If autopilot should be activated or not.
<h3>Methods</h3>
- <a name="command.SetAutopilot.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**enabled**</font>)
- **Parameters:**
- `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to.
- `enabled` (_bool_)
---
## command.SetSimulatePhysics<a name="command.SetSimulatePhysics"></a>
Command adaptation of **<font color="#7fb800">set_simulate_physics()</font>** in [carla.Actor](#carla.Actor). Determines whether an actor will be affected by physics or not.
<h3>Instance Variables</h3>
- <a name="command.SetSimulatePhysics.actor_id"></a>**<font color="#f8805a">actor_id</font>** (_int_)
Actor affected by the command.
- <a name="command.SetSimulatePhysics.enabled"></a>**<font color="#f8805a">enabled</font>** (_bool_)
If physics should be activated or not.
<h3>Methods</h3>
- <a name="command.SetSimulatePhysics.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**actor**</font>, <font color="#00a6ed">**enabled**</font>)
- **Parameters:**
- `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to.
- `enabled` (_bool_)
---
## command.SpawnActor<a name="command.SpawnActor"></a>
Command adaptation of **<font color="#7fb800">spawn_actor()</font>** in [carla.World](#carla.World). Spawns an actor into the world based on the blueprint provided and the transform. If a parent is provided, the actor is attached to it.
<h3>Instance Variables</h3>
- <a name="command.SpawnActor.transform"></a>**<font color="#f8805a">transform</font>** (_[carla.Transform](#carla.Transform)_)
Transform to be applied.
- <a name="command.SpawnActor.parent_id"></a>**<font color="#f8805a">parent_id</font>** (_int_)
Identificator of the parent actor.
<h3>Methods</h3>
- <a name="command.SpawnActor.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>)
- <a name="command.SpawnActor.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**blueprint**</font>, <font color="#00a6ed">**transform**</font>)
- **Parameters:**
- `blueprint` (_[carla.ActorBlueprint](#carla.ActorBlueprint)_)
- `transform` (_[carla.Transform](#carla.Transform)_)
- <a name="command.SpawnActor.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**blueprint**</font>, <font color="#00a6ed">**transform**</font>, <font color="#00a6ed">**parent**</font>)
- **Parameters:**
- `blueprint` (_[carla.ActorBlueprint](#carla.ActorBlueprint)_)
- `transform` (_[carla.Transform](#carla.Transform)_)
- `parent` (_[carla.Actor](#carla.Actor) or int_)
- <a name="command.SpawnActor.then"></a>**<font color="#7fb800">then</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**command**</font>)
Links another command to be executed right after. It allows to ease very common flows such as spawning a set of vehicles by command and then using this method to set them to autopilot automatically.
- **Parameters:**
- `command` (_[carla.Command](#carla.Command)_) – CommandType.
---
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