returns the location for the given actor

returns the transform for the given actor

The method returns waypoint at given location :param location: vehicle location :return waypoint: generated waypoint

Get the current map

Return world

returns the absolute velocity for the given actor

Returns elapsed game time

Return list of actors and their ids Note: iteritems from six is used to allow compatibility with Python 2 and 3

Setup actor

Upon reaching the timeout value the status changes to SUCCESS

Gets the next row of the recorder

This method tries to create a new actor, returning it if successful (None otherwise).

Remove all actors

Setup actor

returns a list with the elements of the row

Public write function

Method to calculate the distance between to locations Note: It uses the direct distance between the current location and the targe

Given an actor id, returns the specific variable of that actor at a given frame. Returns None if the actor_id or the state are missin

This is taken from py_trees.idiom.oneshot.

Set message

Check if a given vehicle is an obstacle in our way. To this end we take into account the road and lane the target vehicle is on and r

@return type

Set start time

Remove and destroy all actors

Extract the full path of a node within an XML tree Note: Catalogs are pulled from a separate file so the XML tree is split. This m

Set dictionary

Obtain a waypoint in a given distance from the current actor's location. Note: Search is stopped on first intersection. @return obtained

Terminate the criterion. Can be extended by the user-derived class

Cleanup of all ROS publishers

Return the list of test criteria (all leave nodes)

Obtain a location in a given distance from the current actor's location. Note: Search is stopped on first intersection. @return obtained

@return message

Set the time-step for debug.

@return true if syncronuous mode is used

Performs initial server data lookup for detailed topology and builds graph representation of the world map.

returns the sensor position and rotation Args: cam ([type]): [description] Returns: [type]: [description]

returns the next relevant traffic light for the provided actor

This method returns list of (carla.Waypoint, RoadOption) from origin to destination

Returns the unit vector from location_1 to location_2 :param location_1, location_2: carla.Location objects

Transforms world coordinates to sensor.

Convert an OpenScenario position into a CARLA transform Not supported: Road, RelativeRoad, Lane, RelativeLane as the PythonAPI curre

Method to return the type of control to the actor.

Get catalog entry referenced by catalog_reference included correct parameter settings Args: catalogs (Dictionary of dict

returns the currently set route of the ego vehicle Note: Can be None

Creates matrix from carla transform.

A decorator's tick is exactly the same as a normal proceedings for a Behaviour's tick except that it also ticks the decorated child n

Remove and destroy all actors

:param birdview: th.Tensor (num_envs, frame_stack*channel, height, width) :param state: th.Tensor (num_envs, state_dim)

Send an emergency stop command to the vehicle :return: control for braking

Creates matrix from carla transform.

Compute speed of a vehicle in Km/h. :param vehicle: the vehicle for which speed is calculated :return: speed as a float in Km/h

Add new actor to dictionaries If actor already exists, throw an exception

rotate a given point by a given angle

This method creates a list of waypoints from agent's position to destination location based on the route returned by the global route

Set the weather of the world

Returns a list of 3d bounding boxes of type obstacle_type. If the object does have a bounding box, this is returned. Otherwise a bb of

Given an actor id, returns a list of the specific variable of that actor during a frame interval. Some elements might be None.

Returns a dict where the keys are the frame number, and the values are the carla.Transform of the actor at the given frame.

This function finds the road segment closest to given location location : carla.Location to be localized in the graph

Computes and saved the simulation statistics

Sets the dictionary of the event

Sets the message of the event

Converts the world coordinates to pixel coordinates

This method follow waypoints to a junction and choose path based on turn input. Turn input: LEFT -> -1, RIGHT -> 1, STRAIGHT -> 0 @return