Parse the raw outputs (losses) of the network. Args: losses (dict): Raw output of the network, which usually contain

This function finds the shortest path connecting origin and destination using A* search with distance heuristic. origin

Calculate and set the new actor veloctiy given the current actor location and the _next_location_ If _consider_obstacles is

This method sets up a global router and returns the optimal route from start_waypoint to end_waypoint

This method returns the turn decision (RoadOption) for pair of edges around current index of route list

Update the plan (waypoint list) of the LocalPlanner

Build PyTorch DataLoader. In distributed training, each GPU/process has a dataloader. In non-distributed training, there is only one dataloade

This function chooses the appropriate waypoint from next_choices based on direction

Remove and destroy all sensors

Remove and destroy all sensors

Convert an OpenSCENARIO condition into a Behavior/Criterion atomic If there is a delay defined in the condition, then the condition

Convert a vector of transforms to a vector of locations

Convert a vector of transforms to a vector of locations

Draw a list of waypoints at a certain height given in z. :param world: carla.world object :param waypoints: list or iterable con

Forward for head part which is called after every decoder layer. Args: decoder_out (Tensor): in shape (num_queries, batch_size, c)

This methods generates a waypoint list which leads the vehicle to a parallel lane. The change input must be 'left' or 'right', depending on w

Returns a list of actor ids that match the given role_name. Args: role_name (str): string with the desired role_name to

create contour

Extract the object controller from the OSC XML or a catalog Args: xml_tree: Containing the controller information,

Get the next crossing point location in front of the ego vehicle @return point of crossing

Returns the data of a sensor

Calculate the distance of the given location along the route Note: If the location is not along the route, the route length will be returned

Get the CARLA ego

Returns the id of the ego vehicle.

Returns elapsed game time

Extract the CARLA road friction coefficient from an OSC EnvironmentAction Args: xml_tree: Containing the EnvironmentActi

Obtain a intersection point between two actor's location by using their waypoints (wp) @return point of intersection of the two vehicles

Returns direction and waypoint at a distance ahead defined by the user. :param steps: number of steps to get the incoming waypoi

Get timestamp of the last issued waypoint control command returns: Timestamp of last waypoint control command

Accessor for self._sampling_resolution

returns: bool: False if watchdog exception occured, True otherwise

Accessor for topology. This function retrieves topology from the server as a list of road segments as pairs of waypoint objec

Returns an int with the total amount of frames the simulation lasted.

Returns a carla.TrafficLight instance that matches the name given

Extract the CARLA weather parameters from an OSC EnvironmentAction Args: xml_tree: Containing the EnvironmentAction,

Forward a CARLA command batch to spawn actors to CARLA, and gather the responses. Returns list of actors on success, none otherwise

Initialize the start time of this condition

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

Check if the given actor is affected by the stop

Check if the given actor is affected by the stop

Check if a target object is within a certain distance in front of a reference object. :param target_transform: location of the target object

Parses a list into a carla.BoundingBox Args: info (list): list corresponding to a row of the recorder

Parse the keyboard events and set the vehicle controls accordingly

Returns true or false depending on the time that has passed from the first time this function was called

X :param point: :param bb_center: :param bb_extent: :return:

X :param point: :param bb_center: :param bb_extent: :return:

Remove an actor from the pool using its ID

Pure virtual function to reset the controller. This should be implemented in the user-defined agent implementation.

Run all scenarios according to provided commandline args

Define the sensor suite required by the agent :return: a list containing the required sensors

Set the CARLA client

Set the route of the ego vehicle extend ego_vehicle_route concept to support multi ego_vehicle scenarios

Set the plan (route) for the agent

Request new target speed. :param speed: new target speed in Km/h :return:

Set the port to use for the traffic manager.

This function sets the status of all leaves in the scenario tree to INVALID

Convert left/right/front to a meaningful CARLA position

Convert left/right/front to a meaningful CARLA position

If the weather animation is true, the new sun position is calculated w.r.t delta_time Nothing happens if animation or datetime are N