Update the actor's waypoints Args: waypoints (List of carla.Transform): List of new waypoints.

Setup all relevant parameters and create scenario and instantiate scenario manager

Setup all relevant parameters and create scenario

Setup all relevant parameters and create scenario If randomize is True, the scenario parameters are randomized

Setup timeout

Class constructor

Provide feedback about success/failure of a scenario

This function builds a networkx graph representation of topology. The topology is read from self._topology. graph node proper

Based on the parsed route and possible scenarios, build all the scenario classes.

Based on the parsed route and possible scenarios, build all the scenario classes.

Ensure correct OpenSCENARIO version is used

Compute the type of topological connection between an active waypoint (current_waypoint) and a target waypoint (next_waypoint). :param c

Callback to update collision count

Callback to update lane invasion count

Pure virtual function to setup user-defined scenario behavior

Pure virtual function to setup the metrics by the user. Args: town_map (carla.Map): Map of the simulation. Used to acces

Pure virtual function to setup user-defined evaluation criteria for the scenario

Draw a list of waypoints at a certain height given in vertical_shift.

Draw a list of waypoints at a certain height given in vertical_shift.

Estimate the duration of the route

Estimate the duration of the route

This method finds road segments that have an unconnected end, and adds them to the internal graph representation

Get the initial actor transform provided by the Init section Note: - The OpenScenario specification allows multiple definitions. We

Get the full list of actor instances.

Get the full list of actor instances.

returns the calibration matrix for the given sensor Args: sensor ([type]): [description] Returns: [type]: [d

Parses the criteria argument into a dictionary

Convert the vehicle transform directly to forward speed

Convert the vehicle transform directly to forward speed

Convert from waypoints world coordinates to CARLA GPS coordinates :return: tuple with lat and lon coordinates

Convert from waypoints world coordinates to CARLA GPS coordinates :return: tuple with lat and lon coordinates

Function to extract the metrics class from the path given by the metrics argument. Returns the first class found that is a child of B

Parses the log argument into readable information

Returns the name of the map the simulation took place in

Get scenario class by scenario name If scenario is not supported or not found, exit script

get area of a given traffic light adapted from "carla-simulator/scenario_runner/srunner/scenariomanager/scenarioatomics/atomic_criteria.py"

Calculates the yaw of the waypoint that represents the trigger volume of the traffic light

Controller initialization. dt -- time difference between physics control in seconds. This is can be fixed from server side

Controller initialization. :param opt_dict: dictionary of arguments. :return:

Default initialization of other actors. Override this method in child class to provide custom initialization.

Default initialization of weather and road friction. Override this method in child class to provide custom initialization.

Detects if the ego_vehicle has invaded a wrong lane

Detects if the ego_vehicle has invaded a wrong driving lane

Detects if the ego_vehicle is outside driving lanes

Detects if the ego_vehicle is outside driving/parking lanes

check if vehicle crosses a line segment

This method places zero cost links in the topology graph representing availability of lane changes.

Load and run the scenario given by config. Depending on what code fails, the simulation will either stop the route and conti

Load a new CARLA world and provide data to CarlaDataProvider

Load a new CARLA world and provide data to CarlaDataProvider

Read Catalog xml files into dictionary for later use NOTE: Catalogs must have distinct names, even across different types

Convert from world coordinates to GPS coordinates :param lat_ref: latitude reference for the current map :param lon_ref: longitude refere

Convert from world coordinates to GPS coordinates :param lat_ref: latitude reference for the current map :param lon_ref: longitude refere

Callback for the camera sensor Sets the OpenCV image (_cv_image). Requires conversion from BGRA to RGB.