Callback for the obstacle sensor Sets _obstacle_distance and _obstacle_actor according to the closest obstacle found by the

This method is in charge of overtaking behaviors. :param location: current location of the agent :param waypoint: cu

parses gnss sensors

parses cameras

parses lidar sensors

Parse the given OpenSCENARIO config file, set and validate parameters

Calculate new vehicle controls based on input keys

Calculate new vehicle controls based on input keys

Estimate the throttle/brake of the vehicle based on the PID equations :param target_speed: target speed in Km/h :pa

Estimate the steering angle of the vehicle based on the PID equations :param waypoint: target waypoint :param vehicl

Spawn or update the ego vehicles

Spawn or update the ego vehicles

Randomly get another item with the same flag. Returns: int: Another index of item with the same flag.

Filter the JSON serializable attributes of the criterias and dumps them into a file. This will be used by the metrics manager,

Reset all parameters

Compute the type of connection between the current active waypoint and the multiple waypoints present in list_waypoints. The result is encode

Run a scenario based on OpenSCENARIO

Run the route scenario

Run conventional scenarios (e.g. implemented using the Python API of ScenarioRunner)

The function used to sample the scenarios that are going to happen for this route.

The function used to sample the scenarios that are going to happen for this route.

Extract all actors and their corresponding specification NOTE: The rolename property has to be unique!

Extract the CARLA town (level) from the RoadNetwork information from OpenSCENARIO Note: The specification allows multiple Logics ele

Sets the dictionary of the event

Sets the message of the event

Parse the complete scenario definition file, and replace all parameter references with the actual values Set _global_paramet

Extract the scenario name from the OpenSCENARIO header information

This function adds and additional behavior to the scenario, which is triggered after it has ended. The function can be overl

This function creates a trigger maneuver, that has to be finished before the real scenario starts. This implementation focuses on the

Spawn the blocker prop that blocks the vision from the egovehicle of the jaywalker :return:

This method returns the last successive intersection edge from a starting index on the route. This helps moving past tiny int

This method is in charge of tailgating behaviors. :param location: current location of the agent :param waypoint: cu

Run next tick of scenario and the agent and tick the world.

Run next tick of scenario and the agent. If running synchornously, it also handles the ticking of the world.

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

Set/Update the start position of the ego_vehicle

Set/Update the start position of the ego_vehicle

Update the input route, i.e. refine waypoint list, and extract possible scenario locations Parameters: - world: CARLA world

Update the input route, i.e. refine waypoint list, and extract possible scenario locations Parameters: - world: CARLA world

Validate the given OpenSCENARIO catalog config against the 0.9.1 XSD Note: This will throw if the catalog config is not valid. But t

Validate the given OpenSCENARIO config against the 0.9.1 XSD Note: This will throw if the config is not valid. But this is fine here

Check that the current scenario configuration is valid

Writing to Junit XML

Check if a certain id is still at the simulation

Checks if all the sensors have sent data at least once

Analyzes and prints the results of the route

This function is intended to be called from outside and provide the final statistics about the scenario (human-readable, in form of a

Get dictionary with traffic light group info for a given traffic light

Parse catalog_reference, and replace all parameter references in entry_instance by the values provided in catalog_reference.

Evaluate the model only at the start of training by epoch.

Private function to compute camera info camera info doesn't change over time

Private function to compute camera info camera info doesn't change over time

Method to calculate the velocity of a actor

Module in charge of car-following behaviors when there's someone in front of us. :param vehicle: car to follow

Transform rpy in carla.Rotation to rotation matrix in np.array :param carla_rotation: carla.Rotation :return: np.array rotation matrix

Check if the actor reached the end of the waypoint list returns: True if the end was reached, False otherwise.

Check if this trigger position already exists or if it is a new one. :param new_trigger: :param existing_triggers: :r

Check if this trigger position already exists or if it is a new one. :param new_trigger: :param existing_triggers: :r

Reset all parameters

This function triggers a proper termination of a scenario