Set the world and world settings

Check if the actor speed is above the speed_threshold

nn.Conv2d but with normalized fan-in init

Returns coords of a 2d box given points in sensor coords Args: cords ([type]): [description] Returns: [type]

This is a generic function to handle conditions utilising ConditionGroups Each ConditionGroup is represented as a Sequence of Conditi

Load and run the scenario given by config

Sets the dictionary of the event

Sets the message of the event

Transforms the trigger coordinates to world coordinates Args: bb ([type]): [description] parent ([type]): [descriptio

1x1 convolution

3x3 convolution with padding

Function to setup the blueprint of an actor given its model and other relevant parameters

Cleanup of all ROS publishers

Cleanup and delete actors, ScenarioManager and CARLA world

Generate spawn points for the current map

Returns a tuple with the first and last frame an actor was alive. It is important to note that frames start at 1, not 0. Arg

Returns the transform of the actor at a given frame.

Get the CARLA client

@return dictionary

Calculate the transform of the adversary

Gets the driving / parking lane that is most to the right of the waypoint as well as the number of lane changes done

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

Returns the state of the traffic light at a specific frame.

Returns elapsed game time

Obtain a intersection point between two contour.

Pure virtual function to run one step of the controllers's control loop. This should be implemented in the user-defined agent impleme

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

Parse the xml_tree, and replace all parameter references with the actual values. Note: Parameter names must not start with "

Default setup

Default setup

:return: (int) The current size of the buffer

Start the watchdog

As with other composites, it checks if the child is running and stops it if that is the case. Args: new_status (:

Stops the watchdog.

On termination of this behavior, the throttle should be set back to 0., to avoid further acceleration.

Updates the sensor

Update the actor's target speed and set _init_speed to False. Args: speed (float): New target speed [m/s].

:param target_vec_in_global: carla.Vector3D in global coordinate (world, actor) :param ref_rot_in_global: carla.Rotation in global coordinate

Setup all relevant parameters and create scenario

Setup all relevant parameters and create scenario

Convert the plan into locations for walkers (pedestrians), or to a waypoint list for other actors. For non-walkers, activate the carl

Transforms a baseline (in world coords) into a 2d box (in sensor coords) Args: baseline ([type]): [description] cam (

Returns 2D floor bounding box for an actor.

Returns 3D bounding box world coordinates.

Helper function to _set_actor_information for getting vehicle information from XML tree

Returns the list of all nodes from the given tree

Helper function to _set_actor_information for getting pedestrian information from XML tree

Helper function to _set_actor_information for getting vehicle information from XML tree

Returns 2 coordinates for the baseline for 2d bbs in world coordinates (distance behind trigger volume, as seen from camera) Args:

Get the initial actor speed provided by the Init section

Returns the distance between p1 and p2 Args: target ([type]): [description] Returns: [type]: [description]

Returns the distance from the (rgb_front) camera to the target Args: target ([type]): [description] Returns:

Check if the given actor is affected by the stop

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

Update the plan (waypoint list) of the LocalPlanner

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

Downsample the route by some factor. :param route: the trajectory , has to contain the waypoints and the road options :param sample_facto

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

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