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

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

Compare function for scenarios based on distance of the scenario start position

Compare function for scenarios based on distance of the scenario start position

Compute the current statistics by evaluating all relevant scenario criteria

Predicts vehicle control with a PID controller. Args: waypoints (tensor): output of self.plan() velocity (tensor): speedometer input

Convert a JSON string to an ActorConfigurationData dictionary

Convert a JSON string to an ActorConfigurationData dictionary

Convert a JSON string to a CARLA transform

Convert a JSON string to a CARLA transform

Convert an OpenSCENARIO maneuver action into a Behavior atomic Note not all OpenSCENARIO actions are currently supported

Convert waypoint values to float

Convert waypoint values to float

Creates the output message

Creates the output message

This function identifies if an obstacle is present in front of the reference actor

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

Draws all the points related to args.scenarios

This method follow waypoints to a junction @returns a waypoint list according to turn input

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

Get the CARLA ego

Get the actor object of the hero actor if it exists, returns none otherwise.

Get timestamp of the last issued longitudinal control command (target_speed) returns: Timestamp of last longitudinal con

vehicle: carla.Vehicle

Parse *all* config files and provide a list with all scenarios @return

Creates matrix from carla transform.

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

Some scenarios have different types depending on the route. :param scenario: the scenario name :param match_position: the mat

Some scenarios have different types depending on the route. :param scenario: the scenario name :param match_position: the mat

Checks the list of possible altered traffic lights and gets the first one that exists in the intersection Important paramete

get area of a given traffic light

Get the port of the traffic manager.

Returns the vehicle lights of the vehicle at a specific frame.

Calculates the time the ego traffic light will remain red to let vehicles enter the junction

Set current time to current CARLA time

Given some raw keypoints interpolate a full dense trajectory to be used by the user. Args: world: an reference to the CARLA world so

Given some raw keypoints interpolate a full dense trajectory to be used by the user. returns the full interpolated route both in GPS coordina

Given some raw keypoints interpolate a full dense trajectory to be used by the user. :param world: an reference to the CARLA world so we

This function filters false negative Shoulder which are in reality Parking lanes. These are differentiated from the others because, similar t

check if vehicle crosses a line segment

Load a new scenario

Load a new scenario

:param target_loc_in_global: carla.Location in global coordinate (world, actor) :param ref_trans_in_global: carla.Transform in global coordin

Locate each waypoint of the route into gps, (lat long ) representations. :param route: :param lat_ref: :param lon_ref: :retur

Locate each waypoint of the route into gps, (lat long ) representations. :param route: :param lat_ref: :param lon_ref: :retur

Used to help with the visualization of the scenario trigger points, as well as its modifications. --town: Selects the town --

main function

main function

We match this location to a given route. world_location: route_description:

We match this location to a given route. world_location: route_description:

Used to move scenario trigger points: 1) a certain distance to the front (follows the lane) 2) a certain distance to the back (do

This is taken from py_trees.idiom.oneshot.

Returns a dictionary with the basic actor information Args: info (list): list corresponding to a row of the recorder

Parses a list into a carla.Vector3D with the angular velocity Args: info (list): list corresponding to a row of the recorder