This class contains an atomic test for collisions. Args: - actor (carla.Actor): CARLA actor to be used for this test - other_actor (

This class contains an atomic behavior to set the transform of an actor. Important parameters: - actor: CARLA actor to execute the b

This class contains an atomic behavior to drive a certain distance. Important parameters: - actor: CARLA actor to execute the condition

This class contains an actor destroy behavior. Given an actor this behavior will delete it. Important parameters: - actor: CARLA act

TrafficEvent definition

This is an atomic behavior to follow waypoints while maintaining a given speed. If no plan is provided, the actor will follow its foward wayp

This class contains the trigger distance (condition) between to actors of a scenario Important parameters: - actor: CARLA actor to e

This class contains an atomic behavior to keep the provided velocity. The controlled traffic participant will accelerate as fast as possible

This class contains an atomic hand brake behavior. To set the hand brake value of the vehicle. Important parameters: - vehicle: CARL

This class contains an idle behavior scenario Important parameters: - duration[optional]: Duration in seconds of this behavior A te

Exceptions thrown when the sensors used by the agent are not allowed for that specific submissions

This class contains an atomic timeout behavior. It uses the CARLA game time, not the system time which is used by the py_trees timer.

This class contains an atomic stopping behavior. The controlled traffic participant will decelerate with _bake_value_ until reaching a full s

This is a configuration base class to hold model and transform attributes

This class contains the trigger (condition) for a distance to a fixed location of a scenario Important parameters: - actor: CARLA ac

Check if an actor is running a red light Important parameters: - actor: CARLA actor to be used for this test - terminate_on_failure

Reflect the status of the decorator's child story element to the blackboard. Args: child: the child behaviour or subtree sto

The test is a success if the actor is never outside route. The actor can go outside of the route but only for a certain amount of distance

Implementation for a behavior that will check if a given actor is within a given distance to a given location considering a given route

This class contains the trigger (condition) for a distance to the next intersection of a scenario Important parameters: - actor: CAR

This class contains the trigger region (condition) of a scenario Important parameters: - actor: CARLA actor to execute the behavior

Atomic to detect if the vehicle is either on a sidewalk or at a wrong lane. The distance spent outside is computed and it is returned as a pe

Check at which stage of the route is the actor at each tick Important parameters: - actor: CARLA actor to be used for this test - ro

Check if an actor is running a stop sign Important parameters: - actor: CARLA actor to be used for this test - terminate_on_failure

This class contains a standstill behavior of a scenario Important parameters: - actor: CARLA actor to execute the behavior - name: N

Simple watchdog timer to detect timeouts Args: timeout (float): Timeout value of the watchdog [seconds]. If it is not re

Atomic to change the longitudinal/lateral control logic for an actor. The (actor, controller) pair is stored inside the Blackboard. The

Atomic to change the target speed for an actor controller. The behavior is in RUNNING state until the distance/duration conditions are s

This class contains an atomic test to check the driven distance Important parameters: - actor: CARLA actor to be used for this test

This class contains a check if a actor arrives within a given time at another actor. Important parameters: - actor: CARLA actor to e

This class inherits from the class WaypointFollower. This class contains an atomic lane change behavior to a parallel lane. The vehic

This class contains an atomic test for maximum velocity. Important parameters: - actor: CARLA actor to be used for this test - max_v

This class provides a basic scenario configuration incl.: - configurations for all actors - town, where the scenario should be executed

This class contains an atomic behavior to set velocity of actor so that it reaches location at the same time as actor_reference. The beha

Implementation for a behavior that will indefinitely destroy actors that wander near a given location within a specified threshold. Impo

Implementation for a behavior that will indefinitely create actors at a given transform if no other actor exists in a given radius from t

This test will fail if the actor has had its linear velocity lower than a specific value for a specific amount of time Important paramet

This test will fail if the actor has had its linear velocity lower than a specific value for a specific amount of time Important paramete

This class contains an atomic jitter behavior. To add noise to steer as well as throttle of the vehicle. This behavior should be used in

Atomic to update the road friction in CARLA. The behavior immediately terminates with SUCCESS after updating the friction. Args:

Atomic to write a new weather configuration into the blackboard. Used in combination with WeatherBehavior() to have a continuous weather simu

base architecture configurations

OpenSCENARIO atomic This class contains the trigger condition for a distance to an OpenSCENARIO position Args: actor (carla.Acto

Keyboard control for the human agent

This class contains a check if a named story element has started/terminated. Important parameters: - element_name: The story element's n

This class contains method to draw rectangle and find intersection point.

Basic configuration of a RouteScenario

Handles the triggering of the scenarios that are part of a route. Initializes a list of blackboard variables to False, and only sets them to

This enum represents the different tracks of the CARLA AD leaderboard.

This class contains an atomic acceleration behavior. The car will accelerate until it is faster than another car, in order to catch up distan

This class contains an atomic acceleration behavior. The controlled traffic participant will accelerate with _throttle_value_ until reaching

This class provides a wrapper (access mechanism) for user-defined actor controls. The controllers are loaded via importlib. Therefore, the mo

OpenSCENARIO atomic This class contains an atomic behavior to set the transform of an OpenSCENARIO actor. Important parameters: - ac

Exceptions thrown when the agent returns an error during the simulation

Wrapper for autonomous agents required for tracking and checking of used sensors

Wrapper for autonomous agents required for tracking and checking of used sensors

Class the sensors listen to in order to receive their data each frame

Atomic to change the waypoints for an actor controller. The behavior is in RUNNING state until the last waypoint is reached, or if a sec

Atomic to change the waypoints for an actor controller. The behavior is in RUNNING state until the last waypoint is reached, or if a sec

Atomic to change the waypoints for an actor controller in order to reach a given position. The behavior is in RUNNING state until the la

This class contains an atomic behavior to disable/enable the use of the autopilot. Important parameters: - actor: CARLA actor to execute

Clear the values starting with the specified string from the blackboard. Args: name (:obj:`str`): name of the behaviour vari

Residual basic block (without batchnorm), as in ImpalaCNN Preserves channel number and shape

Actor control class for actors, with externally implemented longitudinal and lateral controlers (e.g. Autoware). Args: actor (ca

Class to control a vehicle manually for debugging purposes

Class to control a vehicle manually for debugging purposes

OpenSCENARIO atomic This class contains a trigger if an actor arrives within a given time to an OpenSCENARIO position Important paramete

Keyboard control for the human agent

TODO: document me!

Utility class to query the log.

Main class of the metrics module. Handles the parsing and execution of the metrics.

Class used to parse the CARLA recorder into readable information

Controller class for vehicles derived from BasicControl. The controller makes use of the LocalPlanner implemented in CARLA. Args:

Implementation of the OpenSCENARIO scenario

Limitations: - Only one Story + Init is supported per Storyboard

Controller class for pedestrians derived from BasicControl. Args: actor (carla.Actor): Pedestrian actor that should be controlled.

Atomic containing a comparison between an actor's velocity and another actor's one. The behavior returns SUCCESS when the expected compar

This module contains the _result gatherer and write for CARLA scenarios. It shall be used from the ScenarioManager only.

This module contains the _result gatherer and write for CARLA scenarios. It shall be used from the ScenarioManager only.