returns the location for the given actor

Get the current map

Returns a key corresponding to the waypoint lane. Equivalent to a 'Lane' object and used to compare waypoint lanes

returns the absolute velocity for the given actor

This method tries to create a new actor, returning it if successful (None otherwise).

Returns elapsed game time

Setup actor

Remove all actors

Cleanup of all ROS publishers

returns the transform for the given actor

Return world

Gets the next row of the recorder

Upon reaching the timeout value the status changes to SUCCESS

Gets all the lanes with the same direction of the road of a wp. Ordered from the edge lane to the center one (from outwards to inwards)

Setup actor

Calculates the shortest route between a starting and ending waypoint. :param start_waypoint (carla.Waypoint): initial waypoint

Returns elapsed game time

@return the global route planner

returns a list with the elements of the row

Destroy the actor and all its references

Method to calculate the distance between to locations Note: It uses the direct distance between the current location and the targe

Set start time

Utility function to draw debugging points

Set message

Check if the blackboard contains already variable_name and return a oneshot_behavior for behaviour.

Given an actor id, returns the specific variable of that actor at a given frame. Returns None if the actor_id or the state are missin

@return all the world actors. This is an expensive call, hence why it is part of the CDP, but as this might not be used by everyone,

Checks if an actor is behind the ego. Uses the route transform

Return the list of test criteria, including all the leaf nodes. Some criteria might have trigger conditions, which have to be filtere

@return the random seed.

Get the port of the traffic manager.

Obtain a waypoint in a given distance from the current actor's location. Note: Search is stopped on first intersection. @return obtained

Set dictionary

Returns the traffic light closest to the waypoint. The distance is computed between the waypoint and the traffic light's bounding box. Ch

return the type

Extract the full path of a node within an XML tree Note: Catalogs are pulled from a separate file so the XML tree is split. This m

Convert a JSON string to a Carla.Location

Get the CARLA client

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

Default terminate. Can be extended in derived class

Terminate the criterion. Can be extended by the user-derived class

Remove and destroy all actors

Check if a given vehicle is an obstacle in our way. To this end we take into account the road and lane the target vehicle is on and r

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

Public write function

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

Compute speed of a vehicle in Km/h. :param vehicle: the vehicle for which speed is calculated :return: speed as a float in Km/h

Changes the target speed :param speed: new target speed in Km/h :return:

Setup all relevant parameters and create scenario

Adds a new actor to the actor dictionary. 'exit_lane_key' is used to know at which exit lane (if any) is the vehicle 'at_oppo

Convert an OpenScenario position into a CARLA transform Not supported: RoutePosition

Utility function to draw debugging strings

Returns a key corresponding to the waypoint road. Equivalent to a 'Road' object and used to compare waypoint roads

returns False if watchdog exception occured, True otherwise

Set the plan (route) for the agent

A decorator's tick is exactly the same as a normal proceedings for a Behaviour's tick except that it also ticks the decorated child n

Returns the unit vector from location_1 to location_2 :param location_1, location_2: carla.Location objects

Removes all the references of the actor

Determines wether values in batch-dim are within bounds. :param metric: metric values :param min_bound: minimum bound, defaults to None