Computes the normalized depth from a CARLA depth map.

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

Method to return the type of control to the actor.

Get catalog entry referenced by catalog_reference included correct parameter settings Args: catalogs (Dictionary of dict

@return true if syncronuous mode is used

Return true if point is in canvas

Stop the watchdog

Setup all relevant parameters and create scenario and instantiate scenario manager

Check whether the agent has reached its destination.

This function adjusts the give transform by offset and returns the new transform.

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

Add new actor to dictionaries If actor already exists, throw an exception

rotate a given point by a given angle

Updates the sensor

Writes the results into the endpoint. Meant to be used only for partial evaluations, use 'validate_and_write_statistics' for the fina

Setup all relevant parameters and create scenario and instantiate scenario manager

Setup all relevant parameters and create scenario

Remove and destroy all actors

Given an actor id, returns a list of the specific variable of that actor during a frame interval. Some elements might be None.

Matches a given wp to another one inside the list. This is first done by checking its key, and if this fails, the closest wp is chose

Convert the vehicle transform directly to forward speed

Returns a dict where the keys are the frame number, and the values are the carla.Transform of the actor at the given frame.

This function finds the road segment that a given location is part of, returning the edge it belongs to

Computes and saves the route statistics

Sets the dictionary of the event

Sets the message of the event

Given a list of entry / exit wps of a junction, filters them according to a specific direction, returning all waypoint part of lanes that are

Returns ROS message header

Returns: interpreted value from reference_text

Given a junction, returns a two list of waypoints corresponding to the entry and exit lanes of the junction

Calculates the yaw of the waypoint that represents the trigger volume of the traffic light

Check if a location is both within a certain distance from a reference object. By using 'angle_interval', the angle between the location and

Callback receiving the CARLA time Update time only when frame is more recent that last frame

static method to initialize an ActorConfigurationData from a given ET tree

Adds a specific plan to the agent. :param plan: list of [carla.Waypoint, RoadOption] representing the route to be followed

Changes the intersection to the desired state

Set the world and world settings

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

Calculates the transforming such that the actor is at the sidemost part of the lane

For a junction waypoint, returns a waypoint outside of it that entrys into its lane

For a junction waypoint, returns a waypoint outside of it from which the lane exits the junction

Randomizes the mean to be either positive or negative

Save the actor into the needed structures, disable its lane changes and set the leading distance.

Load and run the scenario given by config

Changes the speed of the vehicle depending on its distance to the ego. - Front vehicles: Gradually reduces the speed the further they

Spawns several actors in batch

Spawns the obstacle actor by displacing its position to the right

Given a source, spawns an actor at that source

Remove and destroy all sensors

Convert an ElementTree.Element to a CARLA Location

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

Destroy (clean-up) the agent :return:

Cleanup and delete actors, ScenarioManager and CARLA world

Utility function to draw debugging points

Overwrites the throttle a brake values of a control to perform an emergency stop. The steering is kept the same to avoid going out of

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.

Return list of actors and their ids Note: iteritems from six is used to allow compatibility with Python 2 and 3

returns the dictionary

Returns direction and waypoint at a distance ahead defined by the user. :param steps: number of steps to get the incoming waypoi

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

Get timestamp of the last issued waypoint control command returns: Timestamp of last waypoint control command

Checks for a given vehicle in ego coordinate system, how many LiDAR hit there are in its bounding box. :param vehicle_pos: Relative p

Creates matrix from carla transform.

returns updated global osc parameter value.

Returns the position of the vehicle matrix in the ego coordinate system. :param ego_matrix: ndarray 4x4 Matrix of the ego vehicle in global