Processes the waypoint transform to find a suitable spawning one at the sidewalk. It first rotates the transform so that it is pointing towar

Returns an int with the total amount of frames the simulation lasted.

Returns a carla.TrafficLight instance that matches the name given

This function finds the lateral road position (t) from actor_transform

Extract the CARLA weather parameters from an OSC EnvironmentAction Args: xml_tree: Containing the EnvironmentAction,

Forward a CARLA command batch to spawn actors to CARLA, and gather the responses. Returns list of actors on success, none otherwise

Initialize the start time of this condition

Obtain a intersection point between two contour.

Check if the given actor is affected by the stop. Without using waypoints, a stop might not be detected if the actor is moving at the

Parses a list into a carla.BoundingBox. Some actors like sensors might have 'nan' location and 'inf' extent, so filter those.

Returns true or false depending on the time that has passed from the first time this function was called

Remove an actor from the pool using its ID

Reset cameras

Reset the ego-vehicle

rotate a given point by a given angle

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

This method creates a list of waypoints between a starting and ending location, based on the route returned by the global router, and

Adds a new plan to the local planner. A plan must be a list of [carla.Waypoint, RoadOption] pairs If 'clean_queue`, erases the previo

Changes the target speed of the agent :param speed (float): target speed in Km/h

Set the port to use for the traffic manager.

Default setup

If the weather animation is true, the new sun position is calculated w.r.t delta_time Nothing happens if animation or datetime are N

updates/initializes global osc parameters.

Makes sure that all the relevant data is there. Changes the 'entry status' to 'Invalid' if this isn't the case

Setup all relevant parameters and create scenario

Setup all relevant parameters and create scenario and instantiate scenario manager

Setup all relevant parameters and create scenario If randomize is True, the scenario parameters are randomized

Checks nearby actors that will pass through the source, adding them to it

Gets the entering and exiting lanes of a multijunction

Provide feedback about success/failure of a scenario

This function builds a networkx graph representation of topology, creating several class attributes: - graph (networkx.DiGraph): netw

Initializes the class of all the scenarios that will be present in the route. If a class fails to be initialized, a warning is printe

This function retrieves topology from the server as a list of road segments as pairs of waypoint objects, and processes the t

Method called when the timer triggers. Raises a KeyboardInterrupt on the main thread and stops the watchdog.

Checks if the Traffic Manager has removed a backgroudn actor

Ensure correct OpenSCENARIO version is used

Remove all actors in front of the vehicle.

Clears the junction, and all subsequent actors that enter it

Compute the type of topological connection between an active waypoint (current_waypoint) and a target waypoint (next_waypoint). :param c

Add new waypoints to the trajectory queue. :param k: how many waypoints to compute :return:

Computes the parameters that are dependent on the speed of the ego.

Update collision count

Callback to update lane invasion count

Pure virtual function to setup user-defined scenario behavior

Creates the cones at the side

Create construction setup

We can make use of the blackboard variables used by the behaviors themselves, as we already have an atomic that handles their (de)act

We can make use of the blackboard variables used by the behaviors themselves, as we already have an atomic that handles their (de)act

Extracts the junctions the ego vehicle will pass through.

Default empty initialization of the lights behavior, responsible of controlling the street lights during the simulation. Over

Pure virtual function to setup the metrics by the user. Args: town_map (carla.Map): Map of the simulation. Used to acces

Pure virtual function to setup user-defined evaluation criteria for the scenario

Default initialization of the timeout behavior. Override this method in child class to provide custom initialization.

Default empty initialization of the weather behavior, responsible of controlling the weather during the simulation. Override

Draw a list of waypoints at a certain height given in vertical_shift.

Draw a list of waypoints at a certain height given in vertical_shift.

Destroys unneeded actors (those that aren't part of the route's road), moving the rest to other data structures and cleaning up the v

Estimate the duration of the route, as a proportinal value of its length

Increases the space left by the exit vehicles at a specific road

Filters fake junctions. A fake junction is that which has no intersecting maneuvers (i.e, no two maneuvers start / end at the same la

Given a list of scenarios, filters out does that don't make sense to be triggered, as they are either too far from the route or don't

Given a list of scenarios, filters out does that don't make sense to be triggered, as they are either too far from the route or don't

This method finds road segments that have an unconnected end, and adds them to the internal graph representation

Get the initial actor transform provided by the Init section Note: - The OpenScenario specification allows multiple definitions. We

Gets the accumulated percentage of each of the route transforms

Processes the driving wp to get a waypoint at the side that looks at the road

Function to hardcode the topology of some complex junctions. This is done for the roundabouts, as the current API doesn't offer that

Parses the criteria argument into a dictionary

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

Gets a list of entry-exit lanes of the fake junctions