Convert the vehicle transform directly to forward speed

Gets all the junctions the ego passes through

Convert from waypoints world coordinates to CARLA GPS coordinates :return: tuple with lat and lon coordinates

Convert from waypoints world coordinates to CARLA GPS coordinates :return: tuple with lat and lon coordinates

Function to extract the metrics class from the path given by the metrics argument. Returns the first class found that is a child of B

Check wheather or not the street lights need to be turned on

Spawn parked vehicles.

Parses the log argument into readable information

Returns the name of the map the simulation took place in

Gets the route from the configuration, interpolating it to the desired density, saving it to the CarlaDataProvider and sending it to

Gets the route from the configuration, interpolating it to the desired density, saving it to the CarlaDataProvider and sending it to

Extract the information from the route

Calculate the accumulated distance percentage at each point in the route

Get scenario class by scenario name If scenario is not supported or not found, exit script

Gets the first waypoint after the junction. This method depends on the subtype of VehicleTurning scenario

Get the traffic light of the junction, mapping their states

Get the traffic light of the junction, mapping their states

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

Returns a list of waypoints starting from the ego location and a set amount forward

Adapts the BA to the junction scenario by clearing the junction, its entries, exits, and by extending the road exit to add more space

Controller initialization

Moves the actors currently at the exit lane of the last junction to entry actors of the newly created junction

Computes and stores the max capacity of the exit. Prepares the behavior of the next road by creating actors at the route exit, and th

Initializes the actor sources to ensure the junction is always populated. They are placed at certain distance from the junction, but

Initialises the road behavior, consisting on several vehicle in front of the ego, and several on the back and are only spawned outsid

Default initialization of other actors. Override this method in child class to provide custom initialization.

Custom initialization

Custom initialization

Default initialization of other actors. Override this method in child class to provide custom initialization.

Default initialization of other actors. Override this method in child class to provide custom initialization.

Default initialization of weather and road friction. Override this method in child class to provide custom initialization.

Parse ParameterAction from Init and update global osc parameters.

Detects if the ego_vehicle has invaded a wrong lane

Detects if the ego_vehicle is outside driving lanes

Joins complex junctions into one. This makes it such that all the junctions, as well as their connecting lanes, are treated as the sa

Parses the json file into a list of carla.VehicleControl

This method places zero cost links in the topology graph representing availability of lane changes.

Removes all vehicle in the middle of crossing trajectory and stops the nearby ones

Teleports all the vehicles in front of the ego forward

Load and run the scenario given by config. Depending on what code fails, the simulation will either stop the route and conti

Load a new CARLA world without changing the settings and provide data to CarlaDataProvider

Load a new CARLA world and provide data to CarlaDataProvider

Read Catalog xml files into dictionary for later use NOTE: Catalogs must have distinct names, even across different types

Monitors when the ego exits the junctions, preparing the road mode when that happens

Monitors when the ego approaches a junction, triggering that junction when it happens. This can be triggered even if there is another

Checks if the ego changes road, remapping the route keys.

Continually check the road in front to see if it has changed its topology. If the number of lanes reduces, merge the ending lane with

Moves the sources of the opposite direction back. Additionally, tracks a point a certain distance in front of the ego to see if the r

Moves the road sources so that they are always following the ego from behind

Moves backwards a certain distance, stopping at junctions

Moves forward a certain distance, stopping at junctions

Callback for the obstacle sensor Sets _obstacle_distance and _obstacle_actor according to the closest obstacle found by the

parses gnss sensors

parses cameras

parses IMU sensors

Gets the control corresponding to the current frame

parses lidar sensors

Parse the given OpenSCENARIO config file, set and validate parameters

parses radar sensors

Calculate new vehicle controls based on input keys

Calculate new vehicle controls based on input keys

This function finds the shortest path connecting origin and destination using A* search with distance heuristic. origin

Returns an array of heading angles equal mod 2 pi to the input heading angles, and such that the difference between successive output angles

Estimate the throttle/brake of the vehicle based on the PID equations :param target_speed: target speed in Km/h :pa

Estimate the steering angle of the vehicle based on the PID equations :param waypoint: target waypoint :param vehicl

Spawn or update the ego vehicles

Adds a ego road lane. This is expected to be used after having previously removed such lane

Saves the list of control into a json file

Filter the JSON serializable attributes of the criterias and dumps them into a file. This will be used by the metrics manager,

Removes a list of entries of the closest junction (or marks them so that they aren't spawned)

Removes a list of exit of the closest junction (or marks them so that they aren't spawned)