Removes a road lane

As the adversary is probably, replace it with another one

As the adversary is probably, replace it with another one

As the adversary is probably, replace it with another one

As the adversary is probably, replace it with another one

Reset all parameters

Changes the modified world settings back to asynchronous

Compute the type of connection between the current active waypoint and the multiple waypoints present in list_waypoints. The result is encode

Run a scenario based on OpenSCENARIO

Run the route scenario

Run conventional scenarios (e.g. implemented using the Python API of ScenarioRunner)

Check the stop signs to see if any of them affect the actor. Ignore all checks when going backwards or through an opposite direction

Check if closeby to a junction. The closest one will always be the first

Extract all actors and their corresponding specification NOTE: The rolename property has to be unique!

Sets the speed of all the BA actors, using the ego's target speed as reference. This avoids issues with the speed limits, as newly cr

Extract the CARLA town (level) from the RoadNetwork information from OpenSCENARIO Note: The specification allows multiple Logics ele

Parse the complete scenario definition file, and replace all parameter references with the actual values Set _global_paramet

Extract the scenario name from the OpenSCENARIO header information

Creates the traffic event / updates it

This function adds and additional behavior to the scenario, which is triggered after it has ended. The Blackboard variable is set to

Normal scenario trigger but in parallel, a behavior that ensures the pedestrian stays active

This function creates a trigger maneuver, that has to be finished before the real scenario starts. This implementation focuses on the

Prepares the simulation by getting the client, and setting up the world and traffic manager settings

Spawns an actor

Spawn the ego vehicle at the first waypoint of the route

Spawn the ego vehicle at the first waypoint of the route

Spawns the obstacle actor by displacing its position to the right

Spawn the accident indication signal

Restarts all road vehicles stopped by `_stop_road_back_vehicles`.

Restarts all road vehicles stopped by `_stop_road_front_vehicles`.

Clears the junction, and all subsequent actors that enter it

Stops all road vehicles behind the ego. Use `_start_road_back_vehicles` to make them move again.

Stops all road vehicles in front of the ego. Use `_start_road_front_vehicles` to make them move again.

This method returns the last successive intersection edge from a starting index on the route. This helps moving past tiny int

Disables all sources that are part of the ego's route

Prepares the junction mode, removing all road behaviours. Actors that are stopped via a scenario will still wait.

This method is in charge of tailgating behaviors. :param location: current location of the agent :param waypoint: cu

Run next tick of scenario and the agent and tick the world.

Run next tick of scenario and the agent. If running synchornously, it also handles the ticking of the world.

Turns off the lights of all object

Turns on the lights of all the objects close to the ego vehicle

This method returns the turn decision (RoadOption) for pair of edges around current index of route list

Checks the ego location to see if it has moved closer to the next route waypoint, updating its information. This never checks for bac

This method updates the information regarding the ego vehicle based on the surrounding world.

Handles an actor depending on their previous state. Actors entering the junction have its exit monitored through their waypoint. When

Checks the actor sources to see if new actors have to be created

Update the plan (waypoint list) of the LocalPlanner

Updates the opposite actors. This involves tracking their position, removing them if too far behind the ego.

Checks the opposite actor sources to see if new actors have to be created

Changes those parameters that have dynamic behaviors and / or that can be changed by external source. This is done using py_trees' Bl

Dynamically controls the actor speed in front of the ego. Not applied to those behind it so that they can catch up it

Manages the sources that spawn actors behind the ego. These are always behind the ego and will continuously spawn actors. The

Validate the given OpenSCENARIO catalog config against the 1.0 XSD Note: This will throw if the catalog config is not valid. But thi

Validate the given OpenSCENARIO config against the 1.0 XSD Note: This will throw if the config is not valid. But this is fine here.

Check that the current scenario configuration is valid

Method to check if there is a vehicle in front of the agent blocking its path. :param vehicle_list (list of carla.Vehicle): list

Writing to Junit XML

Write a machine-readable report to JSON The resulting report has the following format: { criteria: [

Check if a certain id is still at the simulation

Adds new blackboards to the list. Used by the runtime initialization of scenarios

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

Analyzes and prints the results of the route

This function is intended to be called from outside and provide the final statistics about the scenario (human-readable, in form of a

Get dictionary with traffic light group info for a given traffic light

Parse catalog_reference, and replace all parameter references in entry_instance by the values provided in catalog_reference.

Private function to compute camera info camera info doesn't change over time

Method to calculate the velocity of a actor

Module in charge of car-following behaviors when there's someone in front of us. :param vehicle: car to follow

Checks that all route ids are present only once in the files

Checks that there is no missing data, by changing their route id to an integer

Check if the actor reached the end of the waypoint list returns: True if the end was reached, False otherwise.

Reset all parameters

This function triggers a proper termination of a scenario

Cleanes up the file

This module is in charge of warning in case of a collision and managing possible tailgating chances. :param location: cu

Euclidean distance between 3D points :param location_1, location_2: 3D points

Checks whether or not a carla.Waypoint is inside the junction

Convert a JSON string to a Carla.Location

Convert a JSON string to a Carla.Location

Convert an ElementTree.Element to a CARLA Location

Convert an ElementTree.Element to a CARLA Location