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

Build PyTorch DataLoader. In distributed training, each GPU/process has a dataloader. In non-distributed training, there is only one dataloade

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

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

Split Multi-geoms to list and check is valid or is empty. Args: geom (BaseGeometry): geoms to be split or validate. Ret

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)

Obtain a intersection point between two contour.

Main function that loads the evaluation code, visualizes samples, runs the evaluation and renders stat plots. :param plot_examples: H

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

Remove and destroy all sensors

Initialize from serialized content.

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

Extract geometries given `location` and self pose, self may be lidar or ego. Args: location (str): city name

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

Resume the watchdog.

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