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

Adds a list of boxes.

A rough check for collision detection: check if any corner point of boxes1 is inside boxes2 and vice versa. box

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

A function wrapper for launching model training according to cfg. Because we need different eval_hook in runner. Should be deprecated in the

Destroy (clean-up) the agent :return:

Cleanup and delete actors, ScenarioManager and CARLA world

反向过程：去噪

Utility function to draw debugging points

Project the 3D bbox on 2D plane and draw on input image. Args: bboxes3d (:obj:`LiDARInstance3DBoxes`): 3d bbox in lidar coord

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

returns: bool: False if watchdog exception occured, True otherwise

Returns elapsed game time

Initialise the criterion. Can be extended by the user-derived class

@return true if runtime init mode is used

Prepare data related to nuScenes dataset. Related data consists of '.pkl' files recording basic infos, 2D annotations and groundtruth databas

Prepare data related to nuScenes dataset. Related data consists of '.pkl' files recording basic infos, 2D annotations and groundtruth databas

Pause the watchdog

Calculate the yaw angle from a quaternion. Note that this only works for a quaternion that represents a box in lidar or global coordinate fra

Execute one step of navigation. :param debug: boolean for debugging :return control: carla.VehicleControl

Define the sensor suite required by the agent :return: a list containing the required sensors in the following format: [

Set the CARLA client

Parse the xml_tree, and replace all parameter references with the actual values. Note: Parameter names must not start with "

Start the watchdog

As with other composites, it checks if the child is running and stops it if that is the case. Args: new_status (:

Return a JSON serializable object

This method returns list of (carla.Waypoint, RoadOption) from origin to destination

Update the actor's waypoints Args: waypoints (List of carla.Transform): List of new waypoints.

Update the actor's waypoints Args: waypoints (List of carla.Transform): List of new waypoints.

Setup all relevant parameters and create scenario

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

Setup all relevant parameters and create scenario

Setup all relevant parameters and create scenario

Setup timeout

Class constructor

Method to check if there is a red light affecting the vehicle. :param lights_list (list of carla.TrafficLight): list containing

Convert the plan into locations for walkers (pedestrians), or to a waypoint list for other actors. For non-walkers, activate the carl