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

Private function to load point clouds data. Args: pts_filename (str): Filename of point clouds data. Returns:

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)

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

Set each sequence to be a different group

Set each sequence to be a different group

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