Represents an actor in the simulation. More...

#include <Actor.h>

Inheritance diagram for carla::client::Actor:

Public Member Functions
	Actor (ActorInitializer init)

void	AddAngularImpulse (const geom::Vector3D &vector)
	Add angular impulse to the actor.

void	AddForce (const geom::Vector3D &force)
	Add force to the actor at its center of mass.

void	AddForce (const geom::Vector3D &force, const geom::Vector3D &location)
	Add force to the actor at certain location.

void	AddImpulse (const geom::Vector3D &impulse, const geom::Vector3D &location)
	Add impulse to the actor at certain location.

void	AddImpulse (const geom::Vector3D &vector)
	Add impulse to the actor at its center of mass.

void	AddTorque (const geom::Vector3D &vector)
	Add a torque to the actor.

void	ApplyTexture (const rpc::MaterialParameter &MaterialParameter, const rpc::TextureColor &Texture)

void	ApplyTexture (const rpc::MaterialParameter &MaterialParameter, const rpc::TextureFloatColor &Texture)

virtual bool	Destroy ()
	Tell the simulator to destroy this Actor, and return whether the actor was successfully destroyed.

void	DisableConstantAcceleration ()
	Disable the constant acceleration mode.

void	DisableConstantVelocity ()
	Disable the constant velocity mode.

void	EnableConstantAcceleration (const geom::Vector3D &vector)
	Enable a constant acceleration mode (direct acceleration, no pedal input)

void	EnableConstantVelocity (const geom::Vector3D &vector)
	Enable a constant velocity mode.

geom::Vector3D	GetAcceleration () const
	Return the current 3D acceleration of the actor.

std::string	GetActorClassName () const
	Return the name of the underlying actor's Unreal class.

std::string	GetActorName () const
	Return the name of the underlying Unreal actor.

rpc::ActorState	GetActorState () const

geom::Vector3D	GetAngularVelocity () const
	Return the current 3D angular velocity of the actor.

std::vector< std::string >	GetBoneNames () const
	Return the names of every bone reachable from the actor's first skinned mesh component.

std::vector< geom::Transform >	GetBoneRelativeTransforms () const
	Return the component-space transforms of every bone reachable from the actor's skinned mesh components.

std::vector< geom::Transform >	GetBoneWorldTransforms () const
	Return the world-space transforms of every bone reachable from the actor's skinned mesh components.

std::vector< std::string >	GetComponentNames () const
	Return the names of every actor component attached to the actor.

geom::Transform	GetComponentRelativeTransform (const std::string &component_name) const
	Return the parent-relative transform of the scene component named component_name attached to the actor.

geom::Transform	GetComponentWorldTransform (const std::string &component_name) const
	Return the world-space transform of the scene component named component_name attached to the actor.

geom::Location	GetLocation () const
	Return the current location of the actor.

std::vector< std::string >	GetSocketNames () const
	Return the names of every socket on every scene component attached to the actor.

std::vector< geom::Transform >	GetSocketRelativeTransforms () const
	Return the actor-relative transforms of every socket on every scene component attached to the actor.

std::vector< geom::Transform >	GetSocketWorldTransforms () const
	Return the world-space transforms of every socket on every scene component attached to the actor.

geom::Transform	GetTransform () const
	Return the current transform of the actor.

geom::Vector3D	GetVelocity () const
	Return the current 3D velocity of the actor.

bool	IsActive () const

bool	IsAlive () const

bool	IsDormant () const

const auto &	Serialize () const

void	SetActorDead ()
	Set actor as dead and starts his life span.

void	SetCollisions (bool enabled=true)
	Enable or disable collisions on this actor.

void	SetEnableGravity (bool enabled=true)
	Enable or disable gravity on this actor.

void	SetLocation (const geom::Location &location)
	Teleport the actor to location.

void	SetSimulatePhysics (bool enabled=true)
	Enable or disable physics simulation on this actor.

void	SetTargetAngularVelocity (const geom::Vector3D &vector)
	Set the angular velocity of the actor before applying physics.

void	SetTargetVelocity (const geom::Vector3D &vector)
	Set the actor velocity before applying physics.

void	SetTransform (const geom::Transform &transform)
	Teleport and rotate the actor to transform.

virtual	~Actor ()=default

Public Member Functions inherited from carla::client::detail::ActorState
const std::vector< ActorAttributeValue > &	GetAttributes () const

const std::string &	GetDisplayId () const

ActorId	GetId () const

SharedPtr< Actor >	GetParent () const

ActorId	GetParentId () const

const std::vector< uint8_t > &	GetSemanticTags () const

uint64_t	GetSpawnFrame () const
	Frame of the last world snapshot this client had received when the spawn of this actor was acknowledged by the server; unset for looked-up handles.

const std::string &	GetTypeId () const

World	GetWorld () const

bool	WasSpawnedByThisClient () const
	Whether this handle was returned by a spawn call of this client, as opposed to being looked up (get_actor, get_actors, parent, spectator).

Private Types
using	Super = detail::ActorState

Additional Inherited Members
Protected Member Functions inherited from carla::client::detail::ActorState
	ActorState (rpc::Actor description, EpisodeProxy episode)

const rpc::Actor &	GetActorDescription () const

const geom::BoundingBox &	GetBoundingBox () const

EpisodeProxy &	GetEpisode ()

const EpisodeProxy &	GetEpisode () const

Private Member Functions inherited from carla::profiler::LifetimeProfiled
	LifetimeProfiled ()=default

Detailed Description

Represents an actor in the simulation.

Definition at line 18 of file client/Actor.h.

Member Typedef Documentation

◆ Super

using carla::client::Actor::Super = detail::ActorState

private

Definition at line 22 of file client/Actor.h.

Constructor & Destructor Documentation

◆ Actor()

carla::client::Actor::Actor ( ActorInitializer init )

inlineexplicit

Definition at line 25 of file client/Actor.h.

◆ ~Actor()

virtual carla::client::Actor::~Actor ( )

virtualdefault

Member Function Documentation

◆ AddAngularImpulse()

void carla::client::Actor::AddAngularImpulse ( const geom::Vector3D & vector )

Add angular impulse to the actor.

Definition at line 129 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ AddForce() [1/2]

void carla::client::Actor::AddForce ( const geom::Vector3D & force )

Add force to the actor at its center of mass.

Definition at line 121 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ AddForce() [2/2]

void carla::client::Actor::AddForce	(	const geom::Vector3D &	force,
		const geom::Vector3D &	location
	)

Add force to the actor at certain location.

Definition at line 125 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ AddImpulse() [1/2]

void carla::client::Actor::AddImpulse	(	const geom::Vector3D &	impulse,
		const geom::Vector3D &	location
	)

Add impulse to the actor at certain location.

Definition at line 117 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ AddImpulse() [2/2]

void carla::client::Actor::AddImpulse ( const geom::Vector3D & vector )

Add impulse to the actor at its center of mass.

Definition at line 113 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ AddTorque()

void carla::client::Actor::AddTorque ( const geom::Vector3D & vector )

Add a torque to the actor.

Definition at line 133 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ ApplyTexture() [1/2]

void carla::client::Actor::ApplyTexture	(	const rpc::MaterialParameter &	MaterialParameter,
		const rpc::TextureColor &	Texture
	)

Definition at line 153 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ ApplyTexture() [2/2]

void carla::client::Actor::ApplyTexture	(	const rpc::MaterialParameter &	MaterialParameter,
		const rpc::TextureFloatColor &	Texture
	)

Definition at line 160 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ Destroy()

bool carla::client::Actor::Destroy ( )

virtual

Tell the simulator to destroy this Actor, and return whether the actor was successfully destroyed.

Note: It has no effect if the Actor was already successfully destroyed.

Warning: This function blocks until the destruction operation is completed by the simulator.

Reimplemented in carla::client::ServerSideSensor.

Definition at line 171 of file Actor.cpp.

References carla::client::detail::ActorState::GetDisplayId(), carla::client::detail::ActorState::GetEpisode(), carla::log_debug(), and carla::client::detail::EpisodeProxyImpl< PointerT >::TryLock().

◆ DisableConstantAcceleration()

void carla::client::Actor::DisableConstantAcceleration ( )

Disable the constant acceleration mode.

Definition at line 109 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ DisableConstantVelocity()

void carla::client::Actor::DisableConstantVelocity ( )

Disable the constant velocity mode.

Definition at line 101 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ EnableConstantAcceleration()

void carla::client::Actor::EnableConstantAcceleration ( const geom::Vector3D & vector )

Enable a constant acceleration mode (direct acceleration, no pedal input)

Definition at line 105 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ EnableConstantVelocity()

void carla::client::Actor::EnableConstantVelocity ( const geom::Vector3D & vector )

Enable a constant velocity mode.

Definition at line 97 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ GetAcceleration()

geom::Vector3D carla::client::Actor::GetAcceleration ( ) const

Return the current 3D acceleration of the actor.

Note: This function does not call the simulator, it returns the acceleration calculated after the actor's velocity.

Definition at line 31 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ GetActorClassName()

std::string carla::client::Actor::GetActorClassName ( ) const

Return the name of the underlying actor's Unreal class.

Note: This function does not call the simulator, it returns the acceleration calculated after the actor's velocity.

Definition at line 76 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ GetActorName()

std::string carla::client::Actor::GetActorName ( ) const

Return the name of the underlying Unreal actor.

Note: This function does not call the simulator, it returns the acceleration calculated after the actor's velocity.

Definition at line 71 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ GetActorState()

rpc::ActorState carla::client::Actor::GetActorState ( ) const

Definition at line 167 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

Referenced by IsActive(), IsAlive(), and IsDormant().

◆ GetAngularVelocity()

geom::Vector3D carla::client::Actor::GetAngularVelocity ( ) const

Return the current 3D angular velocity of the actor.

Note: This function does not call the simulator, it returns the angular velocity received in the last tick.

Definition at line 27 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

Referenced by carla::rss::RssCheck::GetHeadingChange().

◆ GetBoneNames()

std::vector< std::string > carla::client::Actor::GetBoneNames ( ) const

Return the names of every bone reachable from the actor's first skinned mesh component.

Definition at line 55 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ GetBoneRelativeTransforms()

std::vector< geom::Transform > carla::client::Actor::GetBoneRelativeTransforms ( ) const

Return the component-space transforms of every bone reachable from the actor's skinned mesh components.

Each transform is the bone's local pose multiplied by FTransform::Identity, so the result is expressed in the owning USkinnedMeshComponent's space, not relative to the bone's parent.

Definition at line 47 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ GetBoneWorldTransforms()

std::vector< geom::Transform > carla::client::Actor::GetBoneWorldTransforms ( ) const

Return the world-space transforms of every bone reachable from the actor's skinned mesh components.

Definition at line 43 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ GetComponentNames()

std::vector< std::string > carla::client::Actor::GetComponentNames ( ) const

Return the names of every actor component attached to the actor.

Definition at line 51 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ GetComponentRelativeTransform()

geom::Transform carla::client::Actor::GetComponentRelativeTransform ( const std::string & component_name ) const

Return the parent-relative transform of the scene component named component_name attached to the actor.

Definition at line 39 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ GetComponentWorldTransform()

geom::Transform carla::client::Actor::GetComponentWorldTransform ( const std::string & component_name ) const

Return the world-space transform of the scene component named component_name attached to the actor.

Definition at line 35 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ GetLocation()

geom::Location carla::client::Actor::GetLocation ( ) const

Return the current location of the actor.

Note: This function does not call the simulator, it returns the location received in the last tick.

Definition at line 15 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ GetSocketNames()

std::vector< std::string > carla::client::Actor::GetSocketNames ( ) const

Return the names of every socket on every scene component attached to the actor.

Definition at line 67 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ GetSocketRelativeTransforms()

std::vector< geom::Transform > carla::client::Actor::GetSocketRelativeTransforms ( ) const

Return the actor-relative transforms of every socket on every scene component attached to the actor.

Definition at line 63 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ GetSocketWorldTransforms()

std::vector< geom::Transform > carla::client::Actor::GetSocketWorldTransforms ( ) const

Return the world-space transforms of every socket on every scene component attached to the actor.

Definition at line 59 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ GetTransform()

geom::Transform carla::client::Actor::GetTransform ( ) const

Return the current transform of the actor.

Note: This function does not call the simulator, it returns the transform received in the last tick.

Definition at line 19 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

Referenced by carla::rss::RssCheck::CreateWorldModel(), carla::rss::RssCheck::GetSpeed(), carla::client::TrafficSign::GetStopWaypoints(), and carla::client::RssSensor::TickRssSensorThreadLocked().

◆ GetVelocity()

geom::Vector3D carla::client::Actor::GetVelocity ( ) const

Return the current 3D velocity of the actor.

Note: This function does not call the simulator, it returns the velocity received in the last tick.

Definition at line 23 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

Referenced by carla::rss::RssCheck::GetSpeed().

◆ IsActive()

bool carla::client::Actor::IsActive ( ) const

inline

Definition at line 185 of file client/Actor.h.

References carla::rpc::Active, GetActorState(), carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::IsValid().

◆ IsAlive()

bool carla::client::Actor::IsAlive ( ) const

inline

Definition at line 177 of file client/Actor.h.

References GetActorState(), carla::client::detail::ActorState::GetEpisode(), carla::rpc::Invalid, carla::client::detail::EpisodeProxyImpl< PointerT >::IsValid(), and carla::rpc::PendingKill.

Referenced by carla::client::ServerSideSensor::~ServerSideSensor().

◆ IsDormant()

bool carla::client::Actor::IsDormant ( ) const

inline

Definition at line 181 of file client/Actor.h.

References carla::rpc::Dormant, GetActorState(), carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::IsValid().

◆ Serialize()

const auto & carla::client::Actor::Serialize ( ) const

inline

Definition at line 198 of file client/Actor.h.

References carla::client::detail::ActorState::GetActorDescription().

◆ SetActorDead()

void carla::client::Actor::SetActorDead ( )

Set actor as dead and starts his life span.

Definition at line 145 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ SetCollisions()

void carla::client::Actor::SetCollisions ( bool enabled = true )

Enable or disable collisions on this actor.

Definition at line 141 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ SetEnableGravity()

void carla::client::Actor::SetEnableGravity ( bool enabled = true )

Enable or disable gravity on this actor.

Definition at line 149 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ SetLocation()

void carla::client::Actor::SetLocation ( const geom::Location & location )

Teleport the actor to location.

Definition at line 81 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ SetSimulatePhysics()

void carla::client::Actor::SetSimulatePhysics ( bool enabled = true )

Enable or disable physics simulation on this actor.

Definition at line 137 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ SetTargetAngularVelocity()

void carla::client::Actor::SetTargetAngularVelocity ( const geom::Vector3D & vector )

Set the angular velocity of the actor before applying physics.

Definition at line 93 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ SetTargetVelocity()

void carla::client::Actor::SetTargetVelocity ( const geom::Vector3D & vector )

Set the actor velocity before applying physics.

Definition at line 89 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ SetTransform()

void carla::client::Actor::SetTransform ( const geom::Transform & transform )

Teleport and rotate the actor to transform.

Definition at line 85 of file Actor.cpp.

References carla::client::detail::ActorState::GetEpisode(), and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

The documentation for this class was generated from the following files:

Public Member Functions

Private Types

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Super

Constructor & Destructor Documentation

◆ Actor()

◆ ~Actor()

Member Function Documentation

◆ AddAngularImpulse()

◆ AddForce() [1/2]

◆ AddForce() [2/2]

◆ AddImpulse() [1/2]

◆ AddImpulse() [2/2]

◆ AddTorque()

◆ ApplyTexture() [1/2]

◆ ApplyTexture() [2/2]

◆ Destroy()

◆ DisableConstantAcceleration()

◆ DisableConstantVelocity()

◆ EnableConstantAcceleration()

◆ EnableConstantVelocity()

◆ GetAcceleration()

◆ GetActorClassName()

◆ GetActorName()

◆ GetActorState()

◆ GetAngularVelocity()

◆ GetBoneNames()

◆ GetBoneRelativeTransforms()

◆ GetBoneWorldTransforms()

◆ GetComponentNames()

◆ GetComponentRelativeTransform()

◆ GetComponentWorldTransform()

◆ GetLocation()

◆ GetSocketNames()

◆ GetSocketRelativeTransforms()

◆ GetSocketWorldTransforms()

◆ GetTransform()

◆ GetVelocity()

◆ IsActive()

◆ IsAlive()

◆ IsDormant()

◆ Serialize()

◆ SetActorDead()

◆ SetCollisions()

◆ SetEnableGravity()

◆ SetLocation()

◆ SetSimulatePhysics()

◆ SetTargetAngularVelocity()

◆ SetTargetVelocity()

◆ SetTransform()