#include <Vehicle.h>

Inheritance diagram for carla::client::Vehicle:

Public Types
using	AckermannControl = rpc::VehicleAckermannControl

using	Control = rpc::VehicleControl

using	LightState = rpc::VehicleLightState::LightState

using	PhysicsControl = rpc::VehiclePhysicsControl

using	TelemetryData = rpc::VehicleTelemetryData

using	TM = traffic_manager::TrafficManager

using	VehicleDoor = rpc::VehicleDoor

using	WheelLocation = carla::rpc::VehicleWheelLocation

Public Member Functions
void	ApplyAckermannControl (const AckermannControl &control)
	Apply control to this vehicle.

void	ApplyAckermannControllerSettings (const rpc::AckermannControllerSettings &settings)
	Apply Ackermann control settings to this vehicle.

void	ApplyControl (const Control &control)
	Apply control to this vehicle.

void	ApplyPhysicsControl (const PhysicsControl &physics_control)
	Apply physics control to this vehicle.

void	CloseDoor (const VehicleDoor door_idx)
	Close a door in this vehicle.

void	EnableCarSim (std::string simfile_path)
	Enables CarSim simulation if it is availiable.

void	EnableChronoPhysics (uint64_t MaxSubsteps, float MaxSubstepDeltaTime, std::string VehicleJSON="", std::string PowertrainJSON="", std::string TireJSON="", std::string BaseJSONPath="")

rpc::AckermannControllerSettings	GetAckermannControllerSettings () const
	Return the last Ackermann controller settings applied to this vehicle.

Control	GetControl () const
	Return the control last applied to this vehicle.

rpc::VehicleFailureState	GetFailureState () const
	Returns the failure state of the vehicle.

LightState	GetLightState () const
	Return the current open lights (LightState) of this vehicle.

PhysicsControl	GetPhysicsControl () const
	Return the physics control last applied to this vehicle.

float	GetSpeedLimit () const
	Return the speed limit currently affecting this vehicle.

TelemetryData	GetTelemetryData () const
	Return the runtime telemetry of this vehicle: forward speed, last applied control inputs, engine RPM, current gear, and per-wheel lateral slip, longitudinal slip, and angular velocity sourced from the Chaos vehicle physics state.

SharedPtr< TrafficLight >	GetTrafficLight () const
	Retrieve the traffic light actor currently affecting this vehicle.

rpc::TrafficLightState	GetTrafficLightState () const
	Return the state of the traffic light currently affecting this vehicle.

std::vector< geom::Transform >	GetVehicleBoneWorldTransforms () const

float	GetWheelPitchAngle (WheelLocation wheel_location)
	Return the spin angle of a wheel, in degrees.

float	GetWheelSteerAngle (WheelLocation wheel_location)
	Return a Rotation from a wheel of the vehicle.

float	GetWheelSuspensionOffset (WheelLocation wheel_location)
	Return the suspension compression of a wheel, in meters.

bool	IsAtTrafficLight ()
	Return whether a traffic light is affecting this vehicle.

void	OpenDoor (const VehicleDoor door_idx)
	Open a door in this vehicle.

void	SetAutopilot (bool enabled=true, uint16_t tm_port=TM_DEFAULT_PORT)
	Switch on/off this vehicle's autopilot.

void	SetLightState (const LightState &light_state)
	Sets a LightState to this vehicle.

void	SetWheelAnimationOverride (bool enabled)
	Enables or disables the wheel animation override, in which the wheels show only the values set through the wheel setters (affects the bones of the car skeleton, not the physics)

void	SetWheelPitchAngle (WheelLocation wheel_location, float angle_in_deg)
	Sets the spin angle of a wheel, in degrees (affects the bone of the car skeleton, not the physics)

void	SetWheelSteerDirection (WheelLocation wheel_location, float angle_in_deg)
	Sets a Rotation to a wheel of the vehicle (affects the bone of the car skeleton, not the physics)

void	SetWheelSuspensionOffset (WheelLocation wheel_location, float offset)
	Sets the suspension compression of a wheel, in meters (affects the bone of the car skeleton, not the physics)

void	ShowDebugTelemetry (bool enabled=true)
	Switch on/off this vehicle's autopilot.

void	UseCarSimRoad (bool enabled)
	Enables the use of CarSim internal road definition instead of unreal's.

	Vehicle (ActorInitializer init)

Public Member Functions inherited from carla::client::Actor
	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 Attributes
Control	_control

const bool	_is_control_sticky

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

Detailed Description

Definition at line 33 of file Vehicle.h.

Member Typedef Documentation

◆ AckermannControl

using carla::client::Vehicle::AckermannControl = rpc::VehicleAckermannControl

Definition at line 37 of file Vehicle.h.

◆ Control

using carla::client::Vehicle::Control = rpc::VehicleControl

Definition at line 36 of file Vehicle.h.

◆ LightState

using carla::client::Vehicle::LightState = rpc::VehicleLightState::LightState

Definition at line 40 of file Vehicle.h.

◆ PhysicsControl

using carla::client::Vehicle::PhysicsControl = rpc::VehiclePhysicsControl

Definition at line 38 of file Vehicle.h.

◆ TelemetryData

using carla::client::Vehicle::TelemetryData = rpc::VehicleTelemetryData

Definition at line 39 of file Vehicle.h.

◆ TM

using carla::client::Vehicle::TM = traffic_manager::TrafficManager

Definition at line 41 of file Vehicle.h.

◆ VehicleDoor

using carla::client::Vehicle::VehicleDoor = rpc::VehicleDoor

Definition at line 42 of file Vehicle.h.

◆ WheelLocation

using carla::client::Vehicle::WheelLocation = carla::rpc::VehicleWheelLocation

Definition at line 43 of file Vehicle.h.

Constructor & Destructor Documentation

◆ Vehicle()

carla::client::Vehicle::Vehicle ( ActorInitializer init )

explicit

Definition at line 34 of file Vehicle.cpp.

Member Function Documentation

◆ ApplyAckermannControl()

void carla::client::Vehicle::ApplyAckermannControl ( const AckermannControl & control )

Apply control to this vehicle.

Definition at line 58 of file Vehicle.cpp.

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

◆ ApplyAckermannControllerSettings()

void carla::client::Vehicle::ApplyAckermannControllerSettings ( const rpc::AckermannControllerSettings & settings )

Apply Ackermann control settings to this vehicle.

Definition at line 66 of file Vehicle.cpp.

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

◆ ApplyControl()

void carla::client::Vehicle::ApplyControl ( const Control & control )

Apply control to this vehicle.

Definition at line 51 of file Vehicle.cpp.

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

◆ ApplyPhysicsControl()

void carla::client::Vehicle::ApplyPhysicsControl ( const PhysicsControl & physics_control )

Apply physics control to this vehicle.

Definition at line 70 of file Vehicle.cpp.

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

◆ CloseDoor()

void carla::client::Vehicle::CloseDoor ( const VehicleDoor door_idx )

Close a door in this vehicle.

Definition at line 78 of file Vehicle.cpp.

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

◆ EnableCarSim()

void carla::client::Vehicle::EnableCarSim ( std::string simfile_path )

Enables CarSim simulation if it is availiable.

Definition at line 151 of file Vehicle.cpp.

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

◆ EnableChronoPhysics()

void carla::client::Vehicle::EnableChronoPhysics	(	uint64_t	MaxSubsteps,
		float	MaxSubstepDeltaTime,
		std::string	VehicleJSON = `""`,
		std::string	PowertrainJSON = `""`,
		std::string	TireJSON = `""`,
		std::string	BaseJSONPath = `""`
	)

Definition at line 159 of file Vehicle.cpp.

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

◆ GetAckermannControllerSettings()

rpc::AckermannControllerSettings carla::client::Vehicle::GetAckermannControllerSettings ( ) const

Return the last Ackermann controller settings applied to this vehicle.

Warning: This function does call the simulator.

Definition at line 62 of file Vehicle.cpp.

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

◆ GetControl()

Vehicle::Control carla::client::Vehicle::GetControl ( ) const

Return the control last applied to this vehicle.

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

Definition at line 114 of file Vehicle.cpp.

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

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

◆ GetFailureState()

rpc::VehicleFailureState carla::client::Vehicle::GetFailureState ( ) const

Returns the failure state of the vehicle.

Definition at line 175 of file Vehicle.cpp.

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

◆ GetLightState()

Vehicle::LightState carla::client::Vehicle::GetLightState ( ) const

Return the current open lights (LightState) of this vehicle.

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

Definition at line 126 of file Vehicle.cpp.

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

◆ GetPhysicsControl()

Vehicle::PhysicsControl carla::client::Vehicle::GetPhysicsControl ( ) const

Return the physics control last applied to this vehicle.

Warning: This function does call the simulator.

Definition at line 118 of file Vehicle.cpp.

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

◆ GetSpeedLimit()

float carla::client::Vehicle::GetSpeedLimit ( ) const

Return the speed limit currently affecting this vehicle.

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

Definition at line 134 of file Vehicle.cpp.

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

◆ GetTelemetryData()

Vehicle::TelemetryData carla::client::Vehicle::GetTelemetryData ( ) const

Return the runtime telemetry of this vehicle: forward speed, last applied control inputs, engine RPM, current gear, and per-wheel lateral slip, longitudinal slip, and angular velocity sourced from the Chaos vehicle physics state.

Warning: This function does call the simulator.

Definition at line 122 of file Vehicle.cpp.

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

◆ GetTrafficLight()

SharedPtr< TrafficLight > carla::client::Vehicle::GetTrafficLight ( ) const

Retrieve the traffic light actor currently affecting this vehicle.

Definition at line 146 of file Vehicle.cpp.

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

◆ GetTrafficLightState()

rpc::TrafficLightState carla::client::Vehicle::GetTrafficLightState ( ) const

Return the state of the traffic light currently affecting this vehicle.

Returns: Green If no traffic light is affecting the vehicle.

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

Definition at line 138 of file Vehicle.cpp.

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

◆ GetVehicleBoneWorldTransforms()

std::vector< geom::Transform > carla::client::Vehicle::GetVehicleBoneWorldTransforms ( ) const

Definition at line 130 of file Vehicle.cpp.

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

◆ GetWheelPitchAngle()

float carla::client::Vehicle::GetWheelPitchAngle ( WheelLocation wheel_location )

Return the spin angle of a wheel, in degrees.

Definition at line 98 of file Vehicle.cpp.

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

◆ GetWheelSteerAngle()

float carla::client::Vehicle::GetWheelSteerAngle ( WheelLocation wheel_location )

Return a Rotation from a wheel of the vehicle.

Note: The function returns the rotation of the vehicle based on the it's physics

Definition at line 90 of file Vehicle.cpp.

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

◆ GetWheelSuspensionOffset()

float carla::client::Vehicle::GetWheelSuspensionOffset ( WheelLocation wheel_location )

Return the suspension compression of a wheel, in meters.

Definition at line 106 of file Vehicle.cpp.

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

◆ IsAtTrafficLight()

bool carla::client::Vehicle::IsAtTrafficLight ( )

Return whether a traffic light is affecting this vehicle.

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

Definition at line 142 of file Vehicle.cpp.

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

◆ OpenDoor()

void carla::client::Vehicle::OpenDoor ( const VehicleDoor door_idx )

Open a door in this vehicle.

Definition at line 74 of file Vehicle.cpp.

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

◆ SetAutopilot()

void carla::client::Vehicle::SetAutopilot	(	bool	enabled = `true`,
		uint16_t	tm_port = `TM_DEFAULT_PORT`
	)

Switch on/off this vehicle's autopilot.

Definition at line 38 of file Vehicle.cpp.

References carla::client::detail::ActorState::GetEpisode(), carla::traffic_manager::TrafficManager::RegisterVehicles(), and carla::traffic_manager::TrafficManager::UnregisterVehicles().

◆ SetLightState()

void carla::client::Vehicle::SetLightState ( const LightState & light_state )

Sets a LightState to this vehicle.

Definition at line 82 of file Vehicle.cpp.

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

◆ SetWheelAnimationOverride()

void carla::client::Vehicle::SetWheelAnimationOverride ( bool enabled )

Enables or disables the wheel animation override, in which the wheels show only the values set through the wheel setters (affects the bones of the car skeleton, not the physics)

Definition at line 110 of file Vehicle.cpp.

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

◆ SetWheelPitchAngle()

void carla::client::Vehicle::SetWheelPitchAngle	(	WheelLocation	wheel_location,
		float	angle_in_deg
	)

Sets the spin angle of a wheel, in degrees (affects the bone of the car skeleton, not the physics)

Definition at line 94 of file Vehicle.cpp.

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

◆ SetWheelSteerDirection()

void carla::client::Vehicle::SetWheelSteerDirection	(	WheelLocation	wheel_location,
		float	angle_in_deg
	)

Sets a Rotation to a wheel of the vehicle (affects the bone of the car skeleton, not the physics)

Definition at line 86 of file Vehicle.cpp.

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

◆ SetWheelSuspensionOffset()

void carla::client::Vehicle::SetWheelSuspensionOffset	(	WheelLocation	wheel_location,
		float	offset
	)

Sets the suspension compression of a wheel, in meters (affects the bone of the car skeleton, not the physics)

Definition at line 102 of file Vehicle.cpp.

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

◆ ShowDebugTelemetry()

void carla::client::Vehicle::ShowDebugTelemetry ( bool enabled = true )

Switch on/off this vehicle's autopilot.

Definition at line 47 of file Vehicle.cpp.

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

◆ UseCarSimRoad()

void carla::client::Vehicle::UseCarSimRoad ( bool enabled )

Enables the use of CarSim internal road definition instead of unreal's.

Definition at line 155 of file Vehicle.cpp.

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

Member Data Documentation

◆ _control

Control carla::client::Vehicle::_control

private

Definition at line 176 of file Vehicle.h.

Referenced by ApplyControl().

◆ _is_control_sticky

const bool carla::client::Vehicle::_is_control_sticky

private

Definition at line 174 of file Vehicle.h.

Referenced by ApplyControl().

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

Public Types

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ AckermannControl

◆ Control

◆ LightState

◆ PhysicsControl

◆ TelemetryData

◆ TM

◆ VehicleDoor

◆ WheelLocation

Constructor & Destructor Documentation

◆ Vehicle()

Member Function Documentation

◆ ApplyAckermannControl()

◆ ApplyAckermannControllerSettings()

◆ ApplyControl()

◆ ApplyPhysicsControl()

◆ CloseDoor()

◆ EnableCarSim()

◆ EnableChronoPhysics()

◆ GetAckermannControllerSettings()

◆ GetControl()

◆ GetFailureState()

◆ GetLightState()

◆ GetPhysicsControl()

◆ GetSpeedLimit()

◆ GetTelemetryData()

◆ GetTrafficLight()

◆ GetTrafficLightState()

◆ GetVehicleBoneWorldTransforms()

◆ GetWheelPitchAngle()

◆ GetWheelSteerAngle()

◆ GetWheelSuspensionOffset()

◆ IsAtTrafficLight()

◆ OpenDoor()

◆ SetAutopilot()

◆ SetLightState()

◆ SetWheelAnimationOverride()

◆ SetWheelPitchAngle()

◆ SetWheelSteerDirection()

◆ SetWheelSuspensionOffset()

◆ ShowDebugTelemetry()

◆ UseCarSimRoad()

Member Data Documentation

◆ _control

◆ _is_control_sticky