#include <World.h>

Public Member Functions
void	ApplyColorTextureToObject (const std::string &actor_name, const rpc::MaterialParameter &parameter, const rpc::TextureColor &Texture)

void	ApplyColorTextureToObjects (const std::vector< std::string > &objects_names, const rpc::MaterialParameter &parameter, const rpc::TextureColor &Texture)

void	ApplyFloatColorTextureToObject (const std::string &actor_name, const rpc::MaterialParameter &parameter, const rpc::TextureFloatColor &Texture)

void	ApplyFloatColorTextureToObjects (const std::vector< std::string > &objects_names, const rpc::MaterialParameter &parameter, const rpc::TextureFloatColor &Texture)

uint64_t	ApplySettings (const rpc::EpisodeSettings &settings, time_duration timeout)

void	ApplyTexturesToObject (const std::string &actor_name, const rpc::TextureColor &diffuse_texture, const rpc::TextureFloatColor &emissive_texture, const rpc::TextureFloatColor &normal_texture, const rpc::TextureFloatColor &ao_roughness_metallic_emissive_texture)

void	ApplyTexturesToObjects (const std::vector< std::string > &objects_names, const rpc::TextureColor &diffuse_texture, const rpc::TextureFloatColor &emissive_texture, const rpc::TextureFloatColor &normal_texture, const rpc::TextureFloatColor &ao_roughness_metallic_emissive_texture)

std::vector< rpc::LabelledPoint >	CastRay (geom::Location start_location, geom::Location end_location) const

void	ClearSkyLightMap ()

void	EnableEnvironmentObjects (std::vector< uint64_t > env_objects_ids, bool enable) const

void	FreezeAllTrafficLights (bool frozen)

SharedPtr< Actor >	GetActor (ActorId id) const
	Find actor by id, return nullptr if not found.

SharedPtr< ActorList >	GetActors () const
	Return a list with all the actors currently present in the world.

SharedPtr< ActorList >	GetActors (const std::vector< ActorId > &actor_ids) const
	Return a list with the actors requested by ActorId.

SharedPtr< BlueprintLibrary >	GetBlueprintLibrary () const
	Return the list of blueprints available in this world.

std::vector< geom::Transform >	GetEgoSpawnPoints () const
	Get all ego spawn points available in the level.

std::vector< rpc::EnvironmentObject >	GetEnvironmentObjects (uint8_t queried_tag) const

detail::EpisodeProxy	GetEpisode () const

uint64_t	GetId () const
	Get the id of the episode associated with this world.

float	GetIMUSensorGravity () const
	Get gravity value used for the IMU sensor accelerometer calculation.

std::vector< geom::BoundingBox >	GetLevelBBs (uint8_t queried_tag) const
	Returns all the BBs of all the elements of the level.

SharedPtr< LightManager >	GetLightManager () const

SharedPtr< Map >	GetMap () const
	Return the map that describes this world.

std::vector< std::string >	GetNamesOfAllObjects () const

bool	GetPublishTF () const
	Get whether ROS2 TF information is being published.

std::optional< geom::Location >	GetRandomLocationFromNavigation () const
	Get a random location from the pedestrians navigation mesh.

rpc::EpisodeSettings	GetSettings () const

WorldSnapshot	GetSnapshot () const
	Return a snapshot of the world at this moment.

SharedPtr< Actor >	GetSpectator () const
	Return the spectator actor.

SharedPtr< Actor >	GetTrafficLight (const Landmark &landmark) const

SharedPtr< Actor >	GetTrafficLightFromOpenDRIVE (const road::SignId &sign_id) const

std::vector< SharedPtr< Actor > >	GetTrafficLightsFromWaypoint (const Waypoint &waypoint, double distance) const

std::vector< SharedPtr< Actor > >	GetTrafficLightsInJunction (const road::JuncId junc_id) const

SharedPtr< Actor >	GetTrafficSign (const Landmark &landmark) const

rpc::VehicleLightStateList	GetVehiclesLightStates () const
	Returns a list of pairs where the firts element is the vehicle ID and the second one is the light state.

rpc::WeatherParameters	GetWeather () const
	Retrieve the weather parameters currently active in the world.

std::optional< rpc::LabelledPoint >	GroundProjection (geom::Location location, float search_distance=10000.0) const

bool	HasSkyLightMap () const

bool	IsWeatherEnabled () const
	Query if the Weather is enabled or not.

void	LoadLevelLayer (rpc::MapLayer map_layers) const

DebugHelper	MakeDebugHelper () const

size_t	OnTick (std::function< void(WorldSnapshot)> callback)
	Register a callback to be called every time a world tick is received.

World &	operator= (const World &)=default

World &	operator= (World &&)=default

std::optional< rpc::LabelledPoint >	ProjectPoint (geom::Location location, geom::Vector3D direction, float search_distance=10000.f) const

void	RemoveOnTick (size_t callback_id)
	Remove a callback registered with OnTick.

void	ResetAllTrafficLights ()

void	SetIMUSensorGravity (float gravity)
	Set gravity value used for the IMU sensor accelerometer calculation.

void	SetPedestriansCrossFactor (float percentage)
	set the probability that an agent could cross the roads in its path following percentage of 0.0f means no pedestrian can cross roads percentage of 0.5f means 50% of all pedestrians can cross roads percentage of 1.0f means all pedestrians can cross roads if needed

void	SetPedestriansSeed (unsigned int seed)
	set the seed to use with random numbers in the pedestrians module

void	SetPublishTF (bool publish_tf)
	Set whether to publish ROS2 TF information.

void	SetSkyLightMap (const rpc::TextureFloatColor &panorama, float intensity=1.0f, int32_t face_size=512)
	Light the scene with an environment map: an equirectangular linear RGB(A) float panorama in the CARLA world frame (column 0 = azimuth 0 = +X, azimuth grows toward +Y; row 0 = zenith) becomes the sky light's cubemap (ambient + reflections) at the given intensity, replacing the real-time atmosphere capture until ClearSkyLightMap.

void	SetWeather (const rpc::WeatherParameters &weather)
	Change the weather in the simulation.

SharedPtr< Actor >	SpawnActor (const ActorBlueprint &blueprint, const geom::Transform &transform, Actor *parent=nullptr, rpc::AttachmentType attachment_type=rpc::AttachmentType::Rigid)
	Spawn an actor into the world based on the blueprint provided at transform.

void	SpawnCustomMesh (const std::vector< float > &vertices, const std::vector< uint32_t > &triangles, const std::string &material)
	Spawns a static procedural mesh with collision.

uint64_t	Tick (time_duration timeout)
	Signal the simulator to continue to next tick (only has effect on synchronous mode).

SharedPtr< Actor >	TrySpawnActor (const ActorBlueprint &blueprint, const geom::Transform &transform, Actor *parent=nullptr, rpc::AttachmentType attachment_type=rpc::AttachmentType::Rigid) noexcept
	Same as SpawnActor but return nullptr on failure instead of throwing an exception.

void	UnloadLevelLayer (rpc::MapLayer map_layers) const

WorldSnapshot	WaitForTick (time_duration timeout) const
	Block calling thread until a world tick is received.

	World (const World &)=default

	World (detail::EpisodeProxy episode)

	World (World &&)=default

	~World ()

Private Attributes
detail::EpisodeProxy	_episode

Detailed Description

Definition at line 45 of file World.h.

Constructor & Destructor Documentation

◆ World() [1/3]

carla::client::World::World ( detail::EpisodeProxy episode )

inlineexplicit

Definition at line 48 of file World.h.

◆ ~World()

carla::client::World::~World ( )

inline

Definition at line 50 of file World.h.

◆ World() [2/3]

carla::client::World::World ( const World & )

default

◆ World() [3/3]

carla::client::World::World ( World && )

default

Member Function Documentation

◆ ApplyColorTextureToObject()

void carla::client::World::ApplyColorTextureToObject	(	const std::string &	actor_name,
		const rpc::MaterialParameter &	parameter,
		const rpc::TextureColor &	Texture
	)

Definition at line 325 of file World.cpp.

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

Referenced by ApplyTexturesToObject().

◆ ApplyColorTextureToObjects()

void carla::client::World::ApplyColorTextureToObjects	(	const std::vector< std::string > &	objects_names,
		const rpc::MaterialParameter &	parameter,
		const rpc::TextureColor &	Texture
	)

Definition at line 332 of file World.cpp.

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

Referenced by ApplyTexturesToObjects().

◆ ApplyFloatColorTextureToObject()

void carla::client::World::ApplyFloatColorTextureToObject	(	const std::string &	actor_name,
		const rpc::MaterialParameter &	parameter,
		const rpc::TextureFloatColor &	Texture
	)

Definition at line 339 of file World.cpp.

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

Referenced by ApplyTexturesToObject().

◆ ApplyFloatColorTextureToObjects()

void carla::client::World::ApplyFloatColorTextureToObjects	(	const std::vector< std::string > &	objects_names,
		const rpc::MaterialParameter &	parameter,
		const rpc::TextureFloatColor &	Texture
	)

Definition at line 346 of file World.cpp.

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

Referenced by ApplyTexturesToObjects().

◆ ApplySettings()

uint64_t carla::client::World::ApplySettings	(	const rpc::EpisodeSettings &	settings,
		time_duration	timeout
	)

Returns: The id of the frame when the settings were applied.

Definition at line 58 of file World.cpp.

References _episode, carla::rpc::EpisodeSettings::fixed_delta_seconds, GetSnapshot(), carla::client::detail::EpisodeProxyImpl< PointerT >::Lock(), carla::log_warning(), carla::time_duration::milliseconds(), carla::rpc::EpisodeSettings::synchronous_mode, Tick(), and WaitForTick().

◆ ApplyTexturesToObject()

void carla::client::World::ApplyTexturesToObject	(	const std::string &	actor_name,
		const rpc::TextureColor &	diffuse_texture,
		const rpc::TextureFloatColor &	emissive_texture,
		const rpc::TextureFloatColor &	normal_texture,
		const rpc::TextureFloatColor &	ao_roughness_metallic_emissive_texture
	)

Definition at line 384 of file World.cpp.

References ApplyColorTextureToObject(), ApplyFloatColorTextureToObject(), carla::rpc::Texture< T >::GetHeight(), carla::rpc::Texture< T >::GetWidth(), carla::rpc::Tex_Ao_Roughness_Metallic_Emissive, carla::rpc::Tex_Diffuse, carla::rpc::Tex_Emissive, and carla::rpc::Tex_Normal.

◆ ApplyTexturesToObjects()

void carla::client::World::ApplyTexturesToObjects	(	const std::vector< std::string > &	objects_names,
		const rpc::TextureColor &	diffuse_texture,
		const rpc::TextureFloatColor &	emissive_texture,
		const rpc::TextureFloatColor &	normal_texture,
		const rpc::TextureFloatColor &	ao_roughness_metallic_emissive_texture
	)

Definition at line 412 of file World.cpp.

References ApplyColorTextureToObjects(), ApplyFloatColorTextureToObjects(), carla::rpc::Texture< T >::GetHeight(), carla::rpc::Texture< T >::GetWidth(), carla::rpc::Tex_Ao_Roughness_Metallic_Emissive, carla::rpc::Tex_Diffuse, carla::rpc::Tex_Emissive, and carla::rpc::Tex_Normal.

◆ CastRay()

std::vector< rpc::LabelledPoint > carla::client::World::CastRay	(	geom::Location	start_location,
		geom::Location	end_location
	)		const

Definition at line 282 of file World.cpp.

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

◆ ClearSkyLightMap()

void carla::client::World::ClearSkyLightMap ( )

Definition at line 360 of file World.cpp.

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

◆ EnableEnvironmentObjects()

void carla::client::World::EnableEnvironmentObjects	(	std::vector< uint64_t >	env_objects_ids,
		bool	enable
	)		const

Definition at line 261 of file World.cpp.

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

◆ FreezeAllTrafficLights()

void carla::client::World::FreezeAllTrafficLights ( bool frozen )

Definition at line 249 of file World.cpp.

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

◆ GetActor()

SharedPtr< Actor > carla::client::World::GetActor ( ActorId id ) const

Find actor by id, return nullptr if not found.

Definition at line 118 of file World.cpp.

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

◆ GetActors() [1/2]

SharedPtr< ActorList > carla::client::World::GetActors ( ) const

Return a list with all the actors currently present in the world.

Definition at line 126 of file World.cpp.

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

Referenced by carla::nav::WalkerManager::GetAllTrafficLightWaypoints(), carla::client::TrafficLight::GetGroupTrafficLights(), GetTrafficLight(), GetTrafficLightFromOpenDRIVE(), GetTrafficSign(), carla::client::RssSensor::TickRssSensor(), and carla::traffic_manager::ALSM::Update().

◆ GetActors() [2/2]

SharedPtr< ActorList > carla::client::World::GetActors ( const std::vector< ActorId > & actor_ids ) const

Return a list with the actors requested by ActorId.

Definition at line 132 of file World.cpp.

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

◆ GetBlueprintLibrary()

SharedPtr< BlueprintLibrary > carla::client::World::GetBlueprintLibrary ( ) const

Return the list of blueprints available in this world.

This blueprints can be used to spawning actor into the world.

Definition at line 38 of file World.cpp.

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

◆ GetEgoSpawnPoints()

std::vector< geom::Transform > carla::client::World::GetEgoSpawnPoints ( ) const

Get all ego spawn points available in the level.

Definition at line 380 of file World.cpp.

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

◆ GetEnvironmentObjects()

std::vector< rpc::EnvironmentObject > carla::client::World::GetEnvironmentObjects ( uint8_t queried_tag ) const

Definition at line 257 of file World.cpp.

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

◆ GetEpisode()

detail::EpisodeProxy carla::client::World::GetEpisode ( ) const

inline

Definition at line 184 of file World.h.

References _episode.

◆ GetId()

uint64_t carla::client::World::GetId ( ) const

inline

Get the id of the episode associated with this world.

Definition at line 59 of file World.h.

References _episode, and carla::client::detail::EpisodeProxyImpl< PointerT >::GetId().

◆ GetIMUSensorGravity()

float carla::client::World::GetIMUSensorGravity ( ) const

Get gravity value used for the IMU sensor accelerometer calculation.

Definition at line 102 of file World.cpp.

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

◆ GetLevelBBs()

std::vector< geom::BoundingBox > carla::client::World::GetLevelBBs ( uint8_t queried_tag ) const

Returns all the BBs of all the elements of the level.

Definition at line 253 of file World.cpp.

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

◆ GetLightManager()

SharedPtr< LightManager > carla::client::World::GetLightManager ( ) const

Definition at line 245 of file World.cpp.

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

◆ GetMap()

SharedPtr< Map > carla::client::World::GetMap ( ) const

Return the map that describes this world.

Definition at line 26 of file World.cpp.

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

Referenced by GetTrafficLightsInJunction(), carla::client::RssSensor::Listen(), carla::client::Client::LoadWorldIfDifferent(), and carla::traffic_manager::TrafficManagerLocal::SetupLocalMap().

◆ GetNamesOfAllObjects()

std::vector< std::string > carla::client::World::GetNamesOfAllObjects ( ) const

Definition at line 368 of file World.cpp.

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

◆ GetPublishTF()

bool carla::client::World::GetPublishTF ( ) const

Get whether ROS2 TF information is being published.

Definition at line 376 of file World.cpp.

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

◆ GetRandomLocationFromNavigation()

std::optional< geom::Location > carla::client::World::GetRandomLocationFromNavigation ( ) const

Get a random location from the pedestrians navigation mesh.

Definition at line 46 of file World.cpp.

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

◆ GetSettings()

rpc::EpisodeSettings carla::client::World::GetSettings ( ) const

Definition at line 54 of file World.cpp.

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

Referenced by carla::client::RssSensor::TickRssSensor().

◆ GetSnapshot()

WorldSnapshot carla::client::World::GetSnapshot ( ) const

Return a snapshot of the world at this moment.

Definition at line 114 of file World.cpp.

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

Referenced by ApplySettings(), carla::traffic_manager::ALSM::Reset(), carla::traffic_manager::TrafficManagerLocal::Step(), carla::traffic_manager::ALSM::Update(), and carla::traffic_manager::TrafficLightStage::Update().

◆ GetSpectator()

SharedPtr< Actor > carla::client::World::GetSpectator ( ) const

Return the spectator actor.

The spectator controls the view in the simulator window.

Definition at line 50 of file World.cpp.

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

◆ GetTrafficLight()

SharedPtr< Actor > carla::client::World::GetTrafficLight ( const Landmark & landmark ) const

Definition at line 203 of file World.cpp.

References GetActors(), carla::client::Landmark::GetId(), carla::client::TrafficSign::GetSignId(), and carla::StringUtil::Match().

Referenced by GetTrafficLightsFromWaypoint().

◆ GetTrafficLightFromOpenDRIVE()

SharedPtr< Actor > carla::client::World::GetTrafficLightFromOpenDRIVE ( const road::SignId & sign_id ) const

Definition at line 219 of file World.cpp.

References GetActors(), carla::client::TrafficSign::GetSignId(), and carla::StringUtil::Match().

Referenced by GetTrafficLightsInJunction().

◆ GetTrafficLightsFromWaypoint()

std::vector< SharedPtr< Actor > > carla::client::World::GetTrafficLightsFromWaypoint	(	const Waypoint &	waypoint,
		double	distance
	)		const

Definition at line 287 of file World.cpp.

References distance, carla::client::Waypoint::GetAllLandmarksInDistance(), GetTrafficLight(), and carla::road::SignalType::IsTrafficLight().

◆ GetTrafficLightsInJunction()

std::vector< SharedPtr< Actor > > carla::client::World::GetTrafficLightsInJunction ( const road::JuncId junc_id ) const

Definition at line 307 of file World.cpp.

References carla::road::Junction::GetControllers(), GetMap(), GetTrafficLightFromOpenDRIVE(), and junction.

◆ GetTrafficSign()

SharedPtr< Actor > carla::client::World::GetTrafficSign ( const Landmark & landmark ) const

Definition at line 187 of file World.cpp.

References GetActors(), carla::client::Landmark::GetId(), carla::client::TrafficSign::GetSignId(), and carla::StringUtil::Match().

◆ GetVehiclesLightStates()

rpc::VehicleLightStateList carla::client::World::GetVehiclesLightStates ( ) const

Returns a list of pairs where the firts element is the vehicle ID and the second one is the light state.

Definition at line 42 of file World.cpp.

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

Referenced by carla::traffic_manager::VehicleLightStage::UpdateWorldInfo().

◆ GetWeather()

rpc::WeatherParameters carla::client::World::GetWeather ( ) const

Retrieve the weather parameters currently active in the world.

Definition at line 94 of file World.cpp.

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

Referenced by carla::traffic_manager::VehicleLightStage::UpdateWorldInfo().

◆ GroundProjection()

std::optional< rpc::LabelledPoint > carla::client::World::GroundProjection	(	geom::Location	location,
		float	search_distance = `10000.0`
	)		const

Definition at line 276 of file World.cpp.

References ProjectPoint().

◆ HasSkyLightMap()

bool carla::client::World::HasSkyLightMap ( ) const

Definition at line 364 of file World.cpp.

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

◆ IsWeatherEnabled()

bool carla::client::World::IsWeatherEnabled ( ) const

Query if the Weather is enabled or not.

Definition at line 110 of file World.cpp.

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

Referenced by carla::traffic_manager::VehicleLightStage::UpdateWorldInfo().

◆ LoadLevelLayer()

void carla::client::World::LoadLevelLayer ( rpc::MapLayer map_layers ) const

Definition at line 30 of file World.cpp.

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

◆ MakeDebugHelper()

DebugHelper carla::client::World::MakeDebugHelper ( ) const

inline

Definition at line 180 of file World.h.

References _episode.

◆ OnTick()

size_t carla::client::World::OnTick ( std::function< void(WorldSnapshot)> callback )

Register a callback to be called every time a world tick is received.

Returns: ID of the callback, use it to remove the callback.

Definition at line 165 of file World.cpp.

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

◆ operator=() [1/2]

World & carla::client::World::operator= ( const World & )

default

◆ operator=() [2/2]

World & carla::client::World::operator= ( World && )

default

◆ ProjectPoint()

std::optional< rpc::LabelledPoint > carla::client::World::ProjectPoint	(	geom::Location	location,
		geom::Vector3D	direction,
		float	search_distance = `10000.f`
	)		const

Definition at line 267 of file World.cpp.

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

Referenced by GroundProjection().

◆ RemoveOnTick()

void carla::client::World::RemoveOnTick ( size_t callback_id )

Remove a callback registered with OnTick.

Definition at line 169 of file World.cpp.

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

◆ ResetAllTrafficLights()

void carla::client::World::ResetAllTrafficLights ( )

Definition at line 234 of file World.cpp.

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

Referenced by carla::traffic_manager::TrafficManagerLocal::SetRandomDeviceSeed().

◆ SetIMUSensorGravity()

void carla::client::World::SetIMUSensorGravity ( float gravity )

Set gravity value used for the IMU sensor accelerometer calculation.

Definition at line 106 of file World.cpp.

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

◆ SetPedestriansCrossFactor()

void carla::client::World::SetPedestriansCrossFactor ( float percentage )

set the probability that an agent could cross the roads in its path following percentage of 0.0f means no pedestrian can cross roads percentage of 0.5f means 50% of all pedestrians can cross roads percentage of 1.0f means all pedestrians can cross roads if needed

Definition at line 179 of file World.cpp.

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

◆ SetPedestriansSeed()

void carla::client::World::SetPedestriansSeed ( unsigned int seed )

set the seed to use with random numbers in the pedestrians module

Definition at line 183 of file World.cpp.

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

◆ SetPublishTF()

void carla::client::World::SetPublishTF ( bool publish_tf )

Set whether to publish ROS2 TF information.

Definition at line 372 of file World.cpp.

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

◆ SetSkyLightMap()

void carla::client::World::SetSkyLightMap	(	const rpc::TextureFloatColor &	panorama,
		float	intensity = `1.0f`,
		int32_t	face_size = `512`
	)

Light the scene with an environment map: an equirectangular linear RGB(A) float panorama in the CARLA world frame (column 0 = azimuth 0 = +X, azimuth grows toward +Y; row 0 = zenith) becomes the sky light's cubemap (ambient + reflections) at the given intensity, replacing the real-time atmosphere capture until ClearSkyLightMap.

Persists across weather changes; dropped by a level load (LoadWorld / ReloadWorld), so set it again after loading. face_size is the cubemap resolution.

Definition at line 353 of file World.cpp.

References _episode, intensity, and carla::client::detail::EpisodeProxyImpl< PointerT >::Lock().

◆ SetWeather()

void carla::client::World::SetWeather ( const rpc::WeatherParameters & weather )

Change the weather in the simulation.

Definition at line 98 of file World.cpp.

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

◆ SpawnActor()

SharedPtr< Actor > carla::client::World::SpawnActor	(	const ActorBlueprint &	blueprint,
		const geom::Transform &	transform,
		Actor *	parent = `nullptr`,
		rpc::AttachmentType	attachment_type = `rpc::AttachmentType::Rigid`
	)

Spawn an actor into the world based on the blueprint provided at transform.

If a parent is provided, the actor is attached to parent.

Definition at line 138 of file World.cpp.

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

◆ SpawnCustomMesh()

void carla::client::World::SpawnCustomMesh	(	const std::vector< float > &	vertices,
		const std::vector< uint32_t > &	triangles,
		const std::string &	material
	)

Spawns a static procedural mesh with collision.

Vertices are a flat (x, y, z) triple list in metres, client coordinate frame; triangles index vertex triples. Material is a semantic hint ("grass", "road", "dirt", "sidewalk") or a full UE object path. The mesh lives until the world is reloaded.

Definition at line 238 of file World.cpp.

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

◆ Tick()

uint64_t carla::client::World::Tick ( time_duration timeout )

Signal the simulator to continue to next tick (only has effect on synchronous mode).

Returns: The id of the frame that this call started.

Definition at line 173 of file World.cpp.

References _episode, carla::client::detail::EpisodeProxyImpl< PointerT >::Lock(), and carla::time_duration::milliseconds().

Referenced by ApplySettings().

◆ TrySpawnActor()

SharedPtr< Actor > carla::client::World::TrySpawnActor	(	const ActorBlueprint &	blueprint,
		const geom::Transform &	transform,
		Actor *	parent = `nullptr`,
		rpc::AttachmentType	attachment_type = `rpc::AttachmentType::Rigid`
	)

noexcept

Same as SpawnActor but return nullptr on failure instead of throwing an exception.

Definition at line 146 of file World.cpp.

◆ UnloadLevelLayer()

void carla::client::World::UnloadLevelLayer ( rpc::MapLayer map_layers ) const

Definition at line 34 of file World.cpp.

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

◆ WaitForTick()

WorldSnapshot carla::client::World::WaitForTick ( time_duration timeout ) const

Block calling thread until a world tick is received.

Definition at line 158 of file World.cpp.

References _episode, carla::client::detail::EpisodeProxyImpl< PointerT >::Lock(), and carla::time_duration::milliseconds().

Referenced by ApplySettings().

Member Data Documentation

◆ _episode

detail::EpisodeProxy carla::client::World::_episode

private

Definition at line 279 of file World.h.

Referenced by ApplyColorTextureToObject(), ApplyColorTextureToObjects(), ApplyFloatColorTextureToObject(), ApplyFloatColorTextureToObjects(), ApplySettings(), CastRay(), ClearSkyLightMap(), EnableEnvironmentObjects(), FreezeAllTrafficLights(), GetActor(), GetActors(), GetActors(), GetBlueprintLibrary(), GetEgoSpawnPoints(), GetEnvironmentObjects(), GetEpisode(), GetId(), GetIMUSensorGravity(), GetLevelBBs(), GetLightManager(), GetMap(), GetNamesOfAllObjects(), GetPublishTF(), GetRandomLocationFromNavigation(), GetSettings(), GetSnapshot(), GetSpectator(), GetVehiclesLightStates(), GetWeather(), HasSkyLightMap(), IsWeatherEnabled(), LoadLevelLayer(), MakeDebugHelper(), OnTick(), ProjectPoint(), RemoveOnTick(), ResetAllTrafficLights(), SetIMUSensorGravity(), SetPedestriansCrossFactor(), SetPedestriansSeed(), SetPublishTF(), SetSkyLightMap(), SetWeather(), SpawnActor(), SpawnCustomMesh(), Tick(), UnloadLevelLayer(), and WaitForTick().

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ World() [1/3]

◆ ~World()

◆ World() [2/3]

◆ World() [3/3]

Member Function Documentation

◆ ApplyColorTextureToObject()

◆ ApplyColorTextureToObjects()

◆ ApplyFloatColorTextureToObject()

◆ ApplyFloatColorTextureToObjects()

◆ ApplySettings()

◆ ApplyTexturesToObject()

◆ ApplyTexturesToObjects()

◆ CastRay()

◆ ClearSkyLightMap()

◆ EnableEnvironmentObjects()

◆ FreezeAllTrafficLights()

◆ GetActor()

◆ GetActors() [1/2]

◆ GetActors() [2/2]

◆ GetBlueprintLibrary()

◆ GetEgoSpawnPoints()

◆ GetEnvironmentObjects()

◆ GetEpisode()

◆ GetId()

◆ GetIMUSensorGravity()

◆ GetLevelBBs()

◆ GetLightManager()

◆ GetMap()

◆ GetNamesOfAllObjects()

◆ GetPublishTF()

◆ GetRandomLocationFromNavigation()

◆ GetSettings()

◆ GetSnapshot()

◆ GetSpectator()

◆ GetTrafficLight()

◆ GetTrafficLightFromOpenDRIVE()

◆ GetTrafficLightsFromWaypoint()

◆ GetTrafficLightsInJunction()

◆ GetTrafficSign()

◆ GetVehiclesLightStates()

◆ GetWeather()

◆ GroundProjection()

◆ HasSkyLightMap()

◆ IsWeatherEnabled()

◆ LoadLevelLayer()

◆ MakeDebugHelper()

◆ OnTick()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ ProjectPoint()

◆ RemoveOnTick()

◆ ResetAllTrafficLights()

◆ SetIMUSensorGravity()

◆ SetPedestriansCrossFactor()

◆ SetPedestriansSeed()

◆ SetPublishTF()

◆ SetSkyLightMap()

◆ SetWeather()

◆ SpawnActor()

◆ SpawnCustomMesh()

◆ Tick()

◆ TrySpawnActor()

◆ UnloadLevelLayer()

◆ WaitForTick()

Member Data Documentation

◆ _episode