CARLA
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carla::client::detail::Client Class Reference

Provides communication with the rpc and streaming servers of a CARLA simulator. More...

#include <Client.h>

+ Inheritance diagram for carla::client::detail::Client:
+ Collaboration diagram for carla::client::detail::Client:

Classes

class  Pimpl
 

Public Member Functions

void AddActorAngularImpulse (rpc::ActorId actor, const geom::Vector3D &vector)
 
void AddActorForce (rpc::ActorId actor, const geom::Vector3D &force)
 
void AddActorForce (rpc::ActorId actor, const geom::Vector3D &force, const geom::Vector3D &location)
 
void AddActorImpulse (rpc::ActorId actor, const geom::Vector3D &impulse)
 
void AddActorImpulse (rpc::ActorId actor, const geom::Vector3D &impulse, const geom::Vector3D &location)
 
void AddActorTorque (rpc::ActorId actor, const geom::Vector3D &vector)
 
bool AddTrafficManagerRunning (std::pair< std::string, uint16_t > trafficManagerInfo) const
 Informs the server that a Traffic Manager is running on <IP, port> More...
 
void ApplyBatch (std::vector< rpc::Command > commands, bool do_tick_cue)
 
std::vector< rpc::CommandResponseApplyBatchSync (std::vector< rpc::Command > commands, bool do_tick_cue)
 
void ApplyColorTextureToObjects (const std::vector< std::string > &objects_name, const rpc::MaterialParameter &parameter, const rpc::TextureColor &Texture)
 
void ApplyColorTextureToObjects (const std::vector< std::string > &objects_name, const rpc::MaterialParameter &parameter, const rpc::TextureFloatColor &Texture)
 
void ApplyControlToVehicle (rpc::ActorId vehicle, const rpc::VehicleControl &control)
 
void ApplyControlToWalker (rpc::ActorId walker, const rpc::WalkerControl &control)
 
void ApplyPhysicsControlToVehicle (rpc::ActorId vehicle, const rpc::VehiclePhysicsControl &physics_control)
 
void BlendPose (rpc::ActorId walker, float blend)
 
std::vector< rpc::LabelledPointCastRay (geom::Location start_location, geom::Location end_location) const
 
 Client (const std::string &host, uint16_t port, size_t worker_threads=0u)
 
void CloseVehicleDoor (rpc::ActorId vehicle, const rpc::VehicleDoor door_idx)
 
void CopyOpenDriveToServer (std::string opendrive, const rpc::OpendriveGenerationParameters &params)
 
bool DestroyActor (rpc::ActorId actor)
 
void DestroyTrafficManager (uint16_t port) const
 
void DisableActorConstantVelocity (rpc::ActorId actor)
 
void DrawDebugShape (const rpc::DebugShape &shape)
 
void EnableActorConstantVelocity (rpc::ActorId actor, const geom::Vector3D &vector)
 
void EnableCarSim (rpc::ActorId vehicle, std::string simfile_path)
 
void EnableChronoPhysics (rpc::ActorId vehicle, uint64_t MaxSubsteps, float MaxSubstepDeltaTime, std::string VehicleJSON, std::string PowertrainJSON, std::string TireJSON, std::string BaseJSONPath)
 
void EnableEnvironmentObjects (std::vector< uint64_t > env_objects_ids, bool enable) const
 
void FreezeAllTrafficLights (bool frozen)
 
void FreezeTrafficLight (rpc::ActorId traffic_light, bool freeze)
 
std::vector< rpc::ActorDefinitionGetActorDefinitions ()
 
std::vector< rpc::ActorGetActorsById (const std::vector< ActorId > &ids)
 
std::vector< std::string > GetAvailableMaps ()
 
rpc::WalkerBoneControlOut GetBonesTransform (rpc::ActorId walker)
 
std::vector< uint8_t > GetCacheFile (const std::string &name, const bool request_otherwise=true) const
 
std::string GetClientVersion ()
 
const std::string GetEndpoint () const
 
std::vector< rpc::EnvironmentObjectGetEnvironmentObjects (uint8_t queried_tag) const
 
rpc::EpisodeInfo GetEpisodeInfo ()
 
rpc::EpisodeSettings GetEpisodeSettings ()
 
std::vector< ActorIdGetGroupTrafficLights (rpc::ActorId traffic_light)
 
std::vector< geom::BoundingBoxGetLevelBBs (uint8_t queried_tag) const
 Returns all the BBs of all the elements of the level. More...
 
std::vector< geom::BoundingBoxGetLightBoxes (rpc::ActorId traffic_light) const
 
std::string GetMapData () const
 
rpc::MapInfo GetMapInfo ()
 
std::vector< std::string > GetNamesOfAllObjects () const
 
std::vector< uint8_t > GetNavigationMesh () const
 
void GetPoseFromAnimation (rpc::ActorId walker)
 
std::vector< std::string > GetRequiredFiles (const std::string &folder="", const bool download=true) const
 
std::string GetServerVersion ()
 
rpc::Actor GetSpectator ()
 
time_duration GetTimeout () const
 
std::pair< std::string, uint16_t > GetTrafficManagerRunning (uint16_t port) const
 Gets a pair filled with the <IP, port> of the Trafic Manager running on port. More...
 
rpc::VehicleLightState GetVehicleLightState (rpc::ActorId vehicle) const
 
rpc::VehiclePhysicsControl GetVehiclePhysicsControl (rpc::ActorId vehicle) const
 
rpc::VehicleLightStateList GetVehiclesLightStates ()
 Returns a list of pairs where the firts element is the vehicle ID and the second one is the light state. More...
 
rpc::WeatherParameters GetWeatherParameters ()
 
float GetWheelSteerAngle (rpc::ActorId vehicle, rpc::VehicleWheelLocation wheel_location)
 
bool IsTrafficManagerRunning (uint16_t port) const
 Querry to know if a Traffic Manager is running on port. More...
 
void LoadEpisode (std::string map_name, bool reset_settings=true, rpc::MapLayer map_layer=rpc::MapLayer::All)
 
void LoadLevelLayer (rpc::MapLayer map_layer) const
 
void OpenVehicleDoor (rpc::ActorId vehicle, const rpc::VehicleDoor door_idx)
 
std::pair< bool, rpc::LabelledPointProjectPoint (geom::Location location, geom::Vector3D direction, float search_distance) const
 
std::vector< rpc::LightStateQueryLightsStateToServer () const
 
std::string ReplayFile (std::string name, double start, double duration, uint32_t follow_id, bool replay_sensors)
 
void RequestFile (const std::string &name) const
 
void ResetAllTrafficLights ()
 
void ResetTrafficLightGroup (rpc::ActorId traffic_light)
 
uint64_t SendTickCue ()
 
void SetActorAutopilot (rpc::ActorId vehicle, bool enabled)
 
void SetActorEnableGravity (rpc::ActorId actor, bool enabled)
 
void SetActorLocation (rpc::ActorId actor, const geom::Location &location)
 
void SetActorSimulatePhysics (rpc::ActorId actor, bool enabled)
 
void SetActorTargetAngularVelocity (rpc::ActorId actor, const geom::Vector3D &vector)
 
void SetActorTargetVelocity (rpc::ActorId actor, const geom::Vector3D &vector)
 
void SetActorTransform (rpc::ActorId actor, const geom::Transform &transform)
 
void SetBonesTransform (rpc::ActorId walker, const rpc::WalkerBoneControlIn &bones)
 
uint64_t SetEpisodeSettings (const rpc::EpisodeSettings &settings)
 
bool SetFilesBaseFolder (const std::string &path)
 
void SetLightStateToVehicle (rpc::ActorId vehicle, const rpc::VehicleLightState &light_state)
 
void SetReplayerIgnoreHero (bool ignore_hero)
 
void SetReplayerTimeFactor (double time_factor)
 
void SetTimeout (time_duration timeout)
 
void SetTrafficLightGreenTime (rpc::ActorId traffic_light, float green_time)
 
void SetTrafficLightRedTime (rpc::ActorId traffic_light, float red_time)
 
void SetTrafficLightState (rpc::ActorId traffic_light, const rpc::TrafficLightState trafficLightState)
 
void SetTrafficLightYellowTime (rpc::ActorId traffic_light, float yellow_time)
 
void SetWeatherParameters (const rpc::WeatherParameters &weather)
 
void SetWheelSteerDirection (rpc::ActorId vehicle, rpc::VehicleWheelLocation vehicle_wheel, float angle_in_deg)
 
std::string ShowRecorderActorsBlocked (std::string name, double min_time, double min_distance)
 
std::string ShowRecorderCollisions (std::string name, char type1, char type2)
 
std::string ShowRecorderFileInfo (std::string name, bool show_all)
 
void ShowVehicleDebugTelemetry (rpc::ActorId vehicle, bool enabled)
 
rpc::Actor SpawnActor (const rpc::ActorDescription &description, const geom::Transform &transform)
 
rpc::Actor SpawnActorWithParent (const rpc::ActorDescription &description, const geom::Transform &transform, rpc::ActorId parent, rpc::AttachmentType attachment_type)
 
std::string StartRecorder (std::string name, bool additional_data)
 
void StopRecorder ()
 
void StopReplayer (bool keep_actors)
 
void SubscribeToStream (const streaming::Token &token, std::function< void(Buffer)> callback)
 
void UnloadLevelLayer (rpc::MapLayer map_layer) const
 
void UnSubscribeFromStream (const streaming::Token &token)
 
void UpdateServerLightsState (std::vector< rpc::LightState > &lights, bool discard_client=false) const
 
void UseCarSimRoad (rpc::ActorId vehicle, bool enabled)
 
 ~Client ()
 

Private Attributes

const std::unique_ptr< Pimpl_pimpl
 

Additional Inherited Members

- Private Member Functions inherited from carla::NonCopyable
 NonCopyable ()=default
 
 NonCopyable (const NonCopyable &)=delete
 
 NonCopyable (NonCopyable &&)=delete
 
NonCopyableoperator= (const NonCopyable &)=delete
 
NonCopyableoperator= (NonCopyable &&)=delete
 

Detailed Description

Provides communication with the rpc and streaming servers of a CARLA simulator.

Definition at line 67 of file client/detail/Client.h.

Constructor & Destructor Documentation

◆ Client()

carla::client::detail::Client::Client ( const std::string &  host,
uint16_t  port,
size_t  worker_threads = 0u 
)
explicit

Definition at line 101 of file client/detail/Client.cpp.

◆ ~Client()

carla::client::detail::Client::~Client ( )
default

Referenced by DestroyTrafficManager().

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Member Function Documentation

◆ AddActorAngularImpulse()

void carla::client::detail::Client::AddActorAngularImpulse ( rpc::ActorId  actor,
const geom::Vector3D vector 
)

Definition at line 399 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::AddActorAngularImpulse(), and carla::client::detail::Simulator::AddActorTorque().

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◆ AddActorForce() [1/2]

void carla::client::detail::Client::AddActorForce ( rpc::ActorId  actor,
const geom::Vector3D force 
)

Definition at line 391 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::AddActorForce().

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◆ AddActorForce() [2/2]

void carla::client::detail::Client::AddActorForce ( rpc::ActorId  actor,
const geom::Vector3D force,
const geom::Vector3D location 
)

Definition at line 395 of file client/detail/Client.cpp.

References _pimpl.

◆ AddActorImpulse() [1/2]

void carla::client::detail::Client::AddActorImpulse ( rpc::ActorId  actor,
const geom::Vector3D impulse 
)

Definition at line 383 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::AddActorImpulse().

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◆ AddActorImpulse() [2/2]

void carla::client::detail::Client::AddActorImpulse ( rpc::ActorId  actor,
const geom::Vector3D impulse,
const geom::Vector3D location 
)

Definition at line 387 of file client/detail/Client.cpp.

References _pimpl.

◆ AddActorTorque()

void carla::client::detail::Client::AddActorTorque ( rpc::ActorId  actor,
const geom::Vector3D vector 
)

Definition at line 403 of file client/detail/Client.cpp.

References _pimpl.

◆ AddTrafficManagerRunning()

bool carla::client::detail::Client::AddTrafficManagerRunning ( std::pair< std::string, uint16_t >  trafficManagerInfo) const

Informs the server that a Traffic Manager is running on <IP, port>

Definition at line 115 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::AddTrafficManagerRunning().

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◆ ApplyBatch()

void carla::client::detail::Client::ApplyBatch ( std::vector< rpc::Command commands,
bool  do_tick_cue 
)

Definition at line 574 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::ApplyBatch(), and carla::client::detail::WalkerNavigation::Tick().

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◆ ApplyBatchSync()

std::vector< rpc::CommandResponse > carla::client::detail::Client::ApplyBatchSync ( std::vector< rpc::Command commands,
bool  do_tick_cue 
)

Definition at line 578 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::ApplyBatchSync().

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◆ ApplyColorTextureToObjects() [1/2]

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

Definition at line 165 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::ApplyColorTextureToObjects().

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◆ ApplyColorTextureToObjects() [2/2]

void carla::client::detail::Client::ApplyColorTextureToObjects ( const std::vector< std::string > &  objects_name,
const rpc::MaterialParameter parameter,
const rpc::TextureFloatColor Texture 
)

Definition at line 172 of file client/detail/Client.cpp.

References _pimpl.

◆ ApplyControlToVehicle()

void carla::client::detail::Client::ApplyControlToVehicle ( rpc::ActorId  vehicle,
const rpc::VehicleControl control 
)

Definition at line 423 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::ApplyControlToVehicle(), and carla::client::detail::Simulator::SetLightsToVehicle().

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◆ ApplyControlToWalker()

void carla::client::detail::Client::ApplyControlToWalker ( rpc::ActorId  walker,
const rpc::WalkerControl control 
)

Definition at line 453 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::ApplyControlToWalker().

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◆ ApplyPhysicsControlToVehicle()

void carla::client::detail::Client::ApplyPhysicsControlToVehicle ( rpc::ActorId  vehicle,
const rpc::VehiclePhysicsControl physics_control 
)

Definition at line 284 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::ApplyPhysicsControlToVehicle().

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◆ BlendPose()

void carla::client::detail::Client::BlendPose ( rpc::ActorId  walker,
float  blend 
)

Definition at line 466 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::BlendPose().

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◆ CastRay()

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

Definition at line 620 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::CastRay().

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◆ CloseVehicleDoor()

void carla::client::detail::Client::CloseVehicleDoor ( rpc::ActorId  vehicle,
const rpc::VehicleDoor  door_idx 
)

Definition at line 302 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::CloseVehicleDoor().

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◆ CopyOpenDriveToServer()

void carla::client::detail::Client::CopyOpenDriveToServer ( std::string  opendrive,
const rpc::OpendriveGenerationParameters params 
)

Definition at line 160 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::LoadOpenDriveEpisode().

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◆ DestroyActor()

bool carla::client::detail::Client::DestroyActor ( rpc::ActorId  actor)

Definition at line 350 of file client/detail/Client.cpp.

References _pimpl, and carla::log_error().

Referenced by carla::client::detail::WalkerNavigation::CheckIfWalkerExist(), and carla::client::detail::Simulator::DestroyActor().

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◆ DestroyTrafficManager()

void carla::client::detail::Client::DestroyTrafficManager ( uint16_t  port) const

Definition at line 119 of file client/detail/Client.cpp.

References _pimpl, and ~Client().

Referenced by carla::client::detail::Simulator::DestroyTrafficManager().

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◆ DisableActorConstantVelocity()

void carla::client::detail::Client::DisableActorConstantVelocity ( rpc::ActorId  actor)

Definition at line 379 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::DisableActorConstantVelocity().

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◆ DrawDebugShape()

void carla::client::detail::Client::DrawDebugShape ( const rpc::DebugShape shape)

Definition at line 570 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::DrawDebugShape(), and carla::client::detail::WalkerNavigation::UpdateVehiclesInCrowd().

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◆ EnableActorConstantVelocity()

void carla::client::detail::Client::EnableActorConstantVelocity ( rpc::ActorId  actor,
const geom::Vector3D vector 
)

Definition at line 375 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::EnableActorConstantVelocity().

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◆ EnableCarSim()

void carla::client::detail::Client::EnableCarSim ( rpc::ActorId  vehicle,
std::string  simfile_path 
)

Definition at line 427 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::EnableCarSim().

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◆ EnableChronoPhysics()

void carla::client::detail::Client::EnableChronoPhysics ( rpc::ActorId  vehicle,
uint64_t  MaxSubsteps,
float  MaxSubstepDeltaTime,
std::string  VehicleJSON,
std::string  PowertrainJSON,
std::string  TireJSON,
std::string  BaseJSONPath 
)

Definition at line 435 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::EnableChronoPhysics().

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◆ EnableEnvironmentObjects()

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

Definition at line 608 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::EnableEnvironmentObjects().

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◆ FreezeAllTrafficLights()

void carla::client::detail::Client::FreezeAllTrafficLights ( bool  frozen)

Definition at line 504 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::FreezeAllTrafficLights().

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◆ FreezeTrafficLight()

void carla::client::detail::Client::FreezeTrafficLight ( rpc::ActorId  traffic_light,
bool  freeze 
)

Definition at line 492 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::FreezeTrafficLight().

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◆ GetActorDefinitions()

std::vector< rpc::ActorDefinition > carla::client::detail::Client::GetActorDefinitions ( )

Definition at line 244 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::GetBlueprintLibrary().

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◆ GetActorsById()

std::vector< rpc::Actor > carla::client::detail::Client::GetActorsById ( const std::vector< ActorId > &  ids)

Definition at line 268 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Episode::GetActorById(), and carla::client::detail::GetActorsById_Impl().

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◆ GetAvailableMaps()

std::vector< std::string > carla::client::detail::Client::GetAvailableMaps ( )

Definition at line 240 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::GetAvailableMaps().

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◆ GetBonesTransform()

rpc::WalkerBoneControlOut carla::client::detail::Client::GetBonesTransform ( rpc::ActorId  walker)

Definition at line 457 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::GetBonesTransform().

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◆ GetCacheFile()

std::vector< uint8_t > carla::client::detail::Client::GetCacheFile ( const std::string &  name,
const bool  request_otherwise = true 
) const

Definition at line 228 of file client/detail/Client.cpp.

References carla::client::FileTransfer::ReadFile(), and RequestFile().

Referenced by carla::client::detail::Simulator::GetCacheFile(), and carla::client::detail::WalkerNavigation::WalkerNavigation().

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◆ GetClientVersion()

std::string carla::client::detail::Client::GetClientVersion ( )

Definition at line 137 of file client/detail/Client.cpp.

Referenced by carla::client::detail::Simulator::GetClientVersion(), and carla::client::detail::ValidateVersions().

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◆ GetEndpoint()

const std::string carla::client::detail::Client::GetEndpoint ( ) const

Definition at line 133 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::GetEndpoint(), carla::client::detail::Simulator::Tick(), and carla::client::detail::Simulator::WaitForTick().

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◆ GetEnvironmentObjects()

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

Definition at line 603 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::GetEnvironmentObjects().

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◆ GetEpisodeInfo()

rpc::EpisodeInfo carla::client::detail::Client::GetEpisodeInfo ( )

Definition at line 183 of file client/detail/Client.cpp.

References _pimpl.

◆ GetEpisodeSettings()

rpc::EpisodeSettings carla::client::detail::Client::GetEpisodeSettings ( )

Definition at line 252 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::GetEpisodeSettings(), and carla::client::detail::Simulator::LoadEpisode().

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◆ GetGroupTrafficLights()

std::vector< ActorId > carla::client::detail::Client::GetGroupTrafficLights ( rpc::ActorId  traffic_light)

Definition at line 517 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::GetGroupTrafficLights().

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◆ GetLevelBBs()

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

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

Definition at line 598 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::GetLevelBBs().

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◆ GetLightBoxes()

std::vector< geom::BoundingBox > carla::client::detail::Client::GetLightBoxes ( rpc::ActorId  traffic_light) const

Definition at line 508 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::GetLightBoxes().

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◆ GetMapData()

std::string carla::client::detail::Client::GetMapData ( ) const

Definition at line 191 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::GetCurrentMap().

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◆ GetMapInfo()

rpc::MapInfo carla::client::detail::Client::GetMapInfo ( )

Definition at line 187 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::GetCurrentMap().

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◆ GetNamesOfAllObjects()

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

Definition at line 179 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::GetNamesOfAllObjects().

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◆ GetNavigationMesh()

std::vector< uint8_t > carla::client::detail::Client::GetNavigationMesh ( ) const

Definition at line 195 of file client/detail/Client.cpp.

References _pimpl.

◆ GetPoseFromAnimation()

void carla::client::detail::Client::GetPoseFromAnimation ( rpc::ActorId  walker)

Definition at line 470 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::GetPoseFromAnimation().

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◆ GetRequiredFiles()

std::vector< std::string > carla::client::detail::Client::GetRequiredFiles ( const std::string &  folder = "",
const bool  download = true 
) const

Definition at line 203 of file client/detail/Client.cpp.

References _pimpl, carla::client::FileTransfer::FileExists(), carla::log_info(), and RequestFile().

Referenced by carla::client::detail::Simulator::GetCurrentMap(), carla::client::detail::Simulator::GetRequiredFiles(), and carla::client::detail::WalkerNavigation::WalkerNavigation().

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◆ GetServerVersion()

std::string carla::client::detail::Client::GetServerVersion ( )

Definition at line 141 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::GetServerVersion(), and carla::client::detail::ValidateVersions().

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◆ GetSpectator()

rpc::Actor carla::client::detail::Client::GetSpectator ( )

Definition at line 248 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::GetSpectator().

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◆ GetTimeout()

time_duration carla::client::detail::Client::GetTimeout ( ) const

Definition at line 129 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::GetCurrentEpisode(), carla::client::detail::Simulator::GetNetworkingTimeout(), and carla::client::detail::Simulator::LoadEpisode().

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◆ GetTrafficManagerRunning()

std::pair< std::string, uint16_t > carla::client::detail::Client::GetTrafficManagerRunning ( uint16_t  port) const

Gets a pair filled with the <IP, port> of the Trafic Manager running on port.

If there is no Traffic Manager running the pair will be ("", 0)

Definition at line 111 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::GetTrafficManagerRunning().

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◆ GetVehicleLightState()

rpc::VehicleLightState carla::client::detail::Client::GetVehicleLightState ( rpc::ActorId  vehicle) const

Definition at line 279 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::GetVehicleLightState().

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◆ GetVehiclePhysicsControl()

rpc::VehiclePhysicsControl carla::client::detail::Client::GetVehiclePhysicsControl ( rpc::ActorId  vehicle) const

Definition at line 274 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::GetVehiclePhysicsControl().

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◆ GetVehiclesLightStates()

rpc::VehicleLightStateList carla::client::detail::Client::GetVehiclesLightStates ( )

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

Definition at line 513 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::GetVehiclesLightStates().

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◆ GetWeatherParameters()

rpc::WeatherParameters carla::client::detail::Client::GetWeatherParameters ( )

Definition at line 260 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::GetWeatherParameters().

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◆ GetWheelSteerAngle()

float carla::client::detail::Client::GetWheelSteerAngle ( rpc::ActorId  vehicle,
rpc::VehicleWheelLocation  wheel_location 
)

Definition at line 315 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::GetWheelSteerAngle().

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◆ IsTrafficManagerRunning()

bool carla::client::detail::Client::IsTrafficManagerRunning ( uint16_t  port) const

Querry to know if a Traffic Manager is running on port.

Definition at line 107 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::IsTrafficManagerRunning().

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◆ LoadEpisode()

void carla::client::detail::Client::LoadEpisode ( std::string  map_name,
bool  reset_settings = true,
rpc::MapLayer  map_layer = rpc::MapLayer::All 
)

Definition at line 145 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::LoadEpisode().

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◆ LoadLevelLayer()

void carla::client::detail::Client::LoadLevelLayer ( rpc::MapLayer  map_layer) const

Definition at line 150 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::LoadLevelLayer().

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◆ OpenVehicleDoor()

void carla::client::detail::Client::OpenVehicleDoor ( rpc::ActorId  vehicle,
const rpc::VehicleDoor  door_idx 
)

Definition at line 296 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::OpenVehicleDoor().

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◆ ProjectPoint()

std::pair< bool, rpc::LabelledPoint > carla::client::detail::Client::ProjectPoint ( geom::Location  location,
geom::Vector3D  direction,
float  search_distance 
) const

Definition at line 614 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::ProjectPoint().

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◆ QueryLightsStateToServer()

std::vector< rpc::LightState > carla::client::detail::Client::QueryLightsStateToServer ( ) const

Definition at line 589 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::QueryLightsStateToServer().

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◆ ReplayFile()

std::string carla::client::detail::Client::ReplayFile ( std::string  name,
double  start,
double  duration,
uint32_t  follow_id,
bool  replay_sensors 
)

Definition at line 542 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::ReplayFile().

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◆ RequestFile()

void carla::client::detail::Client::RequestFile ( const std::string &  name) const

Definition at line 222 of file client/detail/Client.cpp.

References _pimpl, and carla::client::FileTransfer::WriteFile().

Referenced by GetCacheFile(), GetRequiredFiles(), and carla::client::detail::Simulator::RequestFile().

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◆ ResetAllTrafficLights()

void carla::client::detail::Client::ResetAllTrafficLights ( )

Definition at line 500 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::ResetAllTrafficLights().

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◆ ResetTrafficLightGroup()

void carla::client::detail::Client::ResetTrafficLightGroup ( rpc::ActorId  traffic_light)

Definition at line 496 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::ResetTrafficLightGroup().

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◆ SendTickCue()

uint64_t carla::client::detail::Client::SendTickCue ( )

Definition at line 585 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::LoadEpisode(), and carla::client::detail::Simulator::Tick().

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◆ SetActorAutopilot()

void carla::client::detail::Client::SetActorAutopilot ( rpc::ActorId  vehicle,
bool  enabled 
)

Definition at line 415 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::SetVehicleAutopilot().

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◆ SetActorEnableGravity()

void carla::client::detail::Client::SetActorEnableGravity ( rpc::ActorId  actor,
bool  enabled 
)

Definition at line 411 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::SetActorEnableGravity().

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◆ SetActorLocation()

void carla::client::detail::Client::SetActorLocation ( rpc::ActorId  actor,
const geom::Location location 
)

Definition at line 359 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::SetActorLocation().

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◆ SetActorSimulatePhysics()

void carla::client::detail::Client::SetActorSimulatePhysics ( rpc::ActorId  actor,
bool  enabled 
)

Definition at line 407 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::SetActorSimulatePhysics().

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◆ SetActorTargetAngularVelocity()

void carla::client::detail::Client::SetActorTargetAngularVelocity ( rpc::ActorId  actor,
const geom::Vector3D vector 
)

Definition at line 371 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::SetActorTargetAngularVelocity().

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◆ SetActorTargetVelocity()

void carla::client::detail::Client::SetActorTargetVelocity ( rpc::ActorId  actor,
const geom::Vector3D vector 
)

Definition at line 367 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::SetActorTargetVelocity().

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◆ SetActorTransform()

void carla::client::detail::Client::SetActorTransform ( rpc::ActorId  actor,
const geom::Transform transform 
)

Definition at line 363 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::SetActorTransform().

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◆ SetBonesTransform()

void carla::client::detail::Client::SetBonesTransform ( rpc::ActorId  walker,
const rpc::WalkerBoneControlIn bones 
)

Definition at line 462 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::SetBonesTransform().

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◆ SetEpisodeSettings()

uint64_t carla::client::detail::Client::SetEpisodeSettings ( const rpc::EpisodeSettings settings)

Definition at line 256 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::SetEpisodeSettings().

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◆ SetFilesBaseFolder()

bool carla::client::detail::Client::SetFilesBaseFolder ( const std::string &  path)

Definition at line 199 of file client/detail/Client.cpp.

References carla::client::FileTransfer::SetFilesBaseFolder().

Referenced by carla::client::detail::Simulator::SetFilesBaseFolder().

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◆ SetLightStateToVehicle()

void carla::client::detail::Client::SetLightStateToVehicle ( rpc::ActorId  vehicle,
const rpc::VehicleLightState light_state 
)

Definition at line 290 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::SetLightStateToVehicle().

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◆ SetReplayerIgnoreHero()

void carla::client::detail::Client::SetReplayerIgnoreHero ( bool  ignore_hero)

Definition at line 556 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::SetReplayerIgnoreHero().

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◆ SetReplayerTimeFactor()

void carla::client::detail::Client::SetReplayerTimeFactor ( double  time_factor)

Definition at line 552 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::SetReplayerTimeFactor().

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◆ SetTimeout()

void carla::client::detail::Client::SetTimeout ( time_duration  timeout)

Definition at line 125 of file client/detail/Client.cpp.

References _pimpl, and carla::time_duration::milliseconds().

Referenced by carla::client::detail::Simulator::SetNetworkingTimeout().

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◆ SetTrafficLightGreenTime()

void carla::client::detail::Client::SetTrafficLightGreenTime ( rpc::ActorId  traffic_light,
float  green_time 
)

Definition at line 480 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::SetTrafficLightGreenTime().

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◆ SetTrafficLightRedTime()

void carla::client::detail::Client::SetTrafficLightRedTime ( rpc::ActorId  traffic_light,
float  red_time 
)

Definition at line 488 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::SetTrafficLightRedTime().

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◆ SetTrafficLightState()

void carla::client::detail::Client::SetTrafficLightState ( rpc::ActorId  traffic_light,
const rpc::TrafficLightState  trafficLightState 
)

Definition at line 474 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::SetTrafficLightState().

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◆ SetTrafficLightYellowTime()

void carla::client::detail::Client::SetTrafficLightYellowTime ( rpc::ActorId  traffic_light,
float  yellow_time 
)

Definition at line 484 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::SetTrafficLightYellowTime().

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◆ SetWeatherParameters()

void carla::client::detail::Client::SetWeatherParameters ( const rpc::WeatherParameters weather)

Definition at line 264 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::SetWeatherParameters().

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◆ SetWheelSteerDirection()

void carla::client::detail::Client::SetWheelSteerDirection ( rpc::ActorId  vehicle,
rpc::VehicleWheelLocation  vehicle_wheel,
float  angle_in_deg 
)

Definition at line 308 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::SetWheelSteerDirection().

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◆ ShowRecorderActorsBlocked()

std::string carla::client::detail::Client::ShowRecorderActorsBlocked ( std::string  name,
double  min_time,
double  min_distance 
)

Definition at line 538 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::ShowRecorderActorsBlocked().

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◆ ShowRecorderCollisions()

std::string carla::client::detail::Client::ShowRecorderCollisions ( std::string  name,
char  type1,
char  type2 
)

Definition at line 534 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::ShowRecorderCollisions().

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◆ ShowRecorderFileInfo()

std::string carla::client::detail::Client::ShowRecorderFileInfo ( std::string  name,
bool  show_all 
)

Definition at line 530 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::ShowRecorderFileInfo().

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◆ ShowVehicleDebugTelemetry()

void carla::client::detail::Client::ShowVehicleDebugTelemetry ( rpc::ActorId  vehicle,
bool  enabled 
)

Definition at line 419 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::ShowVehicleDebugTelemetry().

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◆ SpawnActor()

rpc::Actor carla::client::detail::Client::SpawnActor ( const rpc::ActorDescription description,
const geom::Transform transform 
)

Definition at line 321 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::SpawnActor().

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◆ SpawnActorWithParent()

rpc::Actor carla::client::detail::Client::SpawnActorWithParent ( const rpc::ActorDescription description,
const geom::Transform transform,
rpc::ActorId  parent,
rpc::AttachmentType  attachment_type 
)

Definition at line 327 of file client/detail/Client.cpp.

References _pimpl, carla::geom::Math::Dot(), carla::geom::Transform::location, carla::geom::Vector3D::MakeSafeUnitVector(), and carla::rpc::SpringArm.

Referenced by carla::client::detail::Simulator::SpawnActor().

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◆ StartRecorder()

std::string carla::client::detail::Client::StartRecorder ( std::string  name,
bool  additional_data 
)

Definition at line 522 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::StartRecorder().

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◆ StopRecorder()

void carla::client::detail::Client::StopRecorder ( void  )

Definition at line 526 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::StopRecorder().

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◆ StopReplayer()

void carla::client::detail::Client::StopReplayer ( bool  keep_actors)

Definition at line 548 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::StopReplayer().

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◆ SubscribeToStream()

void carla::client::detail::Client::SubscribeToStream ( const streaming::Token token,
std::function< void(Buffer)>  callback 
)

Definition at line 560 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Episode::Listen(), and carla::client::detail::Simulator::SubscribeToSensor().

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◆ UnloadLevelLayer()

void carla::client::detail::Client::UnloadLevelLayer ( rpc::MapLayer  map_layer) const

Definition at line 155 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::UnloadLevelLayer().

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◆ UnSubscribeFromStream()

void carla::client::detail::Client::UnSubscribeFromStream ( const streaming::Token token)

Definition at line 566 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::UnSubscribeFromSensor(), and carla::client::detail::Episode::~Episode().

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◆ UpdateServerLightsState()

void carla::client::detail::Client::UpdateServerLightsState ( std::vector< rpc::LightState > &  lights,
bool  discard_client = false 
) const

Definition at line 594 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::UpdateServerLightsState().

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◆ UseCarSimRoad()

void carla::client::detail::Client::UseCarSimRoad ( rpc::ActorId  vehicle,
bool  enabled 
)

Definition at line 431 of file client/detail/Client.cpp.

References _pimpl.

Referenced by carla::client::detail::Simulator::UseCarSimRoad().

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Member Data Documentation

◆ _pimpl

const std::unique_ptr<Pimpl> carla::client::detail::Client::_pimpl
private

Definition at line 396 of file client/detail/Client.h.

Referenced by AddActorAngularImpulse(), AddActorForce(), AddActorImpulse(), AddActorTorque(), AddTrafficManagerRunning(), ApplyBatch(), ApplyBatchSync(), ApplyColorTextureToObjects(), ApplyControlToVehicle(), ApplyControlToWalker(), ApplyPhysicsControlToVehicle(), BlendPose(), CastRay(), CloseVehicleDoor(), CopyOpenDriveToServer(), DestroyActor(), DestroyTrafficManager(), DisableActorConstantVelocity(), DrawDebugShape(), EnableActorConstantVelocity(), EnableCarSim(), EnableChronoPhysics(), EnableEnvironmentObjects(), FreezeAllTrafficLights(), FreezeTrafficLight(), GetActorDefinitions(), GetActorsById(), GetAvailableMaps(), GetBonesTransform(), GetEndpoint(), GetEnvironmentObjects(), GetEpisodeInfo(), GetEpisodeSettings(), GetGroupTrafficLights(), GetLevelBBs(), GetLightBoxes(), GetMapData(), GetMapInfo(), GetNamesOfAllObjects(), GetNavigationMesh(), GetPoseFromAnimation(), GetRequiredFiles(), GetServerVersion(), GetSpectator(), GetTimeout(), GetTrafficManagerRunning(), GetVehicleLightState(), GetVehiclePhysicsControl(), GetVehiclesLightStates(), GetWeatherParameters(), GetWheelSteerAngle(), IsTrafficManagerRunning(), LoadEpisode(), LoadLevelLayer(), OpenVehicleDoor(), ProjectPoint(), QueryLightsStateToServer(), ReplayFile(), RequestFile(), ResetAllTrafficLights(), ResetTrafficLightGroup(), SendTickCue(), SetActorAutopilot(), SetActorEnableGravity(), SetActorLocation(), SetActorSimulatePhysics(), SetActorTargetAngularVelocity(), SetActorTargetVelocity(), SetActorTransform(), SetBonesTransform(), SetEpisodeSettings(), SetLightStateToVehicle(), SetReplayerIgnoreHero(), SetReplayerTimeFactor(), SetTimeout(), SetTrafficLightGreenTime(), SetTrafficLightRedTime(), SetTrafficLightState(), SetTrafficLightYellowTime(), SetWeatherParameters(), SetWheelSteerDirection(), ShowRecorderActorsBlocked(), ShowRecorderCollisions(), ShowRecorderFileInfo(), ShowVehicleDebugTelemetry(), SpawnActor(), SpawnActorWithParent(), StartRecorder(), StopRecorder(), StopReplayer(), SubscribeToStream(), UnloadLevelLayer(), UnSubscribeFromStream(), UpdateServerLightsState(), and UseCarSimRoad().


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