CARLA
Private Member Functions | Private Attributes | List of all members
carla::client::detail::Simulator Class Reference

Connects and controls a CARLA Simulator. More...

#include <Simulator.h>

+ Inheritance diagram for carla::client::detail::Simulator:
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Public Member Functions

Constructor
 Simulator (const std::string &host, uint16_t port, size_t worker_threads=0u, bool enable_garbage_collection=false)
 
Load a new episode
EpisodeProxy ReloadEpisode (bool reset_settings=true)
 
EpisodeProxy LoadEpisode (std::string map_name, bool reset_settings=true, rpc::MapLayer map_layers=rpc::MapLayer::All)
 
void LoadLevelLayer (rpc::MapLayer map_layers) const
 
void UnloadLevelLayer (rpc::MapLayer map_layers) const
 
EpisodeProxy LoadOpenDriveEpisode (std::string opendrive, const rpc::OpendriveGenerationParameters &params, bool reset_settings=true)
 
Access to current episode
auto GetCurrentEpisodeId () const
 
EpisodeProxy GetCurrentEpisode ()
 
World snapshot
WorldSnapshot GetWorldSnapshot () const
 
Map related methods
SharedPtr< MapGetCurrentMap ()
 
std::vector< std::string > GetAvailableMaps ()
 
Required files related methods
bool SetFilesBaseFolder (const std::string &path)
 
std::vector< std::string > GetRequiredFiles (const std::string &folder="", const bool download=true) const
 
void RequestFile (const std::string &name) const
 
std::vector< uint8_t > GetCacheFile (const std::string &name, const bool request_otherwise) const
 
Garbage collection policy
GarbageCollectionPolicy GetGarbageCollectionPolicy () const
 
Pure networking operations
void SetNetworkingTimeout (time_duration timeout)
 
time_duration GetNetworkingTimeout ()
 
std::string GetClientVersion ()
 
std::string GetServerVersion ()
 
Tick
WorldSnapshot WaitForTick (time_duration timeout)
 
size_t RegisterOnTickEvent (std::function< void(WorldSnapshot)> callback)
 
void RemoveOnTickEvent (size_t id)
 
uint64_t Tick (time_duration timeout)
 
Access to global objects in the episode
std ::string GetEndpoint ()
 
bool IsTrafficManagerRunning (uint16_t port) const
 Query to know if a Traffic Manager is running on port. More...
 
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...
 
bool AddTrafficManagerRunning (std::pair< std::string, uint16_t > trafficManagerInfo) const
 Informs that a Traffic Manager is running on <IP, port> More...
 
void DestroyTrafficManager (uint16_t port) const
 
void AddPendingException (std::string e)
 
SharedPtr< BlueprintLibraryGetBlueprintLibrary ()
 
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...
 
SharedPtr< ActorGetSpectator ()
 
rpc::EpisodeSettings GetEpisodeSettings ()
 
uint64_t SetEpisodeSettings (const rpc::EpisodeSettings &settings)
 
rpc::WeatherParameters GetWeatherParameters ()
 
void SetWeatherParameters (const rpc::WeatherParameters &weather)
 
rpc::VehiclePhysicsControl GetVehiclePhysicsControl (const Vehicle &vehicle) const
 
rpc::VehicleLightState GetVehicleLightState (const Vehicle &vehicle) const
 
std::vector< geom::BoundingBoxGetLevelBBs (uint8_t queried_tag) const
 Returns all the BBs of all the elements of the level. More...
 
std::vector< rpc::EnvironmentObjectGetEnvironmentObjects (uint8_t queried_tag) const
 
void EnableEnvironmentObjects (std::vector< uint64_t > env_objects_ids, bool enable) const
 
std::pair< bool, rpc::LabelledPointProjectPoint (geom::Location location, geom::Vector3D direction, float search_distance) const
 
std::vector< rpc::LabelledPointCastRay (geom::Location start_location, geom::Location end_location) const
 
AI
void RegisterAIController (const WalkerAIController &controller)
 
void UnregisterAIController (const WalkerAIController &controller)
 
boost::optional< geom::LocationGetRandomLocationFromNavigation ()
 
std::shared_ptr< WalkerNavigationGetNavigation ()
 
void SetPedestriansCrossFactor (float percentage)
 
void SetPedestriansSeed (unsigned int seed)
 
General operations with actors
boost::optional< rpc::ActorGetActorById (ActorId id) const
 
std::vector< rpc::ActorGetActorsById (const std::vector< ActorId > &actor_ids) const
 
std::vector< rpc::ActorGetAllTheActorsInTheEpisode () const
 
SharedPtr< ActorMakeActor (rpc::Actor actor_description, GarbageCollectionPolicy gc=GarbageCollectionPolicy::Disabled)
 Creates an actor instance out of a description of an existing actor. More...
 
SharedPtr< ActorSpawnActor (const ActorBlueprint &blueprint, const geom::Transform &transform, Actor *parent=nullptr, rpc::AttachmentType attachment_type=rpc::AttachmentType::Rigid, GarbageCollectionPolicy gc=GarbageCollectionPolicy::Inherit)
 Spawns an actor into the simulation. More...
 
bool DestroyActor (Actor &actor)
 
ActorSnapshot GetActorSnapshot (ActorId actor_id) const
 
ActorSnapshot GetActorSnapshot (const Actor &actor) const
 
rpc::ActorState GetActorState (const Actor &actor) const
 
geom::Location GetActorLocation (const Actor &actor) const
 
geom::Transform GetActorTransform (const Actor &actor) const
 
geom::Vector3D GetActorVelocity (const Actor &actor) const
 
void SetActorTargetVelocity (const Actor &actor, const geom::Vector3D &vector)
 
geom::Vector3D GetActorAngularVelocity (const Actor &actor) const
 
void SetActorTargetAngularVelocity (const Actor &actor, const geom::Vector3D &vector)
 
void EnableActorConstantVelocity (const Actor &actor, const geom::Vector3D &vector)
 
void DisableActorConstantVelocity (const Actor &actor)
 
void AddActorImpulse (const Actor &actor, const geom::Vector3D &impulse)
 
void AddActorImpulse (const Actor &actor, const geom::Vector3D &impulse, const geom::Vector3D &location)
 
void AddActorForce (const Actor &actor, const geom::Vector3D &force)
 
void AddActorForce (const Actor &actor, const geom::Vector3D &force, const geom::Vector3D &location)
 
void AddActorAngularImpulse (const Actor &actor, const geom::Vector3D &vector)
 
void AddActorTorque (const Actor &actor, const geom::Vector3D &torque)
 
geom::Vector3D GetActorAcceleration (const Actor &actor) const
 
void SetActorLocation (Actor &actor, const geom::Location &location)
 
void SetActorTransform (Actor &actor, const geom::Transform &transform)
 
void SetActorSimulatePhysics (Actor &actor, bool enabled)
 
void SetActorEnableGravity (Actor &actor, bool enabled)
 
Operations with vehicles
void SetVehicleAutopilot (Vehicle &vehicle, bool enabled=true)
 
void ShowVehicleDebugTelemetry (Vehicle &vehicle, bool enabled=true)
 
void SetLightsToVehicle (Vehicle &vehicle, const rpc::VehicleControl &control)
 
void ApplyControlToVehicle (Vehicle &vehicle, const rpc::VehicleControl &control)
 
void ApplyAckermannControlToVehicle (Vehicle &vehicle, const rpc::VehicleAckermannControl &control)
 
rpc::AckermannControllerSettings GetAckermannControllerSettings (const Vehicle &vehicle) const
 
void ApplyAckermannControllerSettings (Vehicle &vehicle, const rpc::AckermannControllerSettings &settings)
 
void ApplyControlToWalker (Walker &walker, const rpc::WalkerControl &control)
 
rpc::WalkerBoneControlOut GetBonesTransform (Walker &walker)
 
void SetBonesTransform (Walker &walker, const rpc::WalkerBoneControlIn &bones)
 
void BlendPose (Walker &walker, float blend)
 
void GetPoseFromAnimation (Walker &walker)
 
void ApplyPhysicsControlToVehicle (Vehicle &vehicle, const rpc::VehiclePhysicsControl &physicsControl)
 
void SetLightStateToVehicle (Vehicle &vehicle, const rpc::VehicleLightState light_state)
 
void OpenVehicleDoor (Vehicle &vehicle, const rpc::VehicleDoor door_idx)
 
void CloseVehicleDoor (Vehicle &vehicle, const rpc::VehicleDoor door_idx)
 
void SetWheelSteerDirection (Vehicle &vehicle, rpc::VehicleWheelLocation wheel_location, float angle_in_deg)
 
float GetWheelSteerAngle (Vehicle &vehicle, rpc::VehicleWheelLocation wheel_location)
 
void EnableCarSim (Vehicle &vehicle, std::string simfile_path)
 
void UseCarSimRoad (Vehicle &vehicle, bool enabled)
 
void EnableChronoPhysics (Vehicle &vehicle, uint64_t MaxSubsteps, float MaxSubstepDeltaTime, std::string VehicleJSON, std::string PowertrainJSON, std::string TireJSON, std::string BaseJSONPath)
 
Operations with the recorder
std::string StartRecorder (std::string name, bool additional_data)
 
void StopRecorder (void)
 
std::string ShowRecorderFileInfo (std::string name, bool show_all)
 
std::string ShowRecorderCollisions (std::string name, char type1, char type2)
 
std::string ShowRecorderActorsBlocked (std::string name, double min_time, double min_distance)
 
std::string ReplayFile (std::string name, double start, double duration, uint32_t follow_id, bool replay_sensors)
 
void SetReplayerTimeFactor (double time_factor)
 
void SetReplayerIgnoreHero (bool ignore_hero)
 
void StopReplayer (bool keep_actors)
 
Operations with sensors
void SubscribeToSensor (const Sensor &sensor, std::function< void(SharedPtr< sensor::SensorData >)> callback)
 
void UnSubscribeFromSensor (Actor &sensor)
 
void SubscribeToGBuffer (Actor &sensor, uint32_t gbuffer_id, std::function< void(SharedPtr< sensor::SensorData >)> callback)
 
void UnSubscribeFromGBuffer (Actor &sensor, uint32_t gbuffer_id)
 
Operations with traffic lights
void SetTrafficLightState (TrafficLight &trafficLight, const rpc::TrafficLightState trafficLightState)
 
void SetTrafficLightGreenTime (TrafficLight &trafficLight, float greenTime)
 
void SetTrafficLightYellowTime (TrafficLight &trafficLight, float yellowTime)
 
void SetTrafficLightRedTime (TrafficLight &trafficLight, float redTime)
 
void FreezeTrafficLight (TrafficLight &trafficLight, bool freeze)
 
void ResetTrafficLightGroup (TrafficLight &trafficLight)
 
void ResetAllTrafficLights ()
 
std::vector< geom::BoundingBoxGetLightBoxes (const TrafficLight &trafficLight) const
 
std::vector< ActorIdGetGroupTrafficLights (TrafficLight &trafficLight)
 
Debug
void DrawDebugShape (const rpc::DebugShape &shape)
 
Apply commands in batch
void ApplyBatch (std::vector< rpc::Command > commands, bool do_tick_cue)
 
auto ApplyBatchSync (std::vector< rpc::Command > commands, bool do_tick_cue)
 
Operations lights
SharedPtr< LightManagerGetLightManager () const
 
std::vector< rpc::LightStateQueryLightsStateToServer () const
 
void UpdateServerLightsState (std::vector< rpc::LightState > &lights, bool discard_client=false) const
 
void UpdateDayNightCycle (const bool active) const
 
size_t RegisterLightUpdateChangeEvent (std::function< void(WorldSnapshot)> callback)
 
void RemoveLightUpdateChangeEvent (size_t id)
 
void FreezeAllTrafficLights (bool frozen)
 
Texture updating operations
void ApplyColorTextureToObjects (const std::vector< std::string > &objects_name, const rpc::MaterialParameter &parameter, const rpc::TextureColor &Texture)
 – Texture updating operations More...
 
void ApplyColorTextureToObjects (const std::vector< std::string > &objects_name, const rpc::MaterialParameter &parameter, const rpc::TextureFloatColor &Texture)
 
std::vector< std::string > GetNamesOfAllObjects () const
 

Private Member Functions

bool ShouldUpdateMap (rpc::MapInfo &map_info)
 
- Private Member Functions inherited from carla::profiler::LifetimeProfiled
 LifetimeProfiled ()=default
 
- Private Member Functions inherited from carla::NonCopyable
 NonCopyable ()=default
 
 NonCopyable (const NonCopyable &)=delete
 
 NonCopyable (NonCopyable &&)=delete
 
NonCopyableoperator= (const NonCopyable &)=delete
 
NonCopyableoperator= (NonCopyable &&)=delete
 

Private Attributes

SharedPtr< Map_cached_map
 
Client _client
 
std::shared_ptr< Episode_episode
 
const GarbageCollectionPolicy _gc_policy
 
SharedPtr< LightManager_light_manager
 
std::string _open_drive_file
 

Detailed Description

Connects and controls a CARLA Simulator.

Definition at line 47 of file Simulator.h.

Constructor & Destructor Documentation

◆ Simulator()

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

Definition at line 71 of file Simulator.cpp.

References carla::client::Disabled, and carla::client::Enabled.

Member Function Documentation

◆ AddActorAngularImpulse()

void carla::client::detail::Simulator::AddActorAngularImpulse ( const Actor actor,
const geom::Vector3D vector 
)
inline

Definition at line 410 of file Simulator.h.

References _client, carla::client::detail::Client::AddActorAngularImpulse(), and carla::client::detail::ActorState::GetId().

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◆ AddActorForce() [1/2]

void carla::client::detail::Simulator::AddActorForce ( const Actor actor,
const geom::Vector3D force 
)
inline

Definition at line 402 of file Simulator.h.

References _client, carla::client::detail::Client::AddActorForce(), and carla::client::detail::ActorState::GetId().

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◆ AddActorForce() [2/2]

void carla::client::detail::Simulator::AddActorForce ( const Actor actor,
const geom::Vector3D force,
const geom::Vector3D location 
)
inline

Definition at line 406 of file Simulator.h.

References _client, carla::client::detail::Client::AddActorForce(), and carla::client::detail::ActorState::GetId().

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◆ AddActorImpulse() [1/2]

void carla::client::detail::Simulator::AddActorImpulse ( const Actor actor,
const geom::Vector3D impulse 
)
inline

Definition at line 394 of file Simulator.h.

References _client, carla::client::detail::Client::AddActorImpulse(), and carla::client::detail::ActorState::GetId().

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◆ AddActorImpulse() [2/2]

void carla::client::detail::Simulator::AddActorImpulse ( const Actor actor,
const geom::Vector3D impulse,
const geom::Vector3D location 
)
inline

Definition at line 398 of file Simulator.h.

References _client, carla::client::detail::Client::AddActorImpulse(), and carla::client::detail::ActorState::GetId().

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◆ AddActorTorque()

void carla::client::detail::Simulator::AddActorTorque ( const Actor actor,
const geom::Vector3D torque 
)
inline

Definition at line 414 of file Simulator.h.

References _client, carla::client::detail::Client::AddActorAngularImpulse(), and carla::client::detail::ActorState::GetId().

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◆ AddPendingException()

void carla::client::detail::Simulator::AddPendingException ( std::string  e)
inline

Definition at line 222 of file Simulator.h.

References _episode, GetBlueprintLibrary(), GetSpectator(), and GetVehiclesLightStates().

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◆ AddTrafficManagerRunning()

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

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

Definition at line 214 of file Simulator.h.

References _client, and carla::client::detail::Client::AddTrafficManagerRunning().

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◆ ApplyAckermannControllerSettings()

void carla::client::detail::Simulator::ApplyAckermannControllerSettings ( Vehicle vehicle,
const rpc::AckermannControllerSettings settings 
)
inline

Definition at line 468 of file Simulator.h.

References _client, carla::client::detail::Client::ApplyAckermannControllerSettings(), and carla::client::detail::ActorState::GetId().

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◆ ApplyAckermannControlToVehicle()

void carla::client::detail::Simulator::ApplyAckermannControlToVehicle ( Vehicle vehicle,
const rpc::VehicleAckermannControl control 
)
inline

Definition at line 460 of file Simulator.h.

References _client, carla::client::detail::Client::ApplyAckermannControlToVehicle(), and carla::client::detail::ActorState::GetId().

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◆ ApplyBatch()

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

Definition at line 662 of file Simulator.h.

References _client, and carla::client::detail::Client::ApplyBatch().

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◆ ApplyBatchSync()

auto carla::client::detail::Simulator::ApplyBatchSync ( std::vector< rpc::Command commands,
bool  do_tick_cue 
)
inline

Definition at line 666 of file Simulator.h.

References _client, and carla::client::detail::Client::ApplyBatchSync().

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◆ ApplyColorTextureToObjects() [1/2]

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

– Texture updating operations

Definition at line 422 of file Simulator.cpp.

References _client, and carla::client::detail::Client::ApplyColorTextureToObjects().

Referenced by RemoveLightUpdateChangeEvent().

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◆ ApplyColorTextureToObjects() [2/2]

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

Definition at line 429 of file Simulator.cpp.

References _client, and carla::client::detail::Client::ApplyColorTextureToObjects().

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◆ ApplyControlToVehicle()

void carla::client::detail::Simulator::ApplyControlToVehicle ( Vehicle vehicle,
const rpc::VehicleControl control 
)
inline

Definition at line 456 of file Simulator.h.

References _client, carla::client::detail::Client::ApplyControlToVehicle(), and carla::client::detail::ActorState::GetId().

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◆ ApplyControlToWalker()

void carla::client::detail::Simulator::ApplyControlToWalker ( Walker walker,
const rpc::WalkerControl control 
)
inline

Definition at line 472 of file Simulator.h.

References _client, carla::client::detail::Client::ApplyControlToWalker(), and carla::client::detail::ActorState::GetId().

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◆ ApplyPhysicsControlToVehicle()

void carla::client::detail::Simulator::ApplyPhysicsControlToVehicle ( Vehicle vehicle,
const rpc::VehiclePhysicsControl physicsControl 
)
inline

Definition at line 492 of file Simulator.h.

References _client, carla::client::detail::Client::ApplyPhysicsControlToVehicle(), and carla::client::detail::ActorState::GetId().

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◆ BlendPose()

void carla::client::detail::Simulator::BlendPose ( Walker walker,
float  blend 
)
inline

Definition at line 484 of file Simulator.h.

References _client, carla::client::detail::Client::BlendPose(), and carla::client::detail::ActorState::GetId().

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◆ CastRay()

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

Definition at line 276 of file Simulator.h.

References _client, carla::client::detail::Client::CastRay(), GetRandomLocationFromNavigation(), RegisterAIController(), and UnregisterAIController().

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◆ CloseVehicleDoor()

void carla::client::detail::Simulator::CloseVehicleDoor ( Vehicle vehicle,
const rpc::VehicleDoor  door_idx 
)
inline

Definition at line 504 of file Simulator.h.

References _client, carla::client::detail::Client::CloseVehicleDoor(), and carla::client::detail::ActorState::GetId().

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◆ DestroyActor()

bool carla::client::detail::Simulator::DestroyActor ( Actor actor)

Definition at line 363 of file Simulator.cpp.

References _client, carla::client::detail::EpisodeProxyImpl< PointerT >::Clear(), carla::client::detail::Client::DestroyActor(), carla::client::detail::ActorState::GetDisplayId(), carla::client::detail::ActorState::GetEpisode(), carla::client::detail::ActorState::GetId(), and carla::log_debug().

Referenced by MakeActor().

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◆ DestroyTrafficManager()

void carla::client::detail::Simulator::DestroyTrafficManager ( uint16_t  port) const
inline

Definition at line 218 of file Simulator.h.

References _client, and carla::client::detail::Client::DestroyTrafficManager().

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◆ DisableActorConstantVelocity()

void carla::client::detail::Simulator::DisableActorConstantVelocity ( const Actor actor)
inline

Definition at line 390 of file Simulator.h.

References _client, carla::client::detail::Client::DisableActorConstantVelocity(), and carla::client::detail::ActorState::GetId().

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◆ DrawDebugShape()

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

Definition at line 652 of file Simulator.h.

References _client, and carla::client::detail::Client::DrawDebugShape().

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◆ EnableActorConstantVelocity()

void carla::client::detail::Simulator::EnableActorConstantVelocity ( const Actor actor,
const geom::Vector3D vector 
)
inline

Definition at line 386 of file Simulator.h.

References _client, carla::client::detail::Client::EnableActorConstantVelocity(), and carla::client::detail::ActorState::GetId().

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◆ EnableCarSim()

void carla::client::detail::Simulator::EnableCarSim ( Vehicle vehicle,
std::string  simfile_path 
)
inline

Definition at line 516 of file Simulator.h.

References _client, carla::client::detail::Client::EnableCarSim(), and carla::client::detail::ActorState::GetId().

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◆ EnableChronoPhysics()

void carla::client::detail::Simulator::EnableChronoPhysics ( Vehicle vehicle,
uint64_t  MaxSubsteps,
float  MaxSubstepDeltaTime,
std::string  VehicleJSON,
std::string  PowertrainJSON,
std::string  TireJSON,
std::string  BaseJSONPath 
)
inline

Definition at line 524 of file Simulator.h.

References _client, carla::client::detail::Client::EnableChronoPhysics(), and carla::client::detail::ActorState::GetId().

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◆ EnableEnvironmentObjects()

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

Definition at line 265 of file Simulator.h.

References _client, and carla::client::detail::Client::EnableEnvironmentObjects().

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◆ FreezeAllTrafficLights()

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

Definition at line 414 of file Simulator.cpp.

References _client, and carla::client::detail::Client::FreezeAllTrafficLights().

Referenced by RemoveLightUpdateChangeEvent().

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◆ FreezeTrafficLight()

void carla::client::detail::Simulator::FreezeTrafficLight ( TrafficLight trafficLight,
bool  freeze 
)
inline

Definition at line 626 of file Simulator.h.

References _client, carla::client::detail::Client::FreezeTrafficLight(), and carla::client::detail::ActorState::GetId().

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◆ GetAckermannControllerSettings()

rpc::AckermannControllerSettings carla::client::detail::Simulator::GetAckermannControllerSettings ( const Vehicle vehicle) const
inline

Definition at line 464 of file Simulator.h.

References _client, carla::client::detail::Client::GetAckermannControllerSettings(), and carla::client::detail::ActorState::GetId().

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◆ GetActorAcceleration()

geom::Vector3D carla::client::detail::Simulator::GetActorAcceleration ( const Actor actor) const
inline

Definition at line 418 of file Simulator.h.

References carla::client::ActorSnapshot::acceleration, and GetActorSnapshot().

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◆ GetActorAngularVelocity()

geom::Vector3D carla::client::detail::Simulator::GetActorAngularVelocity ( const Actor actor) const
inline

Definition at line 379 of file Simulator.h.

References carla::client::ActorSnapshot::angular_velocity, and GetActorSnapshot().

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◆ GetActorById()

boost::optional<rpc::Actor> carla::client::detail::Simulator::GetActorById ( ActorId  id) const
inline

Definition at line 307 of file Simulator.h.

References _episode, and DEBUG_ASSERT.

◆ GetActorLocation()

geom::Location carla::client::detail::Simulator::GetActorLocation ( const Actor actor) const
inline

Definition at line 363 of file Simulator.h.

References GetActorSnapshot(), carla::geom::Transform::location, and carla::client::ActorSnapshot::transform.

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◆ GetActorsById()

std::vector<rpc::Actor> carla::client::detail::Simulator::GetActorsById ( const std::vector< ActorId > &  actor_ids) const
inline

Definition at line 312 of file Simulator.h.

References _episode, and DEBUG_ASSERT.

◆ GetActorSnapshot() [1/2]

ActorSnapshot carla::client::detail::Simulator::GetActorSnapshot ( ActorId  actor_id) const
inline

Definition at line 350 of file Simulator.h.

References _episode, and DEBUG_ASSERT.

Referenced by GetActorAcceleration(), GetActorAngularVelocity(), GetActorLocation(), GetActorSnapshot(), GetActorState(), GetActorTransform(), and GetActorVelocity().

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◆ GetActorSnapshot() [2/2]

ActorSnapshot carla::client::detail::Simulator::GetActorSnapshot ( const Actor actor) const
inline

Definition at line 355 of file Simulator.h.

References GetActorSnapshot(), and carla::client::detail::ActorState::GetId().

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◆ GetActorState()

rpc::ActorState carla::client::detail::Simulator::GetActorState ( const Actor actor) const
inline

Definition at line 359 of file Simulator.h.

References carla::client::ActorSnapshot::actor_state, and GetActorSnapshot().

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◆ GetActorTransform()

geom::Transform carla::client::detail::Simulator::GetActorTransform ( const Actor actor) const
inline

Definition at line 367 of file Simulator.h.

References GetActorSnapshot(), and carla::client::ActorSnapshot::transform.

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◆ GetActorVelocity()

geom::Vector3D carla::client::detail::Simulator::GetActorVelocity ( const Actor actor) const
inline

Definition at line 371 of file Simulator.h.

References GetActorSnapshot(), and carla::client::ActorSnapshot::velocity.

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◆ GetAllTheActorsInTheEpisode()

std::vector<rpc::Actor> carla::client::detail::Simulator::GetAllTheActorsInTheEpisode ( ) const
inline

Definition at line 317 of file Simulator.h.

References _episode, and DEBUG_ASSERT.

◆ GetAvailableMaps()

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

Definition at line 122 of file Simulator.h.

References _client, carla::client::detail::Client::GetAvailableMaps(), GetCacheFile(), GetRequiredFiles(), RequestFile(), and SetFilesBaseFolder().

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◆ GetBlueprintLibrary()

SharedPtr< BlueprintLibrary > carla::client::detail::Simulator::GetBlueprintLibrary ( )

Definition at line 238 of file Simulator.cpp.

References _client, and carla::client::detail::Client::GetActorDefinitions().

Referenced by AddPendingException().

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◆ GetBonesTransform()

rpc::WalkerBoneControlOut carla::client::detail::Simulator::GetBonesTransform ( Walker walker)
inline

Definition at line 476 of file Simulator.h.

References _client, carla::client::detail::Client::GetBonesTransform(), and carla::client::detail::ActorState::GetId().

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◆ GetCacheFile()

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

Definition at line 196 of file Simulator.cpp.

References _client, and carla::client::detail::Client::GetCacheFile().

Referenced by GetAvailableMaps().

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◆ GetClientVersion()

std::string carla::client::detail::Simulator::GetClientVersion ( )
inline

Definition at line 164 of file Simulator.h.

References _client, and carla::client::detail::Client::GetClientVersion().

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◆ GetCurrentEpisode()

EpisodeProxy carla::client::detail::Simulator::GetCurrentEpisode ( )

Definition at line 129 of file Simulator.cpp.

References _client, _episode, _light_manager, GetEpisodeSettings(), carla::client::detail::Client::GetTimeout(), carla::client::detail::ValidateVersions(), and WaitForTick().

Referenced by GetCurrentEpisodeId(), LoadEpisode(), MakeActor(), and SpawnActor().

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◆ GetCurrentEpisodeId()

auto carla::client::detail::Simulator::GetCurrentEpisodeId ( ) const
inline
Precondition
Cannot be called previous to GetCurrentEpisode.

Definition at line 96 of file Simulator.h.

References _episode, DEBUG_ASSERT, and GetCurrentEpisode().

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◆ GetCurrentMap()

SharedPtr< Map > carla::client::detail::Simulator::GetCurrentMap ( )

Definition at line 153 of file Simulator.cpp.

References _cached_map, _client, _episode, _open_drive_file, DEBUG_ASSERT, carla::client::FileTransfer::FileExists(), carla::client::detail::Client::GetMapData(), carla::client::detail::Client::GetMapInfo(), carla::client::detail::Client::GetRequiredFiles(), carla::rpc::MapInfo::name, and reverse().

Referenced by GetWorldSnapshot().

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◆ GetEndpoint()

std :: string carla::client::detail::Simulator::GetEndpoint ( )
inline

Definition at line 198 of file Simulator.h.

References _client, and carla::client::detail::Client::GetEndpoint().

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◆ GetEnvironmentObjects()

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

Definition at line 261 of file Simulator.h.

References _client, and carla::client::detail::Client::GetEnvironmentObjects().

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◆ GetEpisodeSettings()

rpc::EpisodeSettings carla::client::detail::Simulator::GetEpisodeSettings ( )
inline

Definition at line 234 of file Simulator.h.

References _client, carla::client::detail::Client::GetEpisodeSettings(), and SetEpisodeSettings().

Referenced by GetCurrentEpisode().

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◆ GetGarbageCollectionPolicy()

GarbageCollectionPolicy carla::client::detail::Simulator::GetGarbageCollectionPolicy ( ) const
inline

Definition at line 146 of file Simulator.h.

References _gc_policy.

◆ GetGroupTrafficLights()

std::vector<ActorId> carla::client::detail::Simulator::GetGroupTrafficLights ( TrafficLight trafficLight)
inline

Definition at line 642 of file Simulator.h.

References _client, carla::client::detail::Client::GetGroupTrafficLights(), and carla::client::detail::ActorState::GetId().

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◆ GetLevelBBs()

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

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

Definition at line 257 of file Simulator.h.

References _client, and carla::client::detail::Client::GetLevelBBs().

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◆ GetLightBoxes()

std::vector<geom::BoundingBox> carla::client::detail::Simulator::GetLightBoxes ( const TrafficLight trafficLight) const
inline

Definition at line 638 of file Simulator.h.

References _client, carla::client::detail::ActorState::GetId(), and carla::client::detail::Client::GetLightBoxes().

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◆ GetLightManager()

SharedPtr<LightManager> carla::client::detail::Simulator::GetLightManager ( ) const
inline

Definition at line 676 of file Simulator.h.

References _light_manager.

◆ GetNamesOfAllObjects()

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

Definition at line 436 of file Simulator.cpp.

References _client, and carla::client::detail::Client::GetNamesOfAllObjects().

Referenced by RemoveLightUpdateChangeEvent().

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◆ GetNavigation()

std::shared_ptr<WalkerNavigation> carla::client::detail::Simulator::GetNavigation ( )
inline

Definition at line 293 of file Simulator.h.

References _episode, SetPedestriansCrossFactor(), and SetPedestriansSeed().

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◆ GetNetworkingTimeout()

time_duration carla::client::detail::Simulator::GetNetworkingTimeout ( )
inline

Definition at line 160 of file Simulator.h.

References _client, and carla::client::detail::Client::GetTimeout().

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◆ GetPoseFromAnimation()

void carla::client::detail::Simulator::GetPoseFromAnimation ( Walker walker)
inline

Definition at line 488 of file Simulator.h.

References _client, carla::client::detail::ActorState::GetId(), and carla::client::detail::Client::GetPoseFromAnimation().

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◆ GetRandomLocationFromNavigation()

boost::optional< geom::Location > carla::client::detail::Simulator::GetRandomLocationFromNavigation ( )

Definition at line 308 of file Simulator.cpp.

References _episode, and DEBUG_ASSERT.

Referenced by CastRay().

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◆ GetRequiredFiles()

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

Definition at line 188 of file Simulator.cpp.

References _client, and carla::client::detail::Client::GetRequiredFiles().

Referenced by GetAvailableMaps().

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◆ GetServerVersion()

std::string carla::client::detail::Simulator::GetServerVersion ( )
inline

Definition at line 168 of file Simulator.h.

References _client, carla::client::detail::Client::GetServerVersion(), and WaitForTick().

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◆ GetSpectator()

SharedPtr< Actor > carla::client::detail::Simulator::GetSpectator ( )

Definition at line 247 of file Simulator.cpp.

References _client, carla::client::detail::Client::GetSpectator(), and MakeActor().

Referenced by AddPendingException().

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◆ GetTrafficManagerRunning()

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

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 209 of file Simulator.h.

References _client, and carla::client::detail::Client::GetTrafficManagerRunning().

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◆ GetVehicleLightState()

rpc::VehicleLightState carla::client::detail::Simulator::GetVehicleLightState ( const Vehicle vehicle) const
inline

Definition at line 252 of file Simulator.h.

References _client, carla::client::detail::ActorState::GetId(), and carla::client::detail::Client::GetVehicleLightState().

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◆ GetVehiclePhysicsControl()

rpc::VehiclePhysicsControl carla::client::detail::Simulator::GetVehiclePhysicsControl ( const Vehicle vehicle) const
inline

Definition at line 248 of file Simulator.h.

References _client, carla::client::detail::ActorState::GetId(), and carla::client::detail::Client::GetVehiclePhysicsControl().

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◆ GetVehiclesLightStates()

rpc::VehicleLightStateList carla::client::detail::Simulator::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 243 of file Simulator.cpp.

References _client, and carla::client::detail::Client::GetVehiclesLightStates().

Referenced by AddPendingException().

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◆ GetWeatherParameters()

rpc::WeatherParameters carla::client::detail::Simulator::GetWeatherParameters ( )
inline

Definition at line 240 of file Simulator.h.

References _client, and carla::client::detail::Client::GetWeatherParameters().

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◆ GetWheelSteerAngle()

float carla::client::detail::Simulator::GetWheelSteerAngle ( Vehicle vehicle,
rpc::VehicleWheelLocation  wheel_location 
)
inline

Definition at line 512 of file Simulator.h.

References _client, carla::client::detail::ActorState::GetId(), and carla::client::detail::Client::GetWheelSteerAngle().

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◆ GetWorldSnapshot()

WorldSnapshot carla::client::detail::Simulator::GetWorldSnapshot ( ) const
inline

Definition at line 109 of file Simulator.h.

References _episode, DEBUG_ASSERT, and GetCurrentMap().

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◆ IsTrafficManagerRunning()

bool carla::client::detail::Simulator::IsTrafficManagerRunning ( uint16_t  port) const
inline

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

Definition at line 203 of file Simulator.h.

References _client, and carla::client::detail::Client::IsTrafficManagerRunning().

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◆ LoadEpisode()

EpisodeProxy carla::client::detail::Simulator::LoadEpisode ( std::string  map_name,
bool  reset_settings = true,
rpc::MapLayer  map_layers = rpc::MapLayer::All 
)

Definition at line 86 of file Simulator.cpp.

References _client, _episode, GetCurrentEpisode(), carla::client::detail::Client::GetEpisodeSettings(), carla::client::detail::EpisodeProxyImpl< PointerT >::GetId(), carla::client::detail::Client::GetTimeout(), carla::client::detail::Client::LoadEpisode(), carla::time_duration::milliseconds(), carla::client::detail::Client::SendTickCue(), carla::rpc::EpisodeSettings::synchronous_mode, and carla::throw_exception().

Referenced by LoadOpenDriveEpisode(), and ReloadEpisode().

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◆ LoadLevelLayer()

void carla::client::detail::Simulator::LoadLevelLayer ( rpc::MapLayer  map_layers) const
inline

Definition at line 76 of file Simulator.h.

References _client, and carla::client::detail::Client::LoadLevelLayer().

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◆ LoadOpenDriveEpisode()

EpisodeProxy carla::client::detail::Simulator::LoadOpenDriveEpisode ( std::string  opendrive,
const rpc::OpendriveGenerationParameters params,
bool  reset_settings = true 
)

Definition at line 114 of file Simulator.cpp.

References _client, carla::client::detail::Client::CopyOpenDriveToServer(), and LoadEpisode().

Referenced by UnloadLevelLayer().

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◆ MakeActor()

SharedPtr<Actor> carla::client::detail::Simulator::MakeActor ( rpc::Actor  actor_description,
GarbageCollectionPolicy  gc = GarbageCollectionPolicy::Disabled 
)
inline

Creates an actor instance out of a description of an existing actor.

Note that this does not spawn an actor.

If gc is GarbageCollectionPolicy::Enabled, the shared pointer returned is provided with a custom deleter that calls Destroy() on the actor. This method does not support GarbageCollectionPolicy::Inherit.

Definition at line 328 of file Simulator.h.

References DestroyActor(), GetCurrentEpisode(), carla::client::Inherit, carla::client::detail::ActorFactory::MakeActor(), RELEASE_ASSERT, carla::rpc::Rigid, and SpawnActor().

Referenced by GetSpectator().

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◆ OpenVehicleDoor()

void carla::client::detail::Simulator::OpenVehicleDoor ( Vehicle vehicle,
const rpc::VehicleDoor  door_idx 
)
inline

Definition at line 500 of file Simulator.h.

References _client, carla::client::detail::ActorState::GetId(), and carla::client::detail::Client::OpenVehicleDoor().

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◆ ProjectPoint()

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

Definition at line 271 of file Simulator.h.

References _client, and carla::client::detail::Client::ProjectPoint().

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◆ QueryLightsStateToServer()

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

Definition at line 680 of file Simulator.h.

References _client, and carla::client::detail::Client::QueryLightsStateToServer().

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◆ RegisterAIController()

void carla::client::detail::Simulator::RegisterAIController ( const WalkerAIController controller)

Definition at line 284 of file Simulator.cpp.

References _episode, DEBUG_ASSERT, carla::client::detail::ActorState::GetDisplayId(), carla::client::detail::ActorState::GetId(), carla::client::detail::ActorState::GetParent(), and carla::throw_exception().

Referenced by CastRay().

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◆ RegisterLightUpdateChangeEvent()

size_t carla::client::detail::Simulator::RegisterLightUpdateChangeEvent ( std::function< void(WorldSnapshot)>  callback)
inline

Definition at line 694 of file Simulator.h.

References _episode, and DEBUG_ASSERT.

◆ RegisterOnTickEvent()

size_t carla::client::detail::Simulator::RegisterOnTickEvent ( std::function< void(WorldSnapshot)>  callback)
inline

Definition at line 180 of file Simulator.h.

References _episode, and DEBUG_ASSERT.

◆ ReloadEpisode()

EpisodeProxy carla::client::detail::Simulator::ReloadEpisode ( bool  reset_settings = true)
inline

Definition at line 70 of file Simulator.h.

References carla::rpc::All, and LoadEpisode().

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◆ RemoveLightUpdateChangeEvent()

void carla::client::detail::Simulator::RemoveLightUpdateChangeEvent ( size_t  id)
inline

Definition at line 699 of file Simulator.h.

References _episode, ApplyColorTextureToObjects(), DEBUG_ASSERT, FreezeAllTrafficLights(), GetNamesOfAllObjects(), and ShouldUpdateMap().

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◆ RemoveOnTickEvent()

void carla::client::detail::Simulator::RemoveOnTickEvent ( size_t  id)
inline

Definition at line 185 of file Simulator.h.

References _episode, DEBUG_ASSERT, and Tick().

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◆ ReplayFile()

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

Definition at line 566 of file Simulator.h.

References _client, and carla::client::detail::Client::ReplayFile().

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◆ RequestFile()

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

Definition at line 192 of file Simulator.cpp.

References _client, and carla::client::detail::Client::RequestFile().

Referenced by GetAvailableMaps().

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◆ ResetAllTrafficLights()

void carla::client::detail::Simulator::ResetAllTrafficLights ( )
inline

Definition at line 634 of file Simulator.h.

References _client, and carla::client::detail::Client::ResetAllTrafficLights().

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◆ ResetTrafficLightGroup()

void carla::client::detail::Simulator::ResetTrafficLightGroup ( TrafficLight trafficLight)
inline

Definition at line 630 of file Simulator.h.

References _client, carla::client::detail::ActorState::GetId(), and carla::client::detail::Client::ResetTrafficLightGroup().

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◆ SetActorEnableGravity()

void carla::client::detail::Simulator::SetActorEnableGravity ( Actor actor,
bool  enabled 
)
inline

Definition at line 434 of file Simulator.h.

References _client, carla::client::detail::ActorState::GetId(), and carla::client::detail::Client::SetActorEnableGravity().

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◆ SetActorLocation()

void carla::client::detail::Simulator::SetActorLocation ( Actor actor,
const geom::Location location 
)
inline

Definition at line 422 of file Simulator.h.

References _client, carla::client::detail::ActorState::GetId(), and carla::client::detail::Client::SetActorLocation().

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◆ SetActorSimulatePhysics()

void carla::client::detail::Simulator::SetActorSimulatePhysics ( Actor actor,
bool  enabled 
)
inline

Definition at line 430 of file Simulator.h.

References _client, carla::client::detail::ActorState::GetId(), and carla::client::detail::Client::SetActorSimulatePhysics().

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◆ SetActorTargetAngularVelocity()

void carla::client::detail::Simulator::SetActorTargetAngularVelocity ( const Actor actor,
const geom::Vector3D vector 
)
inline

Definition at line 383 of file Simulator.h.

References _client, carla::client::detail::ActorState::GetId(), and carla::client::detail::Client::SetActorTargetAngularVelocity().

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◆ SetActorTargetVelocity()

void carla::client::detail::Simulator::SetActorTargetVelocity ( const Actor actor,
const geom::Vector3D vector 
)
inline

Definition at line 375 of file Simulator.h.

References _client, carla::client::detail::ActorState::GetId(), and carla::client::detail::Client::SetActorTargetVelocity().

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◆ SetActorTransform()

void carla::client::detail::Simulator::SetActorTransform ( Actor actor,
const geom::Transform transform 
)
inline

Definition at line 426 of file Simulator.h.

References _client, carla::client::detail::ActorState::GetId(), and carla::client::detail::Client::SetActorTransform().

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◆ SetBonesTransform()

void carla::client::detail::Simulator::SetBonesTransform ( Walker walker,
const rpc::WalkerBoneControlIn bones 
)
inline

Definition at line 480 of file Simulator.h.

References _client, carla::client::detail::ActorState::GetId(), and carla::client::detail::Client::SetBonesTransform().

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◆ SetEpisodeSettings()

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

Definition at line 251 of file Simulator.cpp.

References _client, _episode, carla::rpc::EpisodeSettings::fixed_delta_seconds, carla::log_warning(), carla::rpc::EpisodeSettings::max_substep_delta_time, carla::rpc::EpisodeSettings::max_substeps, carla::client::detail::Client::SetEpisodeSettings(), carla::rpc::EpisodeSettings::substepping, carla::client::detail::SynchronizeFrame(), and carla::rpc::EpisodeSettings::synchronous_mode.

Referenced by GetEpisodeSettings().

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◆ SetFilesBaseFolder()

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

Definition at line 184 of file Simulator.cpp.

References _client, and carla::client::detail::Client::SetFilesBaseFolder().

Referenced by GetAvailableMaps().

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◆ SetLightStateToVehicle()

void carla::client::detail::Simulator::SetLightStateToVehicle ( Vehicle vehicle,
const rpc::VehicleLightState  light_state 
)
inline

Definition at line 496 of file Simulator.h.

References _client, carla::client::detail::ActorState::GetId(), and carla::client::detail::Client::SetLightStateToVehicle().

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◆ SetLightsToVehicle()

void carla::client::detail::Simulator::SetLightsToVehicle ( Vehicle vehicle,
const rpc::VehicleControl control 
)
inline

Definition at line 452 of file Simulator.h.

References _client, carla::client::detail::Client::ApplyControlToVehicle(), and carla::client::detail::ActorState::GetId().

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◆ SetNetworkingTimeout()

void carla::client::detail::Simulator::SetNetworkingTimeout ( time_duration  timeout)
inline

Definition at line 156 of file Simulator.h.

References _client, and carla::client::detail::Client::SetTimeout().

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◆ SetPedestriansCrossFactor()

void carla::client::detail::Simulator::SetPedestriansCrossFactor ( float  percentage)

Definition at line 315 of file Simulator.cpp.

References _episode, and DEBUG_ASSERT.

Referenced by GetNavigation().

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◆ SetPedestriansSeed()

void carla::client::detail::Simulator::SetPedestriansSeed ( unsigned int  seed)

Definition at line 322 of file Simulator.cpp.

References _episode, and DEBUG_ASSERT.

Referenced by GetNavigation().

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◆ SetReplayerIgnoreHero()

void carla::client::detail::Simulator::SetReplayerIgnoreHero ( bool  ignore_hero)
inline

Definition at line 575 of file Simulator.h.

References _client, and carla::client::detail::Client::SetReplayerIgnoreHero().

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◆ SetReplayerTimeFactor()

void carla::client::detail::Simulator::SetReplayerTimeFactor ( double  time_factor)
inline

Definition at line 571 of file Simulator.h.

References _client, and carla::client::detail::Client::SetReplayerTimeFactor().

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◆ SetTrafficLightGreenTime()

void carla::client::detail::Simulator::SetTrafficLightGreenTime ( TrafficLight trafficLight,
float  greenTime 
)
inline

Definition at line 614 of file Simulator.h.

References _client, carla::client::detail::ActorState::GetId(), and carla::client::detail::Client::SetTrafficLightGreenTime().

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◆ SetTrafficLightRedTime()

void carla::client::detail::Simulator::SetTrafficLightRedTime ( TrafficLight trafficLight,
float  redTime 
)
inline

Definition at line 622 of file Simulator.h.

References _client, carla::client::detail::ActorState::GetId(), and carla::client::detail::Client::SetTrafficLightRedTime().

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◆ SetTrafficLightState()

void carla::client::detail::Simulator::SetTrafficLightState ( TrafficLight trafficLight,
const rpc::TrafficLightState  trafficLightState 
)
inline

Definition at line 610 of file Simulator.h.

References _client, carla::client::detail::ActorState::GetId(), and carla::client::detail::Client::SetTrafficLightState().

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◆ SetTrafficLightYellowTime()

void carla::client::detail::Simulator::SetTrafficLightYellowTime ( TrafficLight trafficLight,
float  yellowTime 
)
inline

Definition at line 618 of file Simulator.h.

References _client, carla::client::detail::ActorState::GetId(), and carla::client::detail::Client::SetTrafficLightYellowTime().

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◆ SetVehicleAutopilot()

void carla::client::detail::Simulator::SetVehicleAutopilot ( Vehicle vehicle,
bool  enabled = true 
)
inline

Definition at line 444 of file Simulator.h.

References _client, carla::client::detail::ActorState::GetId(), and carla::client::detail::Client::SetActorAutopilot().

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◆ SetWeatherParameters()

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

Definition at line 244 of file Simulator.h.

References _client, and carla::client::detail::Client::SetWeatherParameters().

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◆ SetWheelSteerDirection()

void carla::client::detail::Simulator::SetWheelSteerDirection ( Vehicle vehicle,
rpc::VehicleWheelLocation  wheel_location,
float  angle_in_deg 
)
inline

Definition at line 508 of file Simulator.h.

References _client, carla::client::detail::ActorState::GetId(), and carla::client::detail::Client::SetWheelSteerDirection().

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◆ ShouldUpdateMap()

bool carla::client::detail::Simulator::ShouldUpdateMap ( rpc::MapInfo map_info)
private

Definition at line 142 of file Simulator.cpp.

References _cached_map, _open_drive_file, and carla::rpc::MapInfo::name.

Referenced by RemoveLightUpdateChangeEvent().

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◆ ShowRecorderActorsBlocked()

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

Definition at line 562 of file Simulator.h.

References _client, and carla::client::detail::Client::ShowRecorderActorsBlocked().

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◆ ShowRecorderCollisions()

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

Definition at line 558 of file Simulator.h.

References _client, and carla::client::detail::Client::ShowRecorderCollisions().

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◆ ShowRecorderFileInfo()

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

Definition at line 554 of file Simulator.h.

References _client, and carla::client::detail::Client::ShowRecorderFileInfo().

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◆ ShowVehicleDebugTelemetry()

void carla::client::detail::Simulator::ShowVehicleDebugTelemetry ( Vehicle vehicle,
bool  enabled = true 
)
inline

Definition at line 448 of file Simulator.h.

References _client, carla::client::detail::ActorState::GetId(), and carla::client::detail::Client::ShowVehicleDebugTelemetry().

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◆ SpawnActor()

SharedPtr< Actor > carla::client::detail::Simulator::SpawnActor ( const ActorBlueprint blueprint,
const geom::Transform transform,
Actor parent = nullptr,
rpc::AttachmentType  attachment_type = rpc::AttachmentType::Rigid,
GarbageCollectionPolicy  gc = GarbageCollectionPolicy::Inherit 
)

Spawns an actor into the simulation.

If gc is GarbageCollectionPolicy::Enabled, the shared pointer returned is provided with a custom deleter that calls Destroy() on the actor. If is GarbageCollectionPolicy::Inherit, the default garbage collection policy is used.

Definition at line 333 of file Simulator.cpp.

References _client, _episode, _gc_policy, DEBUG_ASSERT, carla::client::Enabled, GetCurrentEpisode(), carla::client::detail::ActorState::GetId(), carla::client::Inherit, carla::log_debug(), carla::client::detail::ActorFactory::MakeActor(), carla::client::ActorBlueprint::MakeActorDescription(), carla::client::detail::Client::SpawnActor(), and carla::client::detail::Client::SpawnActorWithParent().

Referenced by MakeActor().

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◆ StartRecorder()

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

Definition at line 546 of file Simulator.h.

References _client, and carla::client::detail::Client::StartRecorder().

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◆ StopRecorder()

void carla::client::detail::Simulator::StopRecorder ( void  )
inline

Definition at line 550 of file Simulator.h.

References _client, and carla::client::detail::Client::StopRecorder().

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◆ StopReplayer()

void carla::client::detail::Simulator::StopReplayer ( bool  keep_actors)
inline

Definition at line 579 of file Simulator.h.

References _client, carla::client::detail::Client::StopReplayer(), SubscribeToGBuffer(), SubscribeToSensor(), UnSubscribeFromGBuffer(), and UnSubscribeFromSensor().

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◆ SubscribeToGBuffer()

void carla::client::detail::Simulator::SubscribeToGBuffer ( Actor sensor,
uint32_t  gbuffer_id,
std::function< void(SharedPtr< sensor::SensorData >)>  callback 
)

Definition at line 398 of file Simulator.cpp.

References _client, carla::sensor::Deserializer::Deserialize(), carla::client::detail::ActorState::GetId(), and carla::client::detail::Client::SubscribeToGBuffer().

Referenced by StopReplayer().

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◆ SubscribeToSensor()

void carla::client::detail::Simulator::SubscribeToSensor ( const Sensor sensor,
std::function< void(SharedPtr< sensor::SensorData >)>  callback 
)

Definition at line 380 of file Simulator.cpp.

References _client, _episode, DEBUG_ASSERT, carla::sensor::Deserializer::Deserialize(), carla::client::detail::ActorState::GetActorDescription(), carla::rpc::Actor::GetStreamToken(), and carla::client::detail::Client::SubscribeToStream().

Referenced by StopReplayer().

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◆ Tick()

uint64_t carla::client::detail::Simulator::Tick ( time_duration  timeout)

Definition at line 217 of file Simulator.cpp.

References _client, _episode, DEBUG_ASSERT, carla::client::detail::Client::GetEndpoint(), carla::client::detail::Client::SendTickCue(), carla::client::detail::SynchronizeFrame(), and carla::throw_exception().

Referenced by RemoveOnTickEvent().

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◆ UnloadLevelLayer()

void carla::client::detail::Simulator::UnloadLevelLayer ( rpc::MapLayer  map_layers) const
inline

Definition at line 80 of file Simulator.h.

References _client, LoadOpenDriveEpisode(), and carla::client::detail::Client::UnloadLevelLayer().

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◆ UnregisterAIController()

void carla::client::detail::Simulator::UnregisterAIController ( const WalkerAIController controller)

Definition at line 296 of file Simulator.cpp.

References _episode, DEBUG_ASSERT, carla::client::detail::ActorState::GetDisplayId(), carla::client::detail::ActorState::GetId(), carla::client::detail::ActorState::GetParent(), and carla::throw_exception().

Referenced by CastRay().

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◆ UnSubscribeFromGBuffer()

void carla::client::detail::Simulator::UnSubscribeFromGBuffer ( Actor sensor,
uint32_t  gbuffer_id 
)

Definition at line 410 of file Simulator.cpp.

References _client, carla::client::detail::ActorState::GetId(), and carla::client::detail::Client::UnSubscribeFromGBuffer().

Referenced by StopReplayer().

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◆ UnSubscribeFromSensor()

void carla::client::detail::Simulator::UnSubscribeFromSensor ( Actor sensor)

Definition at line 393 of file Simulator.cpp.

References _client, carla::client::detail::ActorState::GetActorDescription(), carla::rpc::Actor::GetStreamToken(), and carla::client::detail::Client::UnSubscribeFromStream().

Referenced by StopReplayer().

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◆ UpdateDayNightCycle()

void carla::client::detail::Simulator::UpdateDayNightCycle ( const bool  active) const
inline

Definition at line 690 of file Simulator.h.

References _client, and carla::client::detail::Client::UpdateDayNightCycle().

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◆ UpdateServerLightsState()

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

Definition at line 684 of file Simulator.h.

References _client, and carla::client::detail::Client::UpdateServerLightsState().

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◆ UseCarSimRoad()

void carla::client::detail::Simulator::UseCarSimRoad ( Vehicle vehicle,
bool  enabled 
)
inline

Definition at line 520 of file Simulator.h.

References _client, carla::client::detail::ActorState::GetId(), and carla::client::detail::Client::UseCarSimRoad().

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◆ WaitForTick()

WorldSnapshot carla::client::detail::Simulator::WaitForTick ( time_duration  timeout)

Definition at line 204 of file Simulator.cpp.

References _client, _episode, DEBUG_ASSERT, carla::client::detail::Client::GetEndpoint(), and carla::throw_exception().

Referenced by GetCurrentEpisode(), and GetServerVersion().

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Member Data Documentation

◆ _cached_map

SharedPtr<Map> carla::client::detail::Simulator::_cached_map
private

Definition at line 738 of file Simulator.h.

Referenced by GetCurrentMap(), and ShouldUpdateMap().

◆ _client

Client carla::client::detail::Simulator::_client
private

Definition at line 730 of file Simulator.h.

Referenced by AddActorAngularImpulse(), AddActorForce(), AddActorImpulse(), AddActorTorque(), AddTrafficManagerRunning(), ApplyAckermannControllerSettings(), ApplyAckermannControlToVehicle(), ApplyBatch(), ApplyBatchSync(), ApplyColorTextureToObjects(), ApplyControlToVehicle(), ApplyControlToWalker(), ApplyPhysicsControlToVehicle(), BlendPose(), CastRay(), CloseVehicleDoor(), DestroyActor(), DestroyTrafficManager(), DisableActorConstantVelocity(), DrawDebugShape(), EnableActorConstantVelocity(), EnableCarSim(), EnableChronoPhysics(), EnableEnvironmentObjects(), FreezeAllTrafficLights(), FreezeTrafficLight(), GetAckermannControllerSettings(), GetAvailableMaps(), GetBlueprintLibrary(), GetBonesTransform(), GetCacheFile(), GetClientVersion(), GetCurrentEpisode(), GetCurrentMap(), GetEndpoint(), GetEnvironmentObjects(), GetEpisodeSettings(), GetGroupTrafficLights(), GetLevelBBs(), GetLightBoxes(), GetNamesOfAllObjects(), GetNetworkingTimeout(), GetPoseFromAnimation(), GetRequiredFiles(), GetServerVersion(), GetSpectator(), GetTrafficManagerRunning(), GetVehicleLightState(), GetVehiclePhysicsControl(), GetVehiclesLightStates(), GetWeatherParameters(), GetWheelSteerAngle(), IsTrafficManagerRunning(), LoadEpisode(), LoadLevelLayer(), LoadOpenDriveEpisode(), OpenVehicleDoor(), ProjectPoint(), QueryLightsStateToServer(), ReplayFile(), RequestFile(), ResetAllTrafficLights(), ResetTrafficLightGroup(), SetActorEnableGravity(), SetActorLocation(), SetActorSimulatePhysics(), SetActorTargetAngularVelocity(), SetActorTargetVelocity(), SetActorTransform(), SetBonesTransform(), SetEpisodeSettings(), SetFilesBaseFolder(), SetLightStateToVehicle(), SetLightsToVehicle(), SetNetworkingTimeout(), SetReplayerIgnoreHero(), SetReplayerTimeFactor(), SetTrafficLightGreenTime(), SetTrafficLightRedTime(), SetTrafficLightState(), SetTrafficLightYellowTime(), SetVehicleAutopilot(), SetWeatherParameters(), SetWheelSteerDirection(), ShowRecorderActorsBlocked(), ShowRecorderCollisions(), ShowRecorderFileInfo(), ShowVehicleDebugTelemetry(), SpawnActor(), StartRecorder(), StopRecorder(), StopReplayer(), SubscribeToGBuffer(), SubscribeToSensor(), Tick(), UnloadLevelLayer(), UnSubscribeFromGBuffer(), UnSubscribeFromSensor(), UpdateDayNightCycle(), UpdateServerLightsState(), UseCarSimRoad(), and WaitForTick().

◆ _episode

std::shared_ptr<Episode> carla::client::detail::Simulator::_episode
private

◆ _gc_policy

const GarbageCollectionPolicy carla::client::detail::Simulator::_gc_policy
private

Definition at line 736 of file Simulator.h.

Referenced by GetGarbageCollectionPolicy(), and SpawnActor().

◆ _light_manager

SharedPtr<LightManager> carla::client::detail::Simulator::_light_manager
private

Definition at line 732 of file Simulator.h.

Referenced by GetCurrentEpisode(), and GetLightManager().

◆ _open_drive_file

std::string carla::client::detail::Simulator::_open_drive_file
private

Definition at line 740 of file Simulator.h.

Referenced by GetCurrentMap(), and ShouldUpdateMap().


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