Connects and controls a CARLA Simulator. More...

#include <Simulator.h>

Inheritance diagram for carla::client::detail::Simulator:

Collaboration diagram for carla::client::detail::Simulator:

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 ()

void	GetReadyCurrentEpisode ()

EpisodeProxy	GetCurrentEpisode ()

World snapshot
World	GetWorld ()

WorldSnapshot	GetWorldSnapshot () const

Map related methods
SharedPtr< Map >	GetCurrentMap ()

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< BlueprintLibrary >	GetBlueprintLibrary ()

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< Actor >	GetSpectator ()

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::BoundingBox >	GetLevelBBs (uint8_t queried_tag) const
	Returns all the BBs of all the elements of the level. More...

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

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

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

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

AI
std::shared_ptr< WalkerNavigation >	GetNavigation ()

void	NavigationTick ()

void	RegisterAIController (const WalkerAIController &controller)

void	UnregisterAIController (const WalkerAIController &controller)

boost::optional< geom::Location >	GetRandomLocationFromNavigation ()

void	SetPedestriansCrossFactor (float percentage)

void	SetPedestriansSeed (unsigned int seed)

General operations with actors
boost::optional< rpc::Actor >	GetActorById (ActorId id) const

std::vector< rpc::Actor >	GetActorsById (const std::vector< ActorId > &actor_ids) const

std::vector< rpc::Actor >	GetAllTheActorsInTheEpisode () const

SharedPtr< Actor >	MakeActor (rpc::Actor actor_description, GarbageCollectionPolicy gc=GarbageCollectionPolicy::Disabled)
	Creates an actor instance out of a description of an existing actor. More...

SharedPtr< Actor >	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. More...

bool	DestroyActor (Actor &actor)

bool	DestroyActor (ActorId actor_id)

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	SetActorCollisions (Actor &actor, bool enabled)

void	SetActorCollisions (ActorId actor_id, bool enabled)

void	SetActorDead (Actor &actor)

void	SetActorDead (ActorId actor_id)

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	SetReplayerIgnoreSpectator (bool ignore_spectator)

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	EnableForROS (const Sensor &sensor)

void	DisableForROS (const Sensor &sensor)

bool	IsEnabledForROS (const Sensor &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::BoundingBox >	GetLightBoxes (const TrafficLight &trafficLight) const

std::vector< ActorId >	GetGroupTrafficLights (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< LightManager >	GetLightManager () const

std::vector< rpc::LightState >	QueryLightsStateToServer () 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

NonCopyable &	operator= (const NonCopyable &)=delete

NonCopyable &	operator= (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 49 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 72 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 429 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 421 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 425 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 413 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 417 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 433 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 236 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 228 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 503 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 495 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 707 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 711 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 446 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 453 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 491 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 507 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 527 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 519 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 290 of file Simulator.h.

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

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◆ CloseVehicleDoor()

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

inline

Definition at line 539 of file Simulator.h.

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

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◆ DestroyActor() [1/2]

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

Definition at line 375 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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◆ DestroyActor() [2/2]

bool carla::client::detail::Simulator::DestroyActor ( ActorId actor_id )

inline

Definition at line 364 of file Simulator.h.

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

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◆ DestroyTrafficManager()

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

inline

Definition at line 232 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 409 of file Simulator.h.

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

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◆ DisableForROS()

void carla::client::detail::Simulator::DisableForROS ( const Sensor & sensor )

Definition at line 414 of file Simulator.cpp.

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

Referenced by StopReplayer().

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◆ DrawDebugShape()

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

inline

Definition at line 697 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 405 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 551 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 559 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 279 of file Simulator.h.

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

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◆ EnableForROS()

void carla::client::detail::Simulator::EnableForROS ( const Sensor & sensor )

Definition at line 410 of file Simulator.cpp.

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

Referenced by StopReplayer().

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◆ FreezeAllTrafficLights()

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

Definition at line 438 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 671 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 499 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 437 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 398 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 321 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 382 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 326 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 369 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 374 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 378 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 386 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 390 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 331 of file Simulator.h.

References _episode, and DEBUG_ASSERT.

◆ GetAvailableMaps()

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

inline

Definition at line 136 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 242 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 511 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 200 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 178 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 141 of file Simulator.cpp.

References GetReadyCurrentEpisode().

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

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◆ GetCurrentEpisodeId()

auto carla::client::detail::Simulator::GetCurrentEpisodeId ( )

inline

Precondition: Cannot be called previous to GetCurrentEpisode.

Definition at line 98 of file Simulator.h.

References _episode, DEBUG_ASSERT, GetCurrentEpisode(), and GetReadyCurrentEpisode().

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◆ GetCurrentMap()

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

Definition at line 157 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 212 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 275 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 248 of file Simulator.h.

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

Referenced by GetReadyCurrentEpisode().

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◆ GetGarbageCollectionPolicy()

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

inline

Definition at line 160 of file Simulator.h.

References _gc_policy.

◆ GetGroupTrafficLights()

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

inline

Definition at line 687 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 271 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 683 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 721 of file Simulator.h.

References _light_manager.

◆ GetNamesOfAllObjects()

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

Definition at line 460 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 ( )

Definition at line 288 of file Simulator.cpp.

References _episode, and DEBUG_ASSERT.

Referenced by CastRay().

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◆ GetNetworkingTimeout()

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

inline

Definition at line 174 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 523 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 323 of file Simulator.cpp.

References _episode, and DEBUG_ASSERT.

Referenced by CastRay().

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◆ GetReadyCurrentEpisode()

void carla::client::detail::Simulator::GetReadyCurrentEpisode ( )

Definition at line 130 of file Simulator.cpp.

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

Referenced by GetCurrentEpisode(), and GetCurrentEpisodeId().

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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 192 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 182 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 251 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 223 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 266 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 262 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 247 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 254 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 547 of file Simulator.h.

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

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◆ GetWorld()

World carla::client::detail::Simulator::GetWorld ( )

inline

Definition at line 113 of file Simulator.h.

References GetCurrentEpisode().

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◆ GetWorldSnapshot()

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

inline

Definition at line 123 of file Simulator.h.

References _episode, DEBUG_ASSERT, and GetCurrentMap().

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◆ IsEnabledForROS()

bool carla::client::detail::Simulator::IsEnabledForROS ( const Sensor & sensor )

Definition at line 418 of file Simulator.cpp.

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

Referenced by StopReplayer().

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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 217 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 87 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 78 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 115 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 342 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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◆ NavigationTick()

void carla::client::detail::Simulator::NavigationTick ( )

Definition at line 295 of file Simulator.cpp.

References _episode, and DEBUG_ASSERT.

Referenced by CastRay(), Tick(), and WaitForTick().

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◆ OpenVehicleDoor()

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

inline

Definition at line 535 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 285 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 725 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 301 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 739 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 194 of file Simulator.h.

References _episode, and DEBUG_ASSERT.

◆ ReloadEpisode()

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

inline

Definition at line 72 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 744 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 199 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 601 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 196 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 679 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 675 of file Simulator.h.

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

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◆ SetActorCollisions() [1/2]

void carla::client::detail::Simulator::SetActorCollisions	(	Actor &	actor,
		bool	enabled
	)

inline

Definition at line 453 of file Simulator.h.

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

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◆ SetActorCollisions() [2/2]

void carla::client::detail::Simulator::SetActorCollisions	(	ActorId	actor_id,
		bool	enabled
	)

inline

Definition at line 457 of file Simulator.h.

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

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◆ SetActorDead() [1/2]

void carla::client::detail::Simulator::SetActorDead ( Actor & actor )

inline

Definition at line 461 of file Simulator.h.

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

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◆ SetActorDead() [2/2]

void carla::client::detail::Simulator::SetActorDead ( ActorId actor_id )

inline

Definition at line 465 of file Simulator.h.

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

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◆ SetActorEnableGravity()

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

inline

Definition at line 469 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 441 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 449 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 402 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 394 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 445 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 515 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 255 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 188 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 531 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 487 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 170 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 329 of file Simulator.cpp.

References _episode, and DEBUG_ASSERT.

Referenced by CastRay().

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◆ SetPedestriansSeed()

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

Definition at line 335 of file Simulator.cpp.

References _episode, and DEBUG_ASSERT.

Referenced by CastRay().

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◆ SetReplayerIgnoreHero()

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

inline

Definition at line 610 of file Simulator.h.

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

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◆ SetReplayerIgnoreSpectator()

void carla::client::detail::Simulator::SetReplayerIgnoreSpectator ( bool ignore_spectator )

inline

Definition at line 614 of file Simulator.h.

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

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◆ SetReplayerTimeFactor()

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

inline

Definition at line 606 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 659 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 667 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 655 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 663 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 479 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 258 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 543 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 146 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 597 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 593 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 589 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 483 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 345 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 581 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 585 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 618 of file Simulator.h.

References _client, DisableForROS(), EnableForROS(), IsEnabledForROS(), 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 422 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 392 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 221 of file Simulator.cpp.

References _client, _episode, DEBUG_ASSERT, carla::client::detail::Client::GetEndpoint(), NavigationTick(), 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 82 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 312 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 434 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 405 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 735 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 729 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 555 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 208 of file Simulator.cpp.

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

Referenced by GetReadyCurrentEpisode(), and GetServerVersion().

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Member Data Documentation

◆ _cached_map

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

private

Definition at line 783 of file Simulator.h.

Referenced by GetCurrentMap(), and ShouldUpdateMap().

◆ _client

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

private

Definition at line 775 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(), DisableForROS(), DrawDebugShape(), EnableActorConstantVelocity(), EnableCarSim(), EnableChronoPhysics(), EnableEnvironmentObjects(), EnableForROS(), FreezeAllTrafficLights(), FreezeTrafficLight(), GetAckermannControllerSettings(), GetAvailableMaps(), GetBlueprintLibrary(), GetBonesTransform(), GetCacheFile(), GetClientVersion(), GetCurrentMap(), GetEndpoint(), GetEnvironmentObjects(), GetEpisodeSettings(), GetGroupTrafficLights(), GetLevelBBs(), GetLightBoxes(), GetNamesOfAllObjects(), GetNetworkingTimeout(), GetPoseFromAnimation(), GetReadyCurrentEpisode(), GetRequiredFiles(), GetServerVersion(), GetSpectator(), GetTrafficManagerRunning(), GetVehicleLightState(), GetVehiclePhysicsControl(), GetVehiclesLightStates(), GetWeatherParameters(), GetWheelSteerAngle(), IsEnabledForROS(), IsTrafficManagerRunning(), LoadEpisode(), LoadLevelLayer(), LoadOpenDriveEpisode(), OpenVehicleDoor(), ProjectPoint(), QueryLightsStateToServer(), ReplayFile(), RequestFile(), ResetAllTrafficLights(), ResetTrafficLightGroup(), SetActorCollisions(), SetActorDead(), SetActorEnableGravity(), SetActorLocation(), SetActorSimulatePhysics(), SetActorTargetAngularVelocity(), SetActorTargetVelocity(), SetActorTransform(), SetBonesTransform(), SetEpisodeSettings(), SetFilesBaseFolder(), SetLightStateToVehicle(), SetLightsToVehicle(), SetNetworkingTimeout(), SetReplayerIgnoreHero(), SetReplayerIgnoreSpectator(), 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 781 of file Simulator.h.

Referenced by GetGarbageCollectionPolicy(), and SpawnActor().

◆ _light_manager

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

private

Definition at line 777 of file Simulator.h.

Referenced by GetLightManager(), and GetReadyCurrentEpisode().

◆ _open_drive_file

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

private

Definition at line 785 of file Simulator.h.

Referenced by GetCurrentMap(), and ShouldUpdateMap().

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Simulator()

Member Function Documentation

◆ AddActorAngularImpulse()

◆ AddActorForce() [1/2]

◆ AddActorForce() [2/2]

◆ AddActorImpulse() [1/2]

◆ AddActorImpulse() [2/2]

◆ AddActorTorque()

◆ AddPendingException()

◆ AddTrafficManagerRunning()

◆ ApplyAckermannControllerSettings()

◆ ApplyAckermannControlToVehicle()

◆ ApplyBatch()

◆ ApplyBatchSync()

◆ ApplyColorTextureToObjects() [1/2]

◆ ApplyColorTextureToObjects() [2/2]

◆ ApplyControlToVehicle()

◆ ApplyControlToWalker()

◆ ApplyPhysicsControlToVehicle()

◆ BlendPose()

◆ CastRay()

◆ CloseVehicleDoor()

◆ DestroyActor() [1/2]

◆ DestroyActor() [2/2]

◆ DestroyTrafficManager()

◆ DisableActorConstantVelocity()

◆ DisableForROS()

◆ DrawDebugShape()

◆ EnableActorConstantVelocity()

◆ EnableCarSim()

◆ EnableChronoPhysics()

◆ EnableEnvironmentObjects()

◆ EnableForROS()

◆ FreezeAllTrafficLights()

◆ FreezeTrafficLight()

◆ GetAckermannControllerSettings()

◆ GetActorAcceleration()

◆ GetActorAngularVelocity()

◆ GetActorById()

◆ GetActorLocation()

◆ GetActorsById()

◆ GetActorSnapshot() [1/2]

◆ GetActorSnapshot() [2/2]

◆ GetActorState()

◆ GetActorTransform()

◆ GetActorVelocity()

◆ GetAllTheActorsInTheEpisode()

◆ GetAvailableMaps()

◆ GetBlueprintLibrary()

◆ GetBonesTransform()

◆ GetCacheFile()

◆ GetClientVersion()

◆ GetCurrentEpisode()

◆ GetCurrentEpisodeId()

◆ GetCurrentMap()

◆ GetEndpoint()

◆ GetEnvironmentObjects()

◆ GetEpisodeSettings()

◆ GetGarbageCollectionPolicy()

◆ GetGroupTrafficLights()

◆ GetLevelBBs()

◆ GetLightBoxes()

◆ GetLightManager()

◆ GetNamesOfAllObjects()

◆ GetNavigation()

◆ GetNetworkingTimeout()

◆ GetPoseFromAnimation()

◆ GetRandomLocationFromNavigation()

◆ GetReadyCurrentEpisode()

◆ GetRequiredFiles()

◆ GetServerVersion()

◆ GetSpectator()

◆ GetTrafficManagerRunning()

◆ GetVehicleLightState()

◆ GetVehiclePhysicsControl()