Beispiel #1
0
def get_vehicle_kinetic(vehicle: carla.Vehicle):
    """
    todo unfinished

    Get kinetics of ego vehicle.

    todo use a class to encapsulate all methods about getting kinetics
    """

    kinetic_dict = {}

    transform = vehicle.get_transform()

    vehicle.get_acceleration()
    vehicle.get_angular_velocity()
Beispiel #2
0
def vehicle_to_carla_measurements(
        vehicle: carla.Vehicle,  # pylint: disable=no-member
) -> Mapping[str, Any]:
    """Wraps all the `get_` calls from the `CARLA` interface."""
    control = vehicle.get_control()
    _transform = vehicle.get_transform()
    location = _transform.location
    rotation = _transform.rotation
    velocity = vehicle.get_velocity()
    acceleration = vehicle.get_acceleration()
    orientation = _transform.get_forward_vector()
    angular_velocity = vehicle.get_angular_velocity()
    speed_limit = vehicle.get_speed_limit()
    is_at_traffic_light = vehicle.is_at_traffic_light()
    traffic_light_state = vehicle.get_traffic_light_state().conjugate()
    return dict(
        control=control,
        location=location,
        rotation=rotation,
        velocity=velocity,
        acceleration=acceleration,
        orientation=orientation,
        angular_velocity=angular_velocity,
        speed_limit=speed_limit,
        is_at_traffic_light=is_at_traffic_light,
        traffic_light_state=traffic_light_state,
    )