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,
)
def convert_vehicle_from_source_to_agent(self,
source: carla.Vehicle) -> Vehicle:
control: VehicleControl = self.convert_control_from_source_to_agent(
source.get_control())
# this is cheating here, vehicle does not know its own location
transform: Transform = self.convert_transform_from_source_to_agent(
source.get_transform())
velocity: Vector3D = self.convert_vector3d_from_source_to_agent(
source.get_velocity())
return Vehicle(velocity=velocity, transform=transform, control=control)