`shasta.core`#

Module Contents#

Classes#

ShastaCore

Class responsible of handling all the different CARLA functionalities,

Functions#

kill_all_servers()

Kill all PIDs that start with Carla

kill_all_servers()[source]#: Kill all PIDs that start with Carla

class ShastaCore(config, actor_groups: dict = None)[source]#

Class responsible of handling all the different CARLA functionalities, such as server-client connecting, actor spawning, and getting the sensors data.

_setup_physics_client()[source]#

Setup the physics client

Return type:: None

get_physics_client()[source]#

Ge the physics client

Returns:: The bullet physics client
Return type:: object

init_server()[source]#: Start a server on a random port

setup_experiment(experiment_config)[source]#: Initialize the hero and sensors

get_world()[source]#

Get the World object from the simulation

Returns:: The world object
Return type:: object

get_map()[source]#

Get the Map object from the simulation

Returns:: The map object
Return type:: object

reset()[source]#: This function resets / spawns the hero vehicle and its sensors

spawn_actors()[source]#: Spawns vehicles and walkers, also setting up the Traffic Manager and its parameters

get_actor_groups()[source]#

Get the actor groups

Returns:: The actor groups as a dict with group id as the key list of actors as the value
Return type:: dict

get_actors_by_group_id(group_id)[source]#

Get a list of actor given by group id

Parameters:: group_id (int) – Group id to be returned
Returns:: A list of actor given the group id
Return type:: list

tick()[source]#: Performs one tick of the simulation, moving all actors, and getting the sensor data

close_simulation()[source]#: Close the simulation

shasta.core#

Module Contents#

Classes#

Functions#

`shasta.core`#