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Add PythonAPI module
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‎PythonClient/.pep8 ‎.pep8

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‎PythonAPI/.gitignore

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*.egg-info
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build
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dependencies
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dist

‎PythonAPI/setup.py

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# Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de
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# Barcelona (UAB).
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#
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# This work is licensed under the terms of the MIT license.
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# For a copy, see <https://opensource.org/licenses/MIT>.
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from setuptools import setup, Extension
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import fnmatch
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import glob
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import os
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import platform
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import sys
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def get_libcarla_extensions():
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libraries = ['carla_client', 'rpc']
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if os.name == "posix":
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if platform.dist()[0] == "Ubuntu":
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libraries += ["boost_python-py%d%d" % (sys.version_info.major,
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sys.version_info.minor)]
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else:
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libraries += ["boost_python"]
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else:
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raise NotImplementedError
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def walk(folder, file_filter='*'):
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for root, _, filenames in os.walk(folder):
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for filename in fnmatch.filter(filenames, file_filter):
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yield os.path.join(root, filename)
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depends = [x for x in walk('dependencies')]
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def make_extension(name, sources):
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return Extension(
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name,
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sources=sources,
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include_dirs=[
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'/usr/local/include',
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'dependencies/include'],
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library_dirs=[
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'/usr/local/lib/boost',
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'dependencies/lib'],
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runtime_library_dirs=['/usr/local/lib/boost'],
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libraries=libraries,
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extra_compile_args=['-fPIC', '-std=c++17'],
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language='c++17',
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depends=depends)
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return [make_extension('carla.libcarla', glob.glob('source/libcarla/*.cpp'))]
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setup(
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name='carla',
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version='0.9.0',
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package_dir={'': 'source'},
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packages=['carla'],
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ext_modules=get_libcarla_extensions(),
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license='MIT License',
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description='Python API for communicating with the CARLA server.',
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url='https://github.com/carla-simulator/carla',
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author='The CARLA team',
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author_email='[email protected]',
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include_package_data=True)

‎PythonAPI/source/carla/__init__.py

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# Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de
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# Barcelona (UAB).
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#
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# This work is licensed under the terms of the MIT license.
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# For a copy, see <https://opensource.org/licenses/MIT>.
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from .libcarla import *

‎PythonAPI/source/libcarla/Actor.cpp

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// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#include <carla/client/Actor.h>
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#include <boost/python.hpp>
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#include <ostream>
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namespace carla {
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namespace client {
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std::ostream &operator<<(std::ostream &out, const Actor &actor) {
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out << "Actor(id=" << actor.GetId() << ", type_id=" << actor.GetTypeId() << ')';
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return out;
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}
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} // namespace client
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} // namespace carla
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void export_actor() {
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using namespace boost::python;
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namespace cc = carla::client;
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class_<cc::Actor, boost::noncopyable, boost::shared_ptr<cc::Actor>>("Actor", no_init)
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.add_property("id", &cc::Actor::GetId)
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.add_property("type_id", +[](const cc::Actor &self) -> std::string {
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// Needs to copy the string by value.
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return self.GetTypeId();
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})
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.add_property("blueprint", &cc::Actor::GetBlueprint)
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.def("get_world", &cc::Actor::GetWorld)
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.def("apply_control", &cc::Actor::ApplyControl)
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.def(self_ns::str(self_ns::self))
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;
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}

‎PythonAPI/source/libcarla/Blueprint.cpp

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// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#include <carla/client/BlueprintLibrary.h>
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#include <carla/client/ActorBlueprint.h>
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#include <boost/python.hpp>
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#include <ostream>
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namespace carla {
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namespace client {
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std::ostream &operator<<(std::ostream &out, const ActorBlueprint &bp) {
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out << bp.GetTypeId();
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return out;
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}
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std::ostream &operator<<(std::ostream &out, const BlueprintLibrary &blueprints) {
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auto it = blueprints.begin();
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out << '[' << *it;
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for (++it; it != blueprints.end(); ++it) {
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out << ", " << *it;
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}
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out << ']';
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return out;
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}
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} // namespace client
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} // namespace carla
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void export_blueprint() {
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using namespace boost::python;
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namespace cc = carla::client;
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class_<cc::ActorBlueprint>("ActorBlueprint", no_init)
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.add_property("type_id", +[](const cc::ActorBlueprint &self) -> std::string {
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return self.GetTypeId();
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})
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.def("startswith", &cc::ActorBlueprint::StartsWith)
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.def("match", &cc::ActorBlueprint::MatchWildcards)
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.def(self_ns::str(self_ns::self))
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;
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class_<cc::BlueprintLibrary>("BlueprintLibrary", no_init)
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.def("filter", &cc::BlueprintLibrary::Filter)
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.def("__getitem__", +[](const cc::BlueprintLibrary &self, size_t pos) -> cc::ActorBlueprint {
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return self[pos];
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})
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.def("__len__", &cc::BlueprintLibrary::size)
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.def("__iter__", range(&cc::BlueprintLibrary::begin, &cc::BlueprintLibrary::end))
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.def(self_ns::str(self_ns::self))
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;
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}

‎PythonAPI/source/libcarla/Client.cpp

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// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#include <carla/client/Client.h>
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#include <carla/client/World.h>
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#include <boost/python.hpp>
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void export_client() {
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using namespace boost::python;
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namespace cc = carla::client;
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class_<cc::Client, boost::noncopyable, boost::shared_ptr<cc::Client>>("Client", init<std::string, uint16_t>())
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.def("set_timeout", &cc::Client::SetTimeout)
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.def("get_client_version", &cc::Client::GetClientVersion)
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.def("get_server_version", &cc::Client::GetServerVersion)
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.def("ping", &cc::Client::Ping)
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.def("get_world", &cc::Client::GetWorld)
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;
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}

‎PythonAPI/source/libcarla/Control.cpp

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// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#include <carla/client/Control.h>
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#include <boost/python.hpp>
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#include <ostream>
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namespace carla {
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namespace rpc {
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std::ostream &operator<<(std::ostream &out, const VehicleControl &control) {
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auto boolalpha = [](bool b) { return b ? "True" : "False"; };
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out << "VehicleControl(throttle=" << control.throttle
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<< ", steer=" << control.steer
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<< ", brake=" << control.brake
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<< ", hand_brake=" << boolalpha(control.hand_brake)
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<< ", reverse=" << boolalpha(control.reverse) << ')';
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return out;
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}
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} // namespace rpc
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} // namespace carla
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void export_control() {
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using namespace boost::python;
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namespace cc = carla::client;
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class_<cc::VehicleControl>("VehicleControl")
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.def(init<float, float, float, bool, bool>(
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(arg("throttle")=0.0f,
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arg("steer")=0.0f,
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arg("brake")=0.0f,
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arg("hand_brake")=false,
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arg("reverse")=false)))
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.def_readwrite("throttle", &cc::VehicleControl::throttle)
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.def_readwrite("steer", &cc::VehicleControl::steer)
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.def_readwrite("brake", &cc::VehicleControl::brake)
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.def_readwrite("hand_brake", &cc::VehicleControl::hand_brake)
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.def_readwrite("reverse", &cc::VehicleControl::reverse)
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.def(self_ns::str(self_ns::self))
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;
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}

‎PythonAPI/source/libcarla/Transform.cpp

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// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#include <carla/client/Transform.h>
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#include <boost/python.hpp>
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#include <ostream>
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namespace carla {
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namespace rpc {
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std::ostream &operator<<(std::ostream &out, const Location &location) {
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out << "Location(x=" << location.x
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<< ", y=" << location.y
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<< ", z=" << location.z << ')';
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return out;
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}
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std::ostream &operator<<(std::ostream &out, const Rotation &rotation) {
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out << "Rotation(pitch=" << rotation.pitch
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<< ", yaw=" << rotation.yaw
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<< ", roll=" << rotation.roll << ')';
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return out;
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}
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std::ostream &operator<<(std::ostream &out, const Transform &transform) {
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out << "Transform(" << transform.location << ", " << transform.rotation << ')';
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return out;
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}
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} // namespace rpc
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} // namespace carla
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void export_transform() {
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using namespace boost::python;
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namespace cc = carla::client;
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class_<cc::Location>("Location")
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.def(init<float, float, float>((arg("x")=0.0f, arg("y")=0.0f, arg("z")=0.0f)))
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.def_readwrite("x", &cc::Location::x)
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.def_readwrite("y", &cc::Location::y)
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.def_readwrite("z", &cc::Location::z)
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.def(self_ns::str(self_ns::self))
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;
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class_<cc::Rotation>("Rotation")
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.def(init<float, float, float>((arg("pitch")=0.0f, arg("yaw")=0.0f, arg("roll")=0.0f)))
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.def_readwrite("pitch", &cc::Rotation::pitch)
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.def_readwrite("yaw", &cc::Rotation::yaw)
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.def_readwrite("roll", &cc::Rotation::roll)
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.def(self_ns::str(self_ns::self))
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;
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class_<cc::Transform>("Transform")
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.def(init<cc::Location, cc::Rotation>(
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(arg("location")=cc::Location(), arg("rotation")=cc::Rotation())))
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.def_readwrite("location", &cc::Transform::location)
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.def_readwrite("rotation", &cc::Transform::rotation)
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.def(self_ns::str(self_ns::self))
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;
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}

‎PythonAPI/source/libcarla/World.cpp

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// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#include <carla/client/Actor.h>
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#include <carla/client/World.h>
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#include <boost/python.hpp>
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void export_world() {
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using namespace boost::python;
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namespace cc = carla::client;
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class_<cc::World, boost::noncopyable, boost::shared_ptr<cc::World>>("World", no_init)
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.def("get_blueprint_library", &cc::World::GetBlueprintLibrary)
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.def("try_spawn_actor", &cc::World::TrySpawnActor)
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.def("spawn_actor", &cc::World::SpawnActor)
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;
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}

‎PythonAPI/source/libcarla/libcarla.cpp

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// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#include <boost/python.hpp>
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void export_actor();
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void export_blueprint();
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void export_client();
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void export_control();
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void export_transform();
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void export_world();
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BOOST_PYTHON_MODULE(libcarla) {
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using namespace boost::python;
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scope().attr("__path__") = "libcarla";
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export_transform();
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export_control();
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export_blueprint();
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export_actor();
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export_world();
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export_client();
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}

‎PythonAPI/test/__init__.py

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# Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de
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# Barcelona (UAB).
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#
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# This work is licensed under the terms of the MIT license.
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# For a copy, see <https://opensource.org/licenses/MIT>.
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import sys
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sys.path.append(
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'../dist/carla-0.9.0-py%d.%d-linux-x86_64.egg' % (sys.version_info.major,
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sys.version_info.minor))

‎PythonAPI/test/test_client.py

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# Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de
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# Barcelona (UAB).
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#
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# This work is licensed under the terms of the MIT license.
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# For a copy, see <https://opensource.org/licenses/MIT>.
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import carla
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import sys
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import unittest
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from subprocess import check_output
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class testClient(unittest.TestCase):
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def test_client_version(self):
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c = carla.Client('localhost', 8080)
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v = c.get_client_version()
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out = check_output(['git', 'describe', '--tags', '--dirty', '--always', ])
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if sys.version_info > (3, 0):
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out = out.decode('utf8')
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self.assertEqual(str(v), str(out.strip()))

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