Documentation fixes & additions

PythonAPI/docs/actor.yml

@@ -120,30 +120,30 @@
       return: carla.Vector3D
       return_units: m/s<sup>2</sup>
       doc: >
-        Returns the actor's 3D acceleration vector the client recieved during last tick. The method does not call the simulator.
+        Returns the actor's 3D acceleration vector the client received during last tick. The method does not call the simulator.
     # --------------------------------------
     - def_name: get_angular_velocity
       return: carla.Vector3D
       return_units: deg/s
       doc: >
-        Returns the actor's angular velocity vector the client recieved during last tick. The method does not call the simulator.
+        Returns the actor's angular velocity vector the client received during last tick. The method does not call the simulator.
     # --------------------------------------
     - def_name: get_location
       return: carla.Location
       return_units: meters
       doc: >
-        Returns the actor's location the client recieved during last tick. The method does not call the simulator.
+        Returns the actor's location the client received during last tick. The method does not call the simulator.
     # --------------------------------------
     - def_name: get_transform
       return: carla.Transform
       doc: >
-        Returns the actor's transform (location and rotation) the client recieved during last tick. The method does not call the simulator.
+        Returns the actor's transform (location and rotation) the client received during last tick. The method does not call the simulator.
     # --------------------------------------
     - def_name: get_velocity
       return: carla.Vector3D
       return_units: m/s
       doc: >
-        Returns the actor's velocity vector the client recieved during last tick. The method does not call the simulator.
+        Returns the actor's velocity vector the client received during last tick. The method does not call the simulator.
     # --------------------------------------
     - def_name: get_world
       return: carla.World
@@ -252,7 +252,7 @@
     parent: carla.Actor
     # - DESCRIPTION ------------------------
     doc: >
-      One of the most important groups of actors in CARLA. These include any type of vehicle from cars to trucks, motorbikes, vans, bycicles and also official vehicles such as police cars. A wide set of these actors is provided in carla.BlueprintLibrary to facilitate differente requirements. Vehicles can be either manually controlled or set to an autopilot mode that will be conducted client-side by the <b>traffic manager</b>. 
+      One of the most important groups of actors in CARLA. These include any type of vehicle from cars to trucks, motorbikes, vans, bicycles and also official vehicles such as police cars. A wide set of these actors is provided in carla.BlueprintLibrary to facilitate different requirements. Vehicles can be either manually controlled or set to an autopilot mode that will be conducted client-side by the <b>traffic manager</b>. 
     # - PROPERTIES -------------------------
     instance_variables:
     - var_name: bounding_box
@@ -591,7 +591,7 @@
     parent: carla.TrafficSign
     # - DESCRIPTION ------------------------
     doc: >
-      A traffic light actor, considered a specific type of traffic sign. As traffic lights will mostly appear at junctions, they belong to a group which contains the different traffic lights in it. Inside the group, traffic lights are differenciated by their pole index.
+      A traffic light actor, considered a specific type of traffic sign. As traffic lights will mostly appear at junctions, they belong to a group which contains the different traffic lights in it. Inside the group, traffic lights are differentiated by their pole index.
 
         Within a group the state of traffic lights is changed in a cyclic pattern: one index is chosen and it spends a few seconds in green, yellow and eventually red. The rest of the traffic lights remain frozen in red this whole time, meaning that there is a gap in the last seconds of the cycle where all the traffic lights are red. However, the state of a traffic light can be changed manually.  
     # - PROPERTIES -------------------------

PythonAPI/docs/bp_doc_gen.py

@@ -23,7 +23,7 @@
     print("  .---------------------------------------------------.")
     print("  |     Make sure the python client is compiled!      |")
     print("  '---------------------------------------------------'\n")
-    # We don't provide an error to prvent Travis checks failing
+    # We don't provide an error to prevent Travis checks failing
     sys.exit(0)
 
 import carla

PythonAPI/docs/client.yml

@@ -41,6 +41,11 @@
         type: list
         doc: >
           A list of commands to execute in batch. Each command is different and has its own parameters. They appear listed at the bottom of this page.
+      - param_name: do_tick
+        type: bool
+        default: false
+        doc: >
+          A boolean parameter to specify whether or not to perform a carla.World.tick after applying the batch in _synchronous mode_. Defaults to __False__.
       doc: >
         Executes a list of commands on a single simulation step and retrieves no information. If you need information about the response of each command, use the __<font color="#7fb800">apply_batch_sync()</font>__ method.
         [Here](https://github.com/carla-simulator/carla/blob/master/PythonAPI/examples/generate_traffic.py) is an example on how to delete the actors that appear in carla.ActorList all at once.
@@ -51,11 +56,11 @@
         type: list
         doc: >
           A list of commands to execute in batch. The commands available are listed right above, in the method **<font color="#7fb800">apply_batch()</font>**.
-      - param_name: due_tick_cue
+      - param_name: do_tick
         type: bool
         default: false
         doc: >
-          A boolean parameter to specify whether or not to perform a carla.World.tick after applying the batch in _synchronous mode_. It is __False__ by default.
+          A boolean parameter to specify whether or not to perform a carla.World.tick after applying the batch in _synchronous mode_. Defaults to __False__.
       return: list(command.Response)
       doc: >
         Executes a list of commands on a single simulation step, blocks until the commands are linked, and returns a list of <b>command.Response</b> that can be used to determine whether a single command succeeded or not. [Here](https://github.com/carla-simulator/carla/blob/master/PythonAPI/examples/generate_traffic.py) is an example of it being used to spawn actors.
@@ -169,6 +174,7 @@
           ID of the actor to follow. If this is 0 then camera is disabled.
       - param_name: replay_sensors
         type: bool
+        default: false
         doc: >
           Flag to enable or disable the spawn of sensors during playback.
       doc: >
@@ -793,4 +799,36 @@
     - var_name: enable_pedestrian_navigation
       type: bool
       doc: >
-        If __True__, Pedestrian navigation will be enabled using Recast tool. For very large maps it is recomended to disable this option. __Default is `True`__.
+        If __True__, Pedestrian navigation will be enabled using Recast tool. For very large maps it is recommended to disable this option. __Default is `True`__.
+    # - METHODS ----------------------------
+    methods:
+    - def_name: __init__
+      params:
+      - param_name: vertex_distance
+        type: float
+        param_units: meters
+        default: 2.0
+      - param_name: max_road_length
+        type: float
+        param_units: meters
+        default: 50.0
+      - param_name: wall_height
+        type: float
+        param_units: meters
+        default: 1.0
+      - param_name: additional_width
+        type: float
+        param_units: meters
+        default: 0.6
+      - param_name: smooth_junctions
+        type: bool
+        default: true
+      - param_name: enable_mesh_visibility
+        type: bool
+        default: true
+      - param_name: enable_pedestrian_navigation
+        type: bool
+        default: true
+      doc: >
+        OpendriveGenerationParameters constructor
+

PythonAPI/docs/doc_gen.py

@@ -75,7 +75,7 @@ def textn(self, buf):
 
     def first_title(self):
         self._data = join([
-            self._data, '#Python API reference\n'])
+            self._data, '# Python API reference\n'])
 
     def title(self, strongness, buf):
         self._data = join([

PythonAPI/docs/geom.yml

@@ -440,20 +440,29 @@
     - def_name: transform
       params:
       - param_name: in_point
-        type: carla.Location
+        type: carla.Vector3D
         doc: >
           Location in the space to which the transformation will be applied.
       doc: >
-        Translates a 3D point from local to global coordinates using the current transformation as frame of reference.
+        Translates a 3D point in place from local to global coordinates using the current transformation as frame of reference.
+    # --------------------------------------
+    - def_name: inverse_transform
+      params:
+      - param_name: in_point
+        type: carla.Vector3D
+        doc: >
+          Location in the space to which the inverse transformation will be applied.
+      doc: >
+        Applies the inverse of `transform` by translating a 3D point in place from global to local coordinates using the current transformation as frame of reference.  
     # --------------------------------------
     - def_name: transform_vector
       params:
-      - param_name: in_vector
+      - param_name: in_point
         type: carla.Vector3D
         doc: >
           Vector to which the transformation will be applied.
       doc: >
-        Rotates a vector using the current transformation as frame of reference, without applying translation. Use this to transform, for example, a velocity.
+        Rotates a vector in place using the current transformation as frame of reference, without applying translation. Use this to transform, for example, a velocity.
     # --------------------------------------
     - def_name: get_forward_vector
       return: carla.Vector3D

PythonAPI/docs/sensor.yml

@@ -25,10 +25,6 @@
         - [V2X sensor](ref_sensors.md#v2x-sensor)
     # - PROPERTIES -------------------------
     instance_variables:
-    - var_name: is_listening
-      type: boolean
-      doc: >
-        When **True** the sensor will be waiting for data. 
     # - METHODS ----------------------------
     methods:
     - def_name: listen

PythonAPI/docs/sensor_data.yml

@@ -678,7 +678,7 @@
   - class_name: GBufferTextureID
     # - DESCRIPTION ------------------------
     doc: >
-      Defines the of each GBuffer texture (See the method `carla.Sensor.listen_to_gbuffer`).
+      Defines the identifiers of each GBuffer texture (See the method carla.Sensor.listen_to_gbuffer).
     # - PROPERTIES -------------------------
     instance_variables:
     - var_name: SceneColor

PythonAPI/docs/snapshot.yml

@@ -17,6 +17,11 @@
       type: int
       doc: >
         Simulation frame in which the snapshot was taken. 
+    - var_name: elapsed_seconds
+      type: float
+      var_units: seconds
+      doc: >
+        Simulated seconds elapsed since the beginning of the current episode.
     - var_name: timestamp
       type: carla.Timestamp
       var_units: seconds

PythonAPI/docs/weather.yml

@@ -7,7 +7,7 @@
     # - DESCRIPTION ------------------------
     doc: >
       This class defines objects containing lighting and weather specifications that can later be applied in carla.World. So far, these conditions only intervene with [sensor.camera.rgb](ref_sensors.md#rgb-camera). They neither affect the actor's physics nor other sensors.        
-        Each of these parameters acts indepently from the rest. Increasing the rainfall will not automatically create puddles nor change the road's humidity. That makes for a better customization but means that realistic conditions need to be scripted. However an example of dynamic weather conditions working realistically can be found [here](https://github.com/carla-simulator/carla/blob/master/PythonAPI/examples/dynamic_weather.py). 
+        Each of these parameters acts independently from the rest. Increasing the rainfall will not automatically create puddles nor change the road's humidity. That makes for a better customization but means that realistic conditions need to be scripted. However an example of dynamic weather conditions working realistically can be found [here](https://github.com/carla-simulator/carla/blob/master/PythonAPI/examples/dynamic_weather.py). 
     # - PROPERTIES -------------------------
     instance_variables:
     - var_name: cloudiness

PythonAPI/docs/world.yml

@@ -143,7 +143,7 @@
       doc: >
         Defines wether to use deterministic physics for pedestrian death animations or physical ragdoll simulation. 
         When enabled, pedestrians have less realistic death animation but ensures determinism. 
-        When disabled, pedestrians are simulated as ragdolls with more realistic simulation and collision but no determinsm can be ensured.
+        When disabled, pedestrians are simulated as ragdolls with more realistic simulation and collision but no determinism can be ensured.
     - var_name: tile_stream_distance
       type: float
       doc: >
@@ -460,7 +460,7 @@
     - var_name: id
       type: int
       doc: >
-        The ID of the episode associated with this world. Episodes are different sessions of a simulation. These change everytime a world is disabled or reloaded. Keeping track is useful to avoid possible issues.  
+        The ID of the episode associated with this world. Episodes are different sessions of a simulation. These change every time a world is disabled or reloaded. Keeping track is useful to avoid possible issues.  
     - var_name: debug
       type: carla.DebugHelper
       doc: >
@@ -485,7 +485,7 @@
         doc: > 
           Function with a snapshot as compulsory parameter that will be called when the client receives a tick.  
       doc: >
-        This method is used in [__asynchronous__ mode](https://carla.readthedocs.io/en/latest/adv_synchrony_timestep/). It starts callbacks from the client for the function defined as `callback`, and returns the ID of the callback. The function will be called everytime the server ticks. It requires a carla.WorldSnapshot as argument, which can be retrieved from __<font color="#7fb800">wait_for_tick()</font>__. Use __<font color="#7fb800">remove_on_tick()</font>__ to stop the callbacks.
+        This method is used in [__asynchronous__ mode](https://carla.readthedocs.io/en/latest/adv_synchrony_timestep/). It starts callbacks from the client for the function defined as `callback`, and returns the ID of the callback. The function will be called every time the server ticks. It requires a carla.WorldSnapshot as argument, which can be retrieved from __<font color="#7fb800">wait_for_tick()</font>__. Use __<font color="#7fb800">remove_on_tick()</font>__ to stop the callbacks.
     # --------------------------------------
     - def_name: remove_on_tick
       params:
@@ -538,7 +538,7 @@
         default: None
         doc: > 
           The parent object that the spawned actor will follow around. 
-      - param_name: attachment 
+      - param_name: attachment_type 
         type: carla.AttachmentType
         default: Rigid
         doc: > 
@@ -562,7 +562,7 @@
         default: None
         doc: > 
           The parent object that the spawned actor will follow around. 
-      - param_name: attachment 
+      - param_name: attachment_type 
         type: carla.AttachmentType
         default: Rigid
         doc: > 
@@ -744,7 +744,7 @@
         doc: > 
           New conditions to be applied. 
       doc: >
-        Changes the weather parameteres ruling the simulation to another ones defined in an object. 
+        Changes the weather parameters ruling the simulation to another ones defined in an object. 
     # --------------------------------------
     - def_name: cast_ray
       return: list(carla.LabelledPoint)
@@ -831,7 +831,7 @@
           Sets the seed to use for any random number generated in relation to pedestrians.
       note: >
         Should be set before pedestrians are spawned.
-        If you want to repeat the same exact bodies (blueprint) for each pedestrian, then use the same seed in the Python code (where the blueprint is choosen randomly) and here, otherwise the pedestrians will repeat the same paths but the bodies will be different.
+        If you want to repeat the same exact bodies (blueprint) for each pedestrian, then use the same seed in the Python code (where the blueprint is chosen randomly) and here, otherwise the pedestrians will repeat the same paths but the bodies will be different.
     # --------------------------------------
     - def_name: apply_color_texture_to_object
       params:
@@ -842,7 +842,7 @@
       - param_name: texture
         type: TextureColor
       doc: >
-        Applies a `texture` object in the field corresponfing to `material_parameter` (normal, diffuse, etc) to the object in the scene corresponding to `object_name`.
+        Applies a `texture` object in the field corresponding to `material_parameter` (normal, diffuse, etc) to the object in the scene corresponding to `object_name`.
     # --------------------------------------
     - def_name: apply_float_color_texture_to_object
       params:
@@ -853,7 +853,7 @@
       - param_name: texture
         type: TextureFloatColor
       doc: >
-        Applies a `texture` object in the field corresponfing to `material_parameter` (normal, diffuse, etc) to the object in the scene corresponding to `object_name`.
+        Applies a `texture` object in the field corresponding to `material_parameter` (normal, diffuse, etc) to the object in the scene corresponding to `object_name`.
     # --------------------------------------
     - def_name: apply_textures_to_object
       params:
@@ -879,7 +879,7 @@
       - param_name: texture
         type: TextureColor
       doc: >
-        Applies a `texture` object in the field corresponfing to `material_parameter` (normal, diffuse, etc) to the object in the scene corresponding to all objects in `objects_name_list`.
+        Applies a `texture` object in the field corresponding to `material_parameter` (normal, diffuse, etc) to the object in the scene corresponding to all objects in `objects_name_list`.
     # --------------------------------------
     - def_name: apply_float_color_texture_to_objects
       params:
@@ -890,7 +890,7 @@
       - param_name: texture
         type: TextureFloatColor
       doc: >
-        Applies a `texture` object in the field corresponfing to `material_parameter` (normal, diffuse, etc) to the object in the scene corresponding to all objects in `objects_name_list`.
+        Applies a `texture` object in the field corresponding to `material_parameter` (normal, diffuse, etc) to the object in the scene corresponding to all objects in `objects_name_list`.
     # --------------------------------------
     - def_name: apply_textures_to_objects
       params:

PythonAPI/examples/V2XDemo.py

@@ -685,11 +685,11 @@ def __init__(self, width, height):
         self._show_ackermann_info = False
         self._ackermann_control = carla.VehicleAckermannControl()
 
-    def on_world_tick(self, timestamp):
+    def on_world_tick(self, world_snapshot):
         self._server_clock.tick()
         self.server_fps = self._server_clock.get_fps()
-        self.frame = timestamp.frame
-        self.simulation_time = timestamp.elapsed_seconds
+        self.frame = world_snapshot.frame
+        self.simulation_time = world_snapshot.elapsed_seconds
 
     def tick(self, world, clock):
         self._notifications.tick(world, clock)

PythonAPI/examples/automatic_control.py

@@ -282,12 +282,12 @@ def __init__(self, width, height):
         self._info_text = []
         self._server_clock = pygame.time.Clock()
 
-    def on_world_tick(self, timestamp):
-        """Gets informations from the world at every tick"""
+    def on_world_tick(self, world_snapshot):
+        """Gets information from the world at every tick"""
         self._server_clock.tick()
         self.server_fps = self._server_clock.get_fps()
-        self.frame = timestamp.frame_count
-        self.simulation_time = timestamp.elapsed_seconds
+        self.frame = world_snapshot.frame
+        self.simulation_time = world_snapshot.elapsed_seconds
 
     def tick(self, world, clock):
         """HUD method for every tick"""