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vehicle.md

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Vehicle

from tdw.add_ons.vehicle import Vehicle

A vehicle is a driving agent such as a car, bus or truck. From this API, you can set the vehicles's speed (drive, turn, brake) and turn its motor on and off.

The vehicle's output data, including images, is stored in vehicle.dynamic.

Class Variables

Variable Type Description Value
LIBRARY_NAME str The vehicle's library file. You can override this to use a custom library (e.g. a local library). "vehicles.json"

Fields

  • initial_position The initial position of the vehicle.

  • dynamic The initial rotation of the vehicle in Euler angles.

  • vehicle_id The ID of this vehicle.

  • avatar_id The ID of the vehicle's avatar (camera). This is used internally for API calls.

  • commands These commands will be appended to the commands of the next communicate() call.

  • initialized If True, this module has been initialized.

Functions

__init__

Vehicle()

Vehicle(vehicle_id=0, position=None, rotation=None, name="all_terrain_vehicle", forward_speed=30, reverse_speed=12, image_capture=True, image_passes=None)

Parameter Type Default Description
vehicle_id int 0 The ID of the vehicle.
position POSITION None The position of the vehicle as an x, y, z dictionary or numpy array. If None, defaults to {"x": 0, "y": 0, "z": 0}.
rotation ROTATION None The rotation of the vehicle in Euler angles (degrees) as an x, y, z dictionary or numpy array. If None, defaults to {"x": 0, "y": 0, "z": 0}.
name str "all_terrain_vehicle" The name of the vehicle model.
forward_speed float 30 Sets the vehicle's max forward speed.
reverse_speed float 12 Sets the vehicle's max reverse speed.
image_capture bool True If True, the vehicle will receive image and camera matrix data per communicate() call. Whether or not this is True, the vehicle will always render images in the simulation window.
image_passes List[str] None A list of image passes that will be captured. Ignored if image_capture == False. If None, defaults to ["_img", "_id"].

get_initialization_commands

self.get_initialization_commands()

This function gets called exactly once per add-on. To re-initialize, set self.initialized = False.

Returns: A list of commands that will initialize this add-on.

on_send

self.on_send(resp)

This is called within Controller.communicate(commands) after commands are sent to the build and a response is received.

Use this function to send commands to the build on the next Controller.communicate(commands) call, given the resp response. Any commands in the self.commands list will be sent on the next Controller.communicate(commands) call.

Parameter Type Default Description
resp List[bytes] The response from the build.

before_send

self.before_send(commands)

This is called within Controller.communicate(commands) before sending commands to the build. By default, this function doesn't do anything.

Parameter Type Default Description
commands List[dict] The commands that are about to be sent to the build.

set_drive

self.set_drive(drive)

Set the vehicle's drive force.

Parameter Type Default Description
drive float The drive force as a float. Must be between -1.0 and 1.0.

set_turn

self.set_turn(turn)

Set the vehicle's turn force.

Parameter Type Default Description
turn float The turn force as a float. Must be between -1.0 and 1.0.

set_brake

self.set_brake(brake)

Set the vehicle's brake force.

Parameter Type Default Description
brake float The brake force as a float. Must be between -1.0 and 1.0.