├── .gitattributes ├── .github ├── CODEOWNERS ├── config.yml ├── issue_template.md ├── pull_request_template.md └── stale.yml ├── .gitignore ├── .pep8 ├── .readthedocs.yml ├── .travis.yml ├── CHANGELOG.md ├── CMakeLists.txt ├── Co-Simulation └── Sumo │ ├── data │ └── vtypes.json │ ├── examples │ └── town01 │ │ ├── Town01.net.xml │ │ ├── Town01.rou.xml │ │ ├── Town01.sumocfg │ │ ├── carlavtypes.rou.xml │ │ ├── netconvert_options.sumo │ │ └── viewsettings.xml │ ├── requirements.txt │ ├── run_synchronization.py │ ├── sumo_integration │ ├── __init__.py │ ├── bridge_helper.py │ ├── carla_simulation.py │ ├── constants.py │ └── sumo_simulation.py │ └── util │ ├── create_sumo_vtypes.py │ └── sequential_types.py ├── CustomAssets ├── EmptyMap.umap ├── EmptyMap_BuiltData.uasset └── M_Tile.uasset ├── Data ├── .gitignore ├── beijing.landmarks │ ├── 000000.landmark.wkt │ ├── 000001.landmark.wkt │ ├── 000002.landmark.wkt │ ├── 000003.landmark.wkt │ ├── 000004.landmark.wkt │ ├── 000005.landmark.wkt │ ├── 000006.landmark.wkt │ ├── 000007.landmark.wkt │ ├── 000008.landmark.wkt │ ├── 000009.landmark.wkt │ ├── 000010.landmark.wkt │ ├── 000011.landmark.wkt │ ├── 000012.landmark.wkt │ ├── 000013.landmark.wkt │ ├── 000014.landmark.wkt │ ├── 000015.landmark.wkt │ ├── 000016.landmark.wkt │ ├── 000017.landmark.wkt │ ├── 000018.landmark.wkt │ ├── 000019.landmark.wkt │ ├── 000020.landmark.wkt │ ├── 000021.landmark.wkt │ ├── 000022.landmark.wkt │ ├── 000023.landmark.wkt │ ├── 000024.landmark.wkt │ ├── 000025.landmark.wkt │ ├── 000026.landmark.wkt │ ├── 000027.landmark.wkt │ ├── 000028.landmark.wkt │ ├── 000029.landmark.wkt │ ├── 000030.landmark.wkt │ ├── 000031.landmark.wkt │ ├── 000032.landmark.wkt │ ├── 000033.landmark.wkt │ ├── 000034.landmark.wkt │ ├── 000035.landmark.wkt │ ├── 000036.landmark.wkt │ ├── 000037.landmark.wkt │ ├── 000038.landmark.wkt │ ├── 000039.landmark.wkt │ ├── 000040.landmark.wkt │ ├── 000041.landmark.wkt │ ├── 000042.landmark.wkt │ └── 000043.landmark.wkt ├── beijing.net.xml ├── beijing.network.wkt ├── beijing.osm ├── beijing.roadmark.wkt ├── beijing.sidewalk.wkt ├── beijing.sim_bounds ├── beijing.wkt ├── chandni_chowk.jpg ├── chandni_chowk.landmarks │ ├── 000000.landmark.wkt │ ├── 000001.landmark.wkt │ ├── 000002.landmark.wkt │ ├── 000003.landmark.wkt │ ├── 000004.landmark.wkt │ ├── 000005.landmark.wkt │ ├── 000006.landmark.wkt │ ├── 000007.landmark.wkt │ ├── 000008.landmark.wkt │ ├── 000009.landmark.wkt │ ├── 000010.landmark.wkt │ ├── 000011.landmark.wkt │ ├── 000012.landmark.wkt │ ├── 000013.landmark.wkt │ ├── 000014.landmark.wkt │ ├── 000015.landmark.wkt │ └── 000016.landmark.wkt ├── chandni_chowk.net.xml ├── chandni_chowk.network.wkt ├── chandni_chowk.osm ├── chandni_chowk.roadmark.wkt ├── chandni_chowk.sidewalk.wkt ├── chandni_chowk.sim_bounds ├── chandni_chowk.wkt ├── highway.landmarks │ └── 000000.landmark.wkt ├── highway.net.xml ├── highway.network.wkt ├── highway.osm ├── highway.png ├── highway.roadmark.wkt ├── highway.sidewalk.wkt ├── highway.sim_bounds ├── highway.wkt ├── magic.landmarks │ ├── 000000.landmark.wkt │ ├── 000001.landmark.wkt │ ├── 000002.landmark.wkt │ ├── 000003.landmark.wkt │ ├── 000004.landmark.wkt │ └── 000005.landmark.wkt ├── magic.net.xml ├── magic.network.wkt ├── magic.osm ├── magic.png ├── magic.roadmark.wkt ├── magic.sidewalk.wkt ├── magic.sim_bounds ├── magic.wkt ├── meskel_square.landmarks │ ├── 000000.landmark.wkt │ ├── 000001.landmark.wkt │ ├── 000002.landmark.wkt │ ├── 000003.landmark.wkt │ ├── 000004.landmark.wkt │ ├── 000005.landmark.wkt │ ├── 000006.landmark.wkt │ ├── 000007.landmark.wkt │ ├── 000008.landmark.wkt │ ├── 000009.landmark.wkt │ ├── 000010.landmark.wkt │ ├── 000011.landmark.wkt │ ├── 000012.landmark.wkt │ ├── 000013.landmark.wkt │ ├── 000014.landmark.wkt │ ├── 000015.landmark.wkt │ ├── 000016.landmark.wkt │ ├── 000017.landmark.wkt │ ├── 000018.landmark.wkt │ ├── 000019.landmark.wkt │ ├── 000020.landmark.wkt │ ├── 000021.landmark.wkt │ ├── 000022.landmark.wkt │ ├── 000023.landmark.wkt │ ├── 000024.landmark.wkt │ ├── 000025.landmark.wkt │ ├── 000026.landmark.wkt │ ├── 000027.landmark.wkt │ ├── 000028.landmark.wkt │ ├── 000029.landmark.wkt │ ├── 000030.landmark.wkt │ ├── 000031.landmark.wkt │ ├── 000032.landmark.wkt │ ├── 000033.landmark.wkt │ └── 000034.landmark.wkt ├── meskel_square.net.xml ├── meskel_square.network.wkt ├── meskel_square.osm ├── meskel_square.png ├── meskel_square.roadmark.wkt ├── meskel_square.sidewalk.wkt ├── meskel_square.sim_bounds ├── shi_men_er_lu.landmarks │ ├── 000000.landmark.wkt │ ├── 000001.landmark.wkt │ ├── 000002.landmark.wkt │ ├── 000003.landmark.wkt │ ├── 000004.landmark.wkt │ ├── 000005.landmark.wkt │ ├── 000006.landmark.wkt │ ├── 000007.landmark.wkt │ └── 000008.landmark.wkt ├── shi_men_er_lu.net.xml ├── shi_men_er_lu.network.wkt ├── shi_men_er_lu.osm ├── shi_men_er_lu.png ├── shi_men_er_lu.roadmark.wkt ├── shi_men_er_lu.sidewalk.wkt ├── shi_men_er_lu.sim_bounds ├── shi_men_er_lu.wkt ├── shibuya.landmarks │ ├── 000000.landmark.wkt │ ├── 000001.landmark.wkt │ ├── 000002.landmark.wkt │ ├── 000003.landmark.wkt │ ├── 000004.landmark.wkt │ ├── 000005.landmark.wkt │ ├── 000006.landmark.wkt │ ├── 000007.landmark.wkt │ ├── 000008.landmark.wkt │ ├── 000009.landmark.wkt │ ├── 000010.landmark.wkt │ ├── 000011.landmark.wkt │ ├── 000012.landmark.wkt │ ├── 000013.landmark.wkt │ ├── 000014.landmark.wkt │ ├── 000015.landmark.wkt │ └── 000016.landmark.wkt ├── shibuya.net.xml ├── shibuya.network.wkt ├── shibuya.osm ├── shibuya.png ├── shibuya.roadmark.wkt ├── shibuya.sidewalk.wkt ├── shibuya.sim_bounds └── shibuya.wkt ├── Docs ├── adv_recorder.md ├── adv_rendering_options.md ├── adv_synchrony_timestep.md ├── adv_traffic_manager.md ├── bp_library.md ├── build_docker.md ├── build_faq.md ├── build_linux.md ├── build_system.md ├── build_update.md ├── build_windows.md ├── cont_code_of_conduct.md ├── cont_coding_standard.md ├── cont_contribution_guidelines.md ├── cont_doc_standard.md ├── core_actors.md ├── core_concepts.md ├── core_map.md ├── core_sensors.md ├── core_world.md ├── download.md ├── img │ ├── btn │ │ ├── chat.png │ │ ├── dev.png │ │ ├── docs.png │ │ ├── download.png │ │ ├── forum.png │ │ └── web.png │ ├── sensor_radar.png │ └── traffic_manager_diagram.png ├── index.md ├── python_api.md ├── ref_code_recipes.md ├── ref_cpp.md ├── ref_recorder_binary_file_format.md ├── ref_sensors.md ├── ros_installation.md ├── ros_launchs.md ├── ros_msgs.md ├── start_introduction.md ├── start_quickstart.md ├── tuto_A_epic_automotive_materials.md ├── tuto_A_import_assets.md ├── tuto_A_map_creation.md ├── tuto_A_map_customization.md ├── tuto_A_standalone_packages.md ├── tuto_A_vehicle_modelling.md ├── tuto_D_contribute_assets.md ├── tuto_D_create_sensor.md ├── tuto_D_generate_pedestrian_navigation.md ├── tuto_D_make_release.md ├── tuto_G_add_friction_triggers.md ├── tuto_G_control_vehicle_physics.md └── tuto_G_control_walker_skeletons.md ├── Doxyfile ├── Examples └── CppClient │ ├── .gitignore │ ├── Makefile │ ├── README.md │ └── main.cpp ├── Import └── README.md ├── Jenkinsfile ├── LICENSE ├── LibCarla ├── cmake │ ├── CMakeLists.txt │ ├── client │ │ └── CMakeLists.txt │ ├── server │ │ └── CMakeLists.txt │ └── test │ │ └── CMakeLists.txt └── source │ ├── carla │ ├── .gitignore │ ├── AtomicList.h │ ├── AtomicSharedPtr.h │ ├── Buffer.cpp │ ├── Buffer.h │ ├── BufferPool.h │ ├── Debug.h │ ├── Exception.cpp │ ├── Exception.h │ ├── FileSystem.cpp │ ├── FileSystem.h │ ├── Functional.h │ ├── Iterator.h │ ├── ListView.h │ ├── Logging.h │ ├── Memory.h │ ├── MoveHandler.h │ ├── MsgPack.h │ ├── MsgPackAdaptors.h │ ├── NonCopyable.h │ ├── Platform.h │ ├── PythonUtil.h │ ├── RecurrentSharedFuture.h │ ├── Sockets.h │ ├── StopWatch.h │ ├── StringUtil.cpp │ ├── StringUtil.h │ ├── ThreadGroup.h │ ├── ThreadPool.h │ ├── Time.h │ ├── TypeTraits.h │ ├── Version.h.in │ ├── aabb │ │ ├── AABBMap.cpp │ │ └── AABBMap.h │ ├── client │ │ ├── Actor.cpp │ │ ├── Actor.h │ │ ├── ActorAttribute.cpp │ │ ├── ActorAttribute.h │ │ ├── ActorBlueprint.cpp │ │ ├── ActorBlueprint.h │ │ ├── ActorList.cpp │ │ ├── ActorList.h │ │ ├── ActorSnapshot.h │ │ ├── BlueprintLibrary.cpp │ │ ├── BlueprintLibrary.h │ │ ├── Client.h │ │ ├── ClientSideSensor.h │ │ ├── DebugHelper.cpp │ │ ├── DebugHelper.h │ │ ├── GarbageCollectionPolicy.h │ │ ├── Junction.cpp │ │ ├── Junction.h │ │ ├── Landmark.cpp │ │ ├── Landmark.h │ │ ├── LaneInvasionSensor.cpp │ │ ├── LaneInvasionSensor.h │ │ ├── Map.cpp │ │ ├── Map.h │ │ ├── Sensor.h │ │ ├── ServerSideSensor.cpp │ │ ├── ServerSideSensor.h │ │ ├── TimeoutException.cpp │ │ ├── TimeoutException.h │ │ ├── Timestamp.h │ │ ├── TrafficLight.cpp │ │ ├── TrafficLight.h │ │ ├── TrafficSign.h │ │ ├── Vehicle.cpp │ │ ├── Vehicle.h │ │ ├── Walker.cpp │ │ ├── Walker.h │ │ ├── WalkerAIController.cpp │ │ ├── WalkerAIController.h │ │ ├── Waypoint.cpp │ │ ├── Waypoint.h │ │ ├── World.cpp │ │ ├── World.h │ │ ├── WorldSnapshot.h │ │ └── detail │ │ │ ├── ActorFactory.cpp │ │ │ ├── ActorFactory.h │ │ │ ├── ActorState.cpp │ │ │ ├── ActorState.h │ │ │ ├── ActorVariant.cpp │ │ │ ├── ActorVariant.h │ │ │ ├── CachedActorList.h │ │ │ ├── CallbackList.h │ │ │ ├── Client.cpp │ │ │ ├── Client.h │ │ │ ├── Episode.cpp │ │ │ ├── Episode.h │ │ │ ├── EpisodeProxy.cpp │ │ │ ├── EpisodeProxy.h │ │ │ ├── EpisodeState.cpp │ │ │ ├── EpisodeState.h │ │ │ ├── Simulator.cpp │ │ │ ├── Simulator.h │ │ │ ├── WalkerNavigation.cpp │ │ │ └── WalkerNavigation.h │ ├── gamma │ │ ├── .editorconfig │ │ ├── .gitignore │ │ ├── .travis.yml │ │ ├── Agent.cpp │ │ ├── Agent.h │ │ ├── AgentParams.h │ │ ├── ConvexHull.cpp │ │ ├── ConvexHull.h │ │ ├── Definitions.h │ │ ├── GammaParams.cpp │ │ ├── GammaParams.h │ │ ├── KdTree.cpp │ │ ├── KdTree.h │ │ ├── Minkowski.h │ │ ├── Obstacle.cpp │ │ ├── Obstacle.h │ │ ├── RVO.h │ │ ├── RVOSimulator.cpp │ │ ├── RVOSimulator.h │ │ └── Vector2.h │ ├── geom │ │ ├── AABB2D.h │ │ ├── BoundingBox.h │ │ ├── CubicPolynomial.h │ │ ├── GeoLocation.cpp │ │ ├── GeoLocation.h │ │ ├── Location.h │ │ ├── Math.cpp │ │ ├── Math.h │ │ ├── Mesh.cpp │ │ ├── Mesh.h │ │ ├── Rotation.h │ │ ├── Rtree.h │ │ ├── Segment2D.h │ │ ├── Transform.h │ │ ├── Triangle2D.h │ │ ├── Triangulation.cpp │ │ ├── Triangulation.h │ │ ├── Vector2D.h │ │ └── Vector3D.h │ ├── image │ │ ├── BoostGil.h │ │ ├── CityScapesPalette.h │ │ ├── ColorConverter.h │ │ ├── ImageConverter.h │ │ ├── ImageIO.h │ │ ├── ImageIOConfig.h │ │ └── ImageView.h │ ├── nav │ │ ├── Navigation.cpp │ │ ├── Navigation.h │ │ ├── WalkerEvent.cpp │ │ ├── WalkerEvent.h │ │ ├── WalkerManager.cpp │ │ └── WalkerManager.h │ ├── occupancy │ │ ├── OccupancyMap.cpp │ │ └── OccupancyMap.h │ ├── opendrive │ │ ├── OpenDriveParser.cpp │ │ ├── OpenDriveParser.h │ │ └── parser │ │ │ ├── GeoReferenceParser.cpp │ │ │ ├── GeoReferenceParser.h │ │ │ ├── GeometryParser.cpp │ │ │ ├── GeometryParser.h │ │ │ ├── JunctionParser.cpp │ │ │ ├── JunctionParser.h │ │ │ ├── LaneParser.cpp │ │ │ ├── LaneParser.h │ │ │ ├── ObjectParser.cpp │ │ │ ├── ObjectParser.h │ │ │ ├── ProfilesParser.cpp │ │ │ ├── ProfilesParser.h │ │ │ ├── RoadParser.cpp │ │ │ ├── RoadParser.h │ │ │ ├── SignalParser.cpp │ │ │ ├── SignalParser.h │ │ │ ├── TrafficGroupParser.cpp │ │ │ └── TrafficGroupParser.h │ ├── osmlandmarks │ │ ├── OsmLandmarks.cpp │ │ └── OsmLandmarks.h │ ├── pointcloud │ │ ├── PointCloudIO.cpp │ │ └── PointCloudIO.h │ ├── profiler │ │ ├── LifetimeProfiled.cpp │ │ ├── LifetimeProfiled.h │ │ ├── Profiler.cpp │ │ └── Profiler.h │ ├── road │ │ ├── InformationSet.h │ │ ├── Junction.h │ │ ├── Lane.cpp │ │ ├── Lane.h │ │ ├── LaneSection.cpp │ │ ├── LaneSection.h │ │ ├── LaneSectionMap.h │ │ ├── LaneValidity.h │ │ ├── Map.cpp │ │ ├── Map.h │ │ ├── MapBuilder.cpp │ │ ├── MapBuilder.h │ │ ├── MapData.cpp │ │ ├── MapData.h │ │ ├── Object.h │ │ ├── Road.cpp │ │ ├── Road.h │ │ ├── RoadElementSet.h │ │ ├── RoadTypes.h │ │ ├── Signal.h │ │ ├── element │ │ │ ├── Geometry.cpp │ │ │ ├── Geometry.h │ │ │ ├── LaneCrossingCalculator.cpp │ │ │ ├── LaneCrossingCalculator.h │ │ │ ├── LaneMarking.cpp │ │ │ ├── LaneMarking.h │ │ │ ├── RoadInfo.h │ │ │ ├── RoadInfoCrosswalk.h │ │ │ ├── RoadInfoElevation.h │ │ │ ├── RoadInfoGeometry.h │ │ │ ├── RoadInfoIterator.h │ │ │ ├── RoadInfoLaneAccess.h │ │ │ ├── RoadInfoLaneBorder.h │ │ │ ├── RoadInfoLaneHeight.h │ │ │ ├── RoadInfoLaneMaterial.h │ │ │ ├── RoadInfoLaneOffset.h │ │ │ ├── RoadInfoLaneRule.h │ │ │ ├── RoadInfoLaneVisibility.h │ │ │ ├── RoadInfoLaneWidth.h │ │ │ ├── RoadInfoMarkRecord.h │ │ │ ├── RoadInfoMarkTypeLine.h │ │ │ ├── RoadInfoSignal.h │ │ │ ├── RoadInfoSpeed.h │ │ │ ├── RoadInfoVisitor.h │ │ │ ├── Waypoint.cpp │ │ │ └── Waypoint.h │ │ └── object │ │ │ └── RepeatRecord.h │ ├── rpc │ │ ├── Actor.h │ │ ├── ActorAttribute.h │ │ ├── ActorAttributeType.h │ │ ├── ActorDefinition.h │ │ ├── ActorDescription.h │ │ ├── ActorId.h │ │ ├── AttachmentType.h │ │ ├── BoneTransformData.h │ │ ├── Client.h │ │ ├── Color.h │ │ ├── Command.h │ │ ├── CommandResponse.h │ │ ├── DebugShape.h │ │ ├── EpisodeInfo.h │ │ ├── EpisodeSettings.h │ │ ├── GearPhysicsControl.h │ │ ├── Location.h │ │ ├── MapInfo.h │ │ ├── Metadata.h │ │ ├── QualityLevel.h │ │ ├── Response.h │ │ ├── Server.h │ │ ├── String.h │ │ ├── TrafficLightState.h │ │ ├── Transform.h │ │ ├── Vector2D.h │ │ ├── Vector3D.h │ │ ├── VehicleControl.h │ │ ├── VehicleLightState.h │ │ ├── VehiclePhysicsControl.h │ │ ├── WalkerBoneControl.h │ │ ├── WalkerControl.h │ │ ├── WeatherParameters.cpp │ │ ├── WeatherParameters.h │ │ └── WheelPhysicsControl.h │ ├── rss │ │ ├── RssCheck.cpp │ │ ├── RssCheck.h │ │ ├── RssRestrictor.cpp │ │ ├── RssRestrictor.h │ │ ├── RssSensor.cpp │ │ └── RssSensor.h │ ├── segments │ │ ├── SegmentMap.cpp │ │ └── SegmentMap.h │ ├── sensor │ │ ├── CompileTimeTypeMap.h │ │ ├── CompositeSerializer.h │ │ ├── Deserializer.cpp │ │ ├── Deserializer.h │ │ ├── RawData.h │ │ ├── SensorData.h │ │ ├── SensorRegistry.h │ │ ├── data │ │ │ ├── ActorDynamicState.h │ │ │ ├── Array.h │ │ │ ├── CollisionEvent.h │ │ │ ├── Color.h │ │ │ ├── GnssMeasurement.h │ │ │ ├── IMUMeasurement.h │ │ │ ├── Image.h │ │ │ ├── ImageTmpl.h │ │ │ ├── LaneInvasionEvent.cpp │ │ │ ├── LaneInvasionEvent.h │ │ │ ├── LidarMeasurement.h │ │ │ ├── ObstacleDetectionEvent.h │ │ │ ├── RadarMeasurement.h │ │ │ ├── RawEpisodeState.h │ │ │ └── RssResponse.h │ │ └── s11n │ │ │ ├── CollisionEventSerializer.cpp │ │ │ ├── CollisionEventSerializer.h │ │ │ ├── EpisodeStateSerializer.cpp │ │ │ ├── EpisodeStateSerializer.h │ │ │ ├── GnssSerializer.cpp │ │ │ ├── GnssSerializer.h │ │ │ ├── IMUSerializer.cpp │ │ │ ├── IMUSerializer.h │ │ │ ├── ImageSerializer.cpp │ │ │ ├── ImageSerializer.h │ │ │ ├── LidarMeasurement.h │ │ │ ├── LidarSerializer.cpp │ │ │ ├── LidarSerializer.h │ │ │ ├── NoopSerializer.cpp │ │ │ ├── NoopSerializer.h │ │ │ ├── ObstacleDetectionEventSerializer.cpp │ │ │ ├── ObstacleDetectionEventSerializer.h │ │ │ ├── RadarData.h │ │ │ ├── RadarSerializer.cpp │ │ │ ├── RadarSerializer.h │ │ │ ├── SensorHeaderSerializer.cpp │ │ │ └── SensorHeaderSerializer.h │ ├── sidewalk │ │ ├── Sidewalk.cpp │ │ └── Sidewalk.h │ ├── streaming │ │ ├── Client.h │ │ ├── EndPoint.h │ │ ├── Server.h │ │ ├── Stream.h │ │ ├── Token.h │ │ ├── detail │ │ │ ├── Dispatcher.cpp │ │ │ ├── Dispatcher.h │ │ │ ├── MultiStreamState.h │ │ │ ├── Session.h │ │ │ ├── Stream.h │ │ │ ├── StreamState.h │ │ │ ├── StreamStateBase.cpp │ │ │ ├── StreamStateBase.h │ │ │ ├── Token.cpp │ │ │ ├── Token.h │ │ │ ├── Types.h │ │ │ └── tcp │ │ │ │ ├── Client.cpp │ │ │ │ ├── Client.h │ │ │ │ ├── Message.h │ │ │ │ ├── Server.cpp │ │ │ │ ├── Server.h │ │ │ │ ├── ServerSession.cpp │ │ │ │ └── ServerSession.h │ │ └── low_level │ │ │ ├── Client.h │ │ │ └── Server.h │ ├── sumonetwork │ │ ├── SumoNetwork.cpp │ │ └── SumoNetwork.h │ └── trafficmanager │ │ ├── AtomicActorSet.h │ │ ├── AtomicMap.h │ │ ├── BatchControlStage.cpp │ │ ├── BatchControlStage.h │ │ ├── CollisionStage.cpp │ │ ├── CollisionStage.h │ │ ├── InMemoryMap.cpp │ │ ├── InMemoryMap.h │ │ ├── LocalizationStage.cpp │ │ ├── LocalizationStage.h │ │ ├── LocalizationUtils.cpp │ │ ├── LocalizationUtils.h │ │ ├── Messenger.h │ │ ├── MessengerAndDataTypes.h │ │ ├── MotionPlannerStage.cpp │ │ ├── MotionPlannerStage.h │ │ ├── PIDController.cpp │ │ ├── PIDController.h │ │ ├── Parameters.cpp │ │ ├── Parameters.h │ │ ├── PerformanceDiagnostics.cpp │ │ ├── PerformanceDiagnostics.h │ │ ├── PipelineStage.cpp │ │ ├── PipelineStage.h │ │ ├── SimpleWaypoint.cpp │ │ ├── SimpleWaypoint.h │ │ ├── TrafficLightStage.cpp │ │ ├── TrafficLightStage.h │ │ ├── TrafficManager.cpp │ │ ├── TrafficManager.h │ │ ├── TrafficManagerBase.h │ │ ├── TrafficManagerClient.h │ │ ├── TrafficManagerLocal.cpp │ │ ├── TrafficManagerLocal.h │ │ ├── TrafficManagerRemote.cpp │ │ ├── TrafficManagerRemote.h │ │ └── TrafficManagerServer.h │ ├── compiler │ ├── disable-ue4-macros.h │ └── enable-ue4-macros.h │ ├── test │ ├── Buffer.cpp │ ├── Buffer.h │ ├── Random.h │ ├── client │ │ ├── OpenDrive.cpp │ │ ├── OpenDrive.h │ │ ├── test_image.cpp │ │ ├── test_lanenetwork.cpp │ │ ├── test_opendrive.cpp │ │ ├── test_recurrent_shared_future.cpp │ │ ├── test_rpc.cpp │ │ └── test_sumonetwork.cpp │ ├── common │ │ ├── test_buffer.cpp │ │ ├── test_geom.cpp │ │ ├── test_listview.cpp │ │ ├── test_miscellaneous.cpp │ │ ├── test_msgpack.cpp │ │ ├── test_streaming.cpp │ │ └── test_vector3D.cpp │ ├── server │ │ └── test_benchmark_streaming.cpp │ ├── test.cpp │ └── test.h │ └── third-party │ ├── moodycamel │ └── ConcurrentQueue.h │ ├── odrSpiral │ ├── odrSpiral.cpp │ └── odrSpiral.h │ └── pugixml │ ├── LICENSE.md │ ├── pugiconfig.hpp │ ├── pugixml.cpp │ └── pugixml.hpp ├── Makefile ├── PythonAPI ├── .pylintrc ├── carla │ ├── .gitignore │ ├── agents │ │ ├── __init__.py │ │ ├── navigation │ │ │ ├── __init__.py │ │ │ ├── agent.py │ │ │ ├── basic_agent.py │ │ │ ├── controller.py │ │ │ ├── global_route_planner.py │ │ │ ├── global_route_planner_dao.py │ │ │ ├── local_planner.py │ │ │ └── roaming_agent.py │ │ └── tools │ │ │ ├── __init__.py │ │ │ └── misc.py │ ├── requirements.txt │ ├── scene_layout.py │ ├── setup.py │ └── source │ │ ├── carla │ │ ├── __init__.py │ │ └── command.py │ │ └── libcarla │ │ ├── AABB.cpp │ │ ├── Actor.cpp │ │ ├── AdRss.cpp │ │ ├── Blueprint.cpp │ │ ├── Client.cpp │ │ ├── Commands.cpp │ │ ├── Control.cpp │ │ ├── Exception.cpp │ │ ├── Gamma.cpp │ │ ├── Geom.cpp │ │ ├── Map.cpp │ │ ├── Occupancy.cpp │ │ ├── OsmLandmarks.cpp │ │ ├── Segments.cpp │ │ ├── Sensor.cpp │ │ ├── SensorData.cpp │ │ ├── Sidewalk.cpp │ │ ├── Snapshot.cpp │ │ ├── SumoNetwork.cpp │ │ ├── TrafficManager.cpp │ │ ├── Weather.cpp │ │ ├── World.cpp │ │ ├── libcarla.cpp │ │ └── unordered_map_indexing_suite.hpp ├── docs │ ├── actor.yml │ ├── blueprint.yml │ ├── bp_doc_gen.py │ ├── client.yml │ ├── commands.yml │ ├── control.yml │ ├── doc_gen.py │ ├── geom.yml │ ├── map.yml │ ├── requirements.txt │ ├── sensor.yml │ ├── sensor_data.yml │ ├── snapshot.yml │ ├── weather.yml │ └── world.yml ├── examples │ ├── .gitignore │ ├── gamma_crowd.py │ ├── meskel_square_ego_vehicle.py │ ├── plot_avg_speed.py │ ├── plot_jam_factor.py │ ├── requirements.txt │ ├── spawn_imagery.py │ └── spawn_meshes.py ├── test │ ├── requirements.txt │ ├── smoke │ │ ├── __init__.py │ │ ├── test_blueprint.py │ │ ├── test_client.py │ │ ├── test_map.py │ │ ├── test_props_loading.py │ │ ├── test_snapshot.py │ │ ├── test_sync.py │ │ ├── test_world.py │ │ └── unittest.cfg │ └── unit │ │ ├── __init__.py │ │ ├── test_client.py │ │ ├── test_transform.py │ │ ├── test_vehicle.py │ │ └── unittest.cfg └── util │ ├── config.py │ ├── lane_explorer.py │ ├── performance_benchmark.py │ ├── requirements.txt │ ├── test_connection.py │ └── weather.py ├── README.md ├── Scripts ├── download_imagery.py ├── extract_meshes.py └── osm2sumo.sh ├── Unreal └── CarlaUE4 │ ├── .gitignore │ ├── CarlaUE4.png │ ├── CarlaUE4.uproject │ ├── Config │ ├── DefaultEngine.ini │ ├── DefaultGame.ini │ ├── DefaultGameUserSettings.ini │ └── DefaultInput.ini │ ├── Plugins │ ├── Carla │ │ ├── Carla.uplugin │ │ ├── Content │ │ │ ├── Icons │ │ │ │ └── OpenDriveActorIcon.uasset │ │ │ └── PostProcessingMaterials │ │ │ │ ├── .gitignore │ │ │ │ ├── DepthEffectMaterial.uasset │ │ │ │ ├── DepthEffectMaterial_GLSL.uasset │ │ │ │ ├── GTMaterial.uasset │ │ │ │ ├── LensDistortion.uasset │ │ │ │ └── PhysicLensDistortion.uasset │ │ ├── Resources │ │ │ └── Icon128.png │ │ └── Source │ │ │ └── Carla │ │ │ ├── AI │ │ │ ├── AIControllerFactory.cpp │ │ │ ├── AIControllerFactory.h │ │ │ └── WalkerAIController.h │ │ │ ├── Actor │ │ │ ├── ActorAttribute.h │ │ │ ├── ActorBlueprintFunctionLibrary.cpp │ │ │ ├── ActorBlueprintFunctionLibrary.h │ │ │ ├── ActorDefinition.h │ │ │ ├── ActorDescription.h │ │ │ ├── ActorDispatcher.cpp │ │ │ ├── ActorDispatcher.h │ │ │ ├── ActorInfo.h │ │ │ ├── ActorRegistry.cpp │ │ │ ├── ActorRegistry.h │ │ │ ├── ActorSpawnResult.cpp │ │ │ ├── ActorSpawnResult.h │ │ │ ├── ActorView.h │ │ │ ├── CarlaActorFactory.h │ │ │ ├── CarlaActorFactoryBlueprint.h │ │ │ ├── CarlaBlueprintRegistry.cpp │ │ │ ├── CarlaBlueprintRegistry.h │ │ │ ├── PedestrianParameters.h │ │ │ ├── PropParameters.h │ │ │ └── VehicleParameters.h │ │ │ ├── Carla.Build.cs │ │ │ ├── Carla.cpp │ │ │ ├── Carla.h │ │ │ ├── CityMapGenerator.cpp │ │ │ ├── CityMapGenerator.h │ │ │ ├── Commandlet │ │ │ ├── MoveAssetsCommandlet.cpp │ │ │ ├── MoveAssetsCommandlet.h │ │ │ ├── PrepareAssetsForCookingCommandlet.cpp │ │ │ └── PrepareAssetsForCookingCommandlet.h │ │ │ ├── DynamicMesh │ │ │ ├── DynamicMeshActor.cpp │ │ │ ├── DynamicMeshActor.h │ │ │ ├── DynamicMeshDispatcher.cpp │ │ │ └── DynamicMeshDispatcher.h │ │ │ ├── Game │ │ │ ├── CarlaEngine.cpp │ │ │ ├── CarlaEngine.h │ │ │ ├── CarlaEpisode.cpp │ │ │ ├── CarlaEpisode.h │ │ │ ├── CarlaGameInstance.cpp │ │ │ ├── CarlaGameInstance.h │ │ │ ├── CarlaGameModeBase.cpp │ │ │ ├── CarlaGameModeBase.h │ │ │ ├── CarlaHUD.cpp │ │ │ ├── CarlaHUD.h │ │ │ ├── CarlaStaticDelegates.cpp │ │ │ ├── CarlaStaticDelegates.h │ │ │ ├── CarlaStatics.cpp │ │ │ ├── CarlaStatics.h │ │ │ ├── Tagger.cpp │ │ │ ├── Tagger.h │ │ │ ├── TaggerDelegate.cpp │ │ │ └── TaggerDelegate.h │ │ │ ├── MapGen │ │ │ ├── CityAreaDescription.h │ │ │ ├── CityMapDefinitions.h │ │ │ ├── CityMapMeshHolder.cpp │ │ │ ├── CityMapMeshHolder.h │ │ │ ├── CityMapMeshTag.cpp │ │ │ ├── CityMapMeshTag.h │ │ │ ├── DoublyConnectedEdgeList.cpp │ │ │ ├── DoublyConnectedEdgeList.h │ │ │ ├── GraphGenerator.cpp │ │ │ ├── GraphGenerator.h │ │ │ ├── GraphParser.cpp │ │ │ ├── GraphParser.h │ │ │ ├── GraphTypes.cpp │ │ │ ├── GraphTypes.h │ │ │ ├── Position.h │ │ │ ├── RoadMap.cpp │ │ │ ├── RoadMap.h │ │ │ ├── RoadSegmentDescription.h │ │ │ ├── StaticMeshCollection.cpp │ │ │ └── StaticMeshCollection.h │ │ │ ├── OpenDrive │ │ │ ├── OpenDrive.cpp │ │ │ ├── OpenDrive.h │ │ │ ├── OpenDriveActor.cpp │ │ │ ├── OpenDriveActor.h │ │ │ ├── OpenDriveGenerator.cpp │ │ │ ├── OpenDriveGenerator.h │ │ │ ├── OpenDriveMap.cpp │ │ │ └── OpenDriveMap.h │ │ │ ├── Recorder │ │ │ ├── CarlaRecorder.cpp │ │ │ ├── CarlaRecorder.h │ │ │ ├── CarlaRecorderAnimVehicle.cpp │ │ │ ├── CarlaRecorderAnimVehicle.h │ │ │ ├── CarlaRecorderAnimWalker.cpp │ │ │ ├── CarlaRecorderAnimWalker.h │ │ │ ├── CarlaRecorderCollision.cpp │ │ │ ├── CarlaRecorderCollision.h │ │ │ ├── CarlaRecorderEventAdd.cpp │ │ │ ├── CarlaRecorderEventAdd.h │ │ │ ├── CarlaRecorderEventDel.cpp │ │ │ ├── CarlaRecorderEventDel.h │ │ │ ├── CarlaRecorderEventParent.cpp │ │ │ ├── CarlaRecorderEventParent.h │ │ │ ├── CarlaRecorderFrames.cpp │ │ │ ├── CarlaRecorderFrames.h │ │ │ ├── CarlaRecorderHelpers.cpp │ │ │ ├── CarlaRecorderHelpers.h │ │ │ ├── CarlaRecorderInfo.h │ │ │ ├── CarlaRecorderPosition.cpp │ │ │ ├── CarlaRecorderPosition.h │ │ │ ├── CarlaRecorderQuery.cpp │ │ │ ├── CarlaRecorderQuery.h │ │ │ ├── CarlaRecorderState.cpp │ │ │ ├── CarlaRecorderState.h │ │ │ ├── CarlaReplayer.cpp │ │ │ ├── CarlaReplayer.h │ │ │ ├── CarlaReplayerHelper.cpp │ │ │ └── CarlaReplayerHelper.h │ │ │ ├── Sensor │ │ │ ├── AsyncDataStream.h │ │ │ ├── CollisionSensor.cpp │ │ │ ├── CollisionSensor.h │ │ │ ├── DataStream.h │ │ │ ├── DepthCamera.cpp │ │ │ ├── DepthCamera.h │ │ │ ├── GnssSensor.cpp │ │ │ ├── GnssSensor.h │ │ │ ├── InertialMeasurementUnit.cpp │ │ │ ├── InertialMeasurementUnit.h │ │ │ ├── LaneInvasionSensor.cpp │ │ │ ├── LaneInvasionSensor.h │ │ │ ├── LidarDescription.h │ │ │ ├── ObstacleDetectionSensor.cpp │ │ │ ├── ObstacleDetectionSensor.h │ │ │ ├── PixelReader.cpp │ │ │ ├── PixelReader.h │ │ │ ├── Radar.cpp │ │ │ ├── Radar.h │ │ │ ├── RayCastLidar.cpp │ │ │ ├── RayCastLidar.h │ │ │ ├── RssSensor.cpp │ │ │ ├── RssSensor.h │ │ │ ├── SceneCaptureCamera.cpp │ │ │ ├── SceneCaptureCamera.h │ │ │ ├── SceneCaptureSensor.cpp │ │ │ ├── SceneCaptureSensor.h │ │ │ ├── SemanticSegmentationCamera.cpp │ │ │ ├── SemanticSegmentationCamera.h │ │ │ ├── Sensor.cpp │ │ │ ├── Sensor.h │ │ │ ├── SensorFactory.cpp │ │ │ ├── SensorFactory.h │ │ │ ├── ShaderBasedSensor.cpp │ │ │ ├── ShaderBasedSensor.h │ │ │ ├── WorldObserver.cpp │ │ │ └── WorldObserver.h │ │ │ ├── Server │ │ │ ├── CarlaServer.cpp │ │ │ └── CarlaServer.h │ │ │ ├── Settings │ │ │ ├── CarlaSettings.cpp │ │ │ ├── CarlaSettings.h │ │ │ ├── CarlaSettingsDelegate.cpp │ │ │ ├── CarlaSettingsDelegate.h │ │ │ ├── EpisodeSettings.h │ │ │ └── QualityLevelUE.h │ │ │ ├── Traffic │ │ │ ├── RoutePlanner.cpp │ │ │ ├── RoutePlanner.h │ │ │ ├── TrafficLightBase.cpp │ │ │ ├── TrafficLightBase.h │ │ │ ├── TrafficLightState.h │ │ │ ├── TrafficSignBase.cpp │ │ │ └── TrafficSignBase.h │ │ │ ├── Trigger │ │ │ ├── FrictionTrigger.cpp │ │ │ ├── FrictionTrigger.h │ │ │ ├── TriggerFactory.cpp │ │ │ └── TriggerFactory.h │ │ │ ├── Util │ │ │ ├── ActorAttacher.cpp │ │ │ ├── ActorAttacher.h │ │ │ ├── ActorWithRandomEngine.cpp │ │ │ ├── ActorWithRandomEngine.h │ │ │ ├── BoundingBox.h │ │ │ ├── BoundingBoxCalculator.cpp │ │ │ ├── BoundingBoxCalculator.h │ │ │ ├── DebugShapeDrawer.cpp │ │ │ ├── DebugShapeDrawer.h │ │ │ ├── IniFile.h │ │ │ ├── ListView.h │ │ │ ├── NavigationMesh.cpp │ │ │ ├── NavigationMesh.h │ │ │ ├── NonCopyable.h │ │ │ ├── RandomEngine.cpp │ │ │ ├── RandomEngine.h │ │ │ └── ScopedStack.h │ │ │ ├── Vehicle │ │ │ ├── CarlaWheeledVehicle.cpp │ │ │ ├── CarlaWheeledVehicle.h │ │ │ ├── CarlaWheeledVehicleState.h │ │ │ ├── VehicleControl.h │ │ │ ├── VehicleInputPriority.h │ │ │ ├── VehicleLightState.h │ │ │ ├── VehiclePhysicsControl.h │ │ │ ├── VehicleSpawnPoint.h │ │ │ ├── WheelPhysicsControl.h │ │ │ ├── WheeledVehicleAIController.cpp │ │ │ └── WheeledVehicleAIController.h │ │ │ ├── Walker │ │ │ ├── WalkerBoneControl.h │ │ │ ├── WalkerControl.h │ │ │ ├── WalkerController.cpp │ │ │ ├── WalkerController.h │ │ │ └── WalkerSpawnPoint.h │ │ │ └── Weather │ │ │ ├── Weather.cpp │ │ │ ├── Weather.h │ │ │ └── WeatherParameters.h │ └── CarlaExporter │ │ ├── CarlaExporter.uplugin │ │ └── Source │ │ └── CarlaExporter │ │ ├── CarlaExporter.Build.cs │ │ ├── Private │ │ ├── CarlaExporter.cpp │ │ └── CarlaExporterCommands.cpp │ │ └── Public │ │ ├── CarlaExporter.h │ │ └── CarlaExporterCommands.h │ └── Source │ ├── CarlaUE4.Target.cs │ ├── CarlaUE4 │ ├── CarlaUE4.Build.cs │ ├── CarlaUE4.cpp │ └── CarlaUE4.h │ └── CarlaUE4Editor.Target.cs ├── Update.bat ├── Update.sh ├── Util ├── BoostFiles │ ├── rational.hpp │ └── read.hpp ├── BuildTools │ ├── Ad-rss.sh │ ├── BuildCarlaUE4.bat │ ├── BuildCarlaUE4.sh │ ├── BuildLibCarla.bat │ ├── BuildLibCarla.sh │ ├── BuildPythonAPI.bat │ ├── BuildPythonAPI.sh │ ├── BuildUtilsDocker.sh │ ├── Check.sh │ ├── Deploy.bat │ ├── Deploy.sh │ ├── Environment.sh │ ├── Import.py │ ├── Linux.mk │ ├── Linux.mk.help │ ├── Package.bat │ ├── Package.sh │ ├── Prettify.sh │ ├── Setup.bat │ ├── Setup.sh │ ├── Vars.mk │ ├── Windows.mk │ ├── Windows.mk.help │ ├── uncrustify-ue4.cfg │ └── uncrustify.cfg ├── CARLA.sublime-project ├── ContentVersions.txt ├── CreateDebian.sh ├── Docker │ ├── Carla.Dockerfile │ ├── Prerequisites.Dockerfile │ ├── README.md │ ├── Release.Dockerfile │ ├── docker_tools.py │ ├── docker_utils.py │ └── requirements.txt ├── DockerUtils │ ├── .gitignore │ ├── dist │ │ ├── addOBJ.py │ │ ├── build.bat │ │ ├── build.sh │ │ └── get_xodr_crosswalks.py │ └── fbx │ │ ├── CMakeLists.txt │ │ └── src │ │ └── FBX2OBJ.cpp ├── ImportAssets.sh ├── InstallersWin │ ├── install_boost.bat │ ├── install_gtest.bat │ ├── install_libpng.bat │ ├── install_recast.bat │ ├── install_rpclib.bat │ └── install_zlib.bat └── download_from_gdrive.py ├── docs ├── 404.html ├── css │ ├── theme.css │ └── theme_extra.css ├── fonts │ ├── fontawesome-webfont.eot │ ├── fontawesome-webfont.svg │ ├── fontawesome-webfont.ttf │ └── fontawesome-webfont.woff ├── getting_started │ ├── building │ │ └── index.html │ ├── introduction │ │ └── index.html │ └── setting_up │ │ └── index.html ├── img │ ├── beijing.png │ ├── chandni_chowk.png │ ├── cover.png │ ├── favicon.ico │ ├── highway.png │ ├── magic.png │ ├── meskel_square.png │ ├── shi_men_er_lu.png │ └── 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