People

Description

People are considered “actors” in QLabs Open Worlds. The person library controls the people placed in Workspaces in Quanser Interactive Labs.

People actors can be spawned anywhere in the Open Worlds, but to use the move_to methods to allow the people to self-navigate around the environment, they must originate and travel to a connected valid nav area.

For the best visual animation, it is recommended that you use the speed constants defining different gait styles. A character will accurately travel at any specified speed up to 6m/s, but the visual animation may give the impression of “slipping” at certain speeds outside the recommended values.

See the People Tutorial to get a better understanding of using people in Quanser Interactive Labs.

Library

class qvl.person.QLabsPerson(qlabs, verbose=False)[source]: This class implements spawning and AI navigation of the environment for human pedestrians.

Constants

QLabsPerson.ID_PERSON = 10030

QLabsPerson.STANDING = 0: Speed constant for the move_to method.

QLabsPerson.WALK = 1.2: Speed constant for the move_to method.

QLabsPerson.JOG = 3.6: Speed constant for the move_to method.

QLabsPerson.RUN = 6.0: Speed constant for the move_to method.

Member Variables

QLabsPerson.actorNumber = None: The current actor number of this class to be addressed. This will be set by spawn methods and cleared by destroy methods. It will not be modified by the destroy all actors. This can be manually altered at any time to use one object to address multiple actors.

Methods

QLabsPerson.enable_collision(enable, waitForConfirmation=True)[source]

Allows for the person to respond and track the number of external collisions. Note that at least one collision filter must also be added.

Parameters

enable (boolean) – Enable or disable the collision response.
waitForConfirmation (boolean) – (Optional) Wait for confirmation of the before proceeding. This makes the method a blocking operation.

Returns

True if successful, False otherwise.

Return type

boolean

QLabsPerson.add_collision_filter(class_id, waitForConfirmation=True)[source]

When collisions are enabled, the person will respond to hits from any actor of this class. This function may be called multiple times to add multiple classes.

Parameters

class_id – The actor class number to which the person should respond to.
waitForConfirmation (boolean) – (Optional) Wait for confirmation of the before proceeding. This makes the method a blocking operation.

Returns

True if successful, False otherwise.

Return type

boolean

QLabsPerson.get_collision_count()[source]

Get the total number of collsions this actor has experienced. Note that collisions must be enabled and at least one collision filter set for this count to be active.

Returns

status - True if successful or False otherwise
count - Number of hits the person has registered

Return type

boolean, int32

Parent Class (actor.py) Methods

QLabsPerson.__init__(qlabs, verbose=False)[source]

Constructor method

Parameters

qlabs (object) – A QuanserInteractiveLabs object
verbose (boolean) – (Optional) Print error information to the console.

QLabsPerson.spawn(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)

Spawns a new actor with the next available actor number within this class.

Parameters

location (float array[3]) – (Optional) An array of floats for x, y and z coordinates
rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians
scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.
configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.
waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred. Note that if this is False, the returned actor number will be invalid.

Returns

status - 0 if successful, 1 class not available, 3 unknown error, -1 communications error.
actorNumber - An actor number to use for future references.

Return type

int32, int32

Tip

The origin of the person is in the center of the body so by default, it will be spawned 1m above the surface of the target. An additional vertical offset may be required if the surface is sloped to prevent the actor from falling through the world ground surface.

Tip

If you would like to use the move_to method, the actor must be spawned in a valid nav area.

QLabsPerson.spawn_degrees(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)

Spawns a new actor with the next available actor number within this class.

Parameters

location (float array[3]) – (Optional) An array of floats for x, y and z coordinates
rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in degrees
scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.
configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.
waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred. Note that if this is False, the returned actor number will be invalid.

Returns

status - 0 if successful, 1 class not available, 3 unknown error, -1 communications error.
actorNumber - An actor number to use for future references.

Return type

int32, int32

Tip

The origin of the person is in the center of the body so by default, it will be spawned 1m above the surface of the target. An additional vertical offset may be required if the surface is sloped to prevent the actor from falling through the world ground surface.

Tip

If you would like to use the move_to method, the actor must be spawned in a valid nav area.

QLabsPerson.spawn_id(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)

Spawns a new actor.

Parameters

actorNumber (uint32) – User defined unique identifier for the class actor in QLabs
location (float array[3]) – (Optional) An array of floats for x, y and z coordinates
rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians
scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.
configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.
waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

status - 0 if successful, 1 class not available, 2 actor number not available or already in use, 3 unknown error, -1 communications error

Return type

int32

Tip

The origin of the person is in the center of the body so by default, it will be spawned 1m above the surface of the target. An additional vertical offset may be required if the surface is sloped to prevent the actor from falling through the world ground surface.

Tip

If you would like to use the move_to method, the actor must be spawned in a valid nav area.

QLabsPerson.spawn_id_degrees(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)

Spawns a new actor.

Parameters

actorNumber (uint32) – User defined unique identifier for the class actor in QLabs
location (float array[3]) – (Optional) An array of floats for x, y and z coordinates
rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians
scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.
configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.
waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

status - 0 if successful, 1 class not available, 2 actor number not available or already in use, 3 unknown error, -1 communications error

Return type

int32

Tip

The origin of the person is in the center of the body so by default, it will be spawned 1m above the surface of the target. An additional vertical offset may be required if the surface is sloped to prevent the actor from falling through the world ground surface.

Tip

If you would like to use the move_to method, the actor must be spawned in a valid nav area.

QLabsPerson.move_to(location, speed, waitForConfirmation=True)

Commands an actor to move from the present location to a new target location by using AI path navigation.

Parameters

location (float array[3]) – A target destination as an array of floats for x, y and z coordinates in full-scale units.
speed (float) – The speed at which the person should walk to the destination (refer to the constants for recommended speeds)
waitForConfirmation (boolean) – (Optional) Wait for confirmation before proceeding. This makes the method a blocking operation, but only until the command is received. The time for the actor to traverse to the destination is always non-blocking.

Returns

status - True if successful, False otherwise

Return type

boolean

Tip

Ensure the start and end locations are in valid navigation areas so the actor can find a path to the destination.

QLabsPerson.destroy()

Find and destroy a specific actor. This is a blocking operation.

Returns

numActorsDestroyed - The number of actors destroyed. -1 if failed.

Return type

int32

QLabsPerson.destroy_all_actors_of_class()

Find and destroy all actors of this class. This is a blocking operation.

Returns

numActorsDestroyed - The number of actors destroyed. -1 if failed.

Return type

int32

QLabsPerson.ping()

Checks if the actor is still present in the environment. Note that if you did not spawn the actor with one of the spawn functions, you may need to manually set the actorNumber member variable.

Returns

status - True if successful, False otherwise

Return type

boolean

QLabsPerson.get_world_transform()

Get the location, rotation, and scale in world coordinates of the actor.

Returns

status - True if successful, False otherwise
location
rotation
scale

Return type

boolean, float array[3], float array[3], float array[3]

QLabsPerson.get_world_transform_degrees()

Get the location, rotation, and scale in world coordinates of the actor.

Returns

status - True if successful, False otherwise
location
rotation
scale

Return type

boolean, float array[3], float array[3], float array[3]

Configurations

There are 12 configurations (0-11) for a person generated in QLabs.

Connection Points

There are no connections points for the person actor.

People Tutorial

Python Tutorial

Raw to download this tutorial: People Tutorial (.py).

"""
Person Library Example
----------------------

.. note::

    Make sure you have Quanser Interactive Labs open before running this
    example.  This example is designed to best be run in QCar Cityscape.

"""

# imports to important libraries
import sys
import math
import time

from qvl.qlabs import QuanserInteractiveLabs
from qvl.free_camera import QLabsFreeCamera
from qvl.person import QLabsPerson
from qvl.system import QLabsSystem

def main():

    # initialize our variables
    # note that you can use the ..Coordinate Helper to pick locations for your actor.
    LOCATION_START_P1 = [-6.8, 40.7, 0.005]
    LOCATION_START_P2 = [-8.5, 40.7, 0.005]
    LOCATION_START_P3 = [-11.9, 40.7,0.005]

    ROTATION_P1P2 = [0,0,math.pi/2]
    SCALE = [1,1,1]
    ROTATION_P3 = [0,0,90]

    LOCATION_END_P1 = [-7.6, 51, 0.005]
    LOCATION_END_P2 = [-11.0, 48, 0.005]
    LOCATION_END_P3 = [-23.7, 43, 0.005]

    # creates a server connection with Quanser Interactive Labs and manages the communications
    qlabs = QuanserInteractiveLabs()

    print("Connecting to QLabs...")
    if (not qlabs.open("localhost")):
        print("Unable to connect to QLabs")
        return    

    print("Connected")

    # Use hSystem to set the tutorial title in the upper left of the qlabs window 
    hSystem = QLabsSystem(qlabs)
    hSystem.set_title_string('People Tutorial')

    # destroy any spawned actors (this is useful if you are running the same script over and over)
    qlabs.destroy_all_spawned_actors()

    # create a camera in this qlabs instance
    camera = QLabsFreeCamera(qlabs)
    # place the custom camera at a specified location and rotation using radians
    camera.spawn(location=[-2.061, 43.916, 4.348], rotation=[0, 0.383, -3.097])
    # to switch our view from our current camera to the new camera we just initialized to
    # be able to view where our people will spawn
    
    camera.possess()

    # creates an instance of the person
    person1 = QLabsPerson(qlabs)
    # place the person at a specified location and rotation using radians
    # spawn_id allows us to specify the internal number for the actor
    person1.spawn_id(actorNumber=0, location=LOCATION_START_P1, rotation=ROTATION_P1P2, scale=SCALE, configuration=6, waitForConfirmation=True)

    # creates a second instance of a person
    person2 = QLabsPerson(qlabs)
    # place the person at a specified location and rotation using radians
    # spawn creates the internal number for the actor automatically using
    # the next available actor number
    person2.spawn(location=LOCATION_START_P2, rotation=ROTATION_P1P2, scale=SCALE, configuration=7, waitForConfirmation=True)

    # creates a third instance of a person
    person3 = QLabsPerson(qlabs, True)
    # place the person at a specified location and rotation using degrees
    # spawn_degrees creates the internal number for the actor automatically using the next
    # available number and takes the inputted rotation as degrees
    person3.spawn_degrees(location=LOCATION_START_P3, rotation=ROTATION_P3, scale=SCALE, configuration=8, waitForConfirmation=True)

    # move the 3 people created to a new location
    person1.move_to(location=LOCATION_END_P1, speed=person1.WALK, waitForConfirmation=True)
    person2.move_to(location=LOCATION_END_P2, speed=person2.JOG, waitForConfirmation=True)
    person3.move_to(location=LOCATION_END_P3, speed=person3.RUN, waitForConfirmation=True)

    time.sleep(3)
    qlabs.close()

if __name__ == "__main__":
    main()

Matlab Tutorial

Raw to download this tutorial: People Tutorial (.m).

% Person Library Example
% -------------------------
% 
% .. note::
% 
%     Make sure you have Quanser Interactive Labs open before running this
%     example.  This example is designed to best be run in QCar Cityscape.

close all;
clear all;
clc;

% --------------------------------------------------------------
% Setting MATLAB Path for the libraries
% Always keep at the start, it will make sure it finds the correct references
newPathEntry = fullfile(getenv('QAL_DIR'), '0_libraries', 'matlab', 'qvl');
pathCell = regexp(path, pathsep, 'split');
if ispc  % Windows is not case-sensitive
  onPath = any(strcmpi(newPathEntry, pathCell));
else
  onPath = any(strcmp(newPathEntry, pathCell));
end

if onPath == 0
    path(path, newPathEntry)
    savepath
end
% --------------------------------------------------------------

if onPath == 0
    path(path, newPathEntry)
    savepath
end

fprintf('\n\n----------------- Communications -------------------\n\n');

qlabs =  QuanserInteractiveLabs();
connection_established = qlabs.open('localhost');

if connection_established == false
    disp("Failed to open connection.")
    return
end


disp('Connected')

num_destroyed = qlabs.destroy_all_spawned_actors();

fprintf('%d actors destroyed', num_destroyed);

% Use hSystem to set the tutorial title in the upper left of the qlabs window 
hSystem = QLabsSystem(qlabs);
hSystem.set_title_string('People Tutorial')

% initialize our variables
% note that you can use the ..Coordinate Helper to pick locations for your actor.
LOCATION_START_P1 = [-6.8, 40.7, 0.005];
ROTATION_P1P2 = [0,0,pi/2];
SCALE = [1,1,1];

LOCATION_START_P2 = [-8.5, 40.7, 0.005];
LOCATION_START_P3 = [-11.9, 40.7,0.005];
ROTATION_P3 = [0,0,90];

LOCATION_END_P1 = [-7.6, 51, 0.005];
LOCATION_END_P2 = [-11.0, 48, 0.005];
LOCATION_END_P3 = [-23.7, 43, 0.005];

% create a camera in this qlabs instance
camera = QLabsFreeCamera(qlabs);

%place the custom camera at a specified location and rotation using radians
camera.spawn([-2.061, 43.916, 4.348], [0, 0.383, -3.097]);

% to switch our view from our current camera to the new camera we just initialized to
% be able to view where our people will spawn
camera.possess();

% creates an instance of the person
person1 = QLabsPerson(qlabs);

% place the person at a specified location and rotation using radians
% spawn_id allows us to specify the internal number for the actor
person1.spawn_id(0, LOCATION_START_P1, ROTATION_P1P2, SCALE, 6, 1);

% creates a second instance of a person
person2 = QLabsPerson(qlabs);

% place the person at a specified location and rotation using radians
% spawn creates the internal number for the actor automatically using
% the next available actor number
person2.spawn(LOCATION_START_P2, ROTATION_P1P2, SCALE, 7, 1)

% creates a third instance of a person
person3 = QLabsPerson(qlabs, 1);

% place the person at a specified location and rotation using degrees
% spawn_degrees creates the internal number for the actor automatically using the next
% available number and takes the inputted rotation as degrees
person3.spawn_degrees(LOCATION_START_P3, ROTATION_P3, SCALE, 8, 1);

% move the 3 people created to a new location
person1.move_to(LOCATION_END_P1, person1.WALK, 1);
person2.move_to(LOCATION_END_P2, person2.JOG, 1);
person3.move_to(LOCATION_END_P3, person3.RUN, 1);

pause(3);
qlabs.close();