QCar Floor Mats

../_images/banner_qcar_flooring.jpg

Description

The QCar is accompanied by floor mats. These tiles are considered an “actor” in Quanser Interactive Labs. These tiles are created to help students with self-driving car skills.

Library

class qvl.qcar_flooring.QLabsQCarFlooring(qlabs, verbose=False)[source]

This class is for spawning qcar floor maps.

Constants

QLabsQCarFlooring.ID_FLOORING = 10090

Class ID

QLabsQCarFlooring.FLOORING_QCAR_MAP_LARGE = 0
QLabsQCarFlooring.FLOORING_QCAR_MAP_SMALL = 1

Member Variables

QLabsQCarFlooring.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.

Parent Class (actor.py) Methods

QLabsQCarFlooring.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

QLabsQCarFlooring.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

QLabsQCarFlooring.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

QLabsQCarFlooring.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

QLabsQCarFlooring.spawn_id_and_parent_with_relative_transform(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Spawns a new actor relative to an existing actor and creates a kinematic relationship.

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.

  • parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier

  • parentActorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame 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 cannot find the parent actor, 4 unknown error, -1 communications error

Return type

int32

QLabsQCarFlooring.spawn_id_and_parent_with_relative_transform_degrees(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Spawns a new actor relative to an existing actor and creates a kinematic relationship.

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 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.

  • parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier

  • parentActorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame 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 cannot find the parent actor, 4 unknown error, -1 communications error

Return type

int32

QLabsQCarFlooring.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

QLabsQCarFlooring.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

QLabsQCarFlooring.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

QLabsQCarFlooring.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]

QLabsQCarFlooring.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]

QLabsQCarFlooring.parent_with_relative_transform(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Parents one existing actor to another to create a kinematic relationship.

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.

  • parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier

  • parentActorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame options

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 cannot find this actor, 2 cannot find the parent actor, 3 unknown error, -1 communications error

Return type

int32

QLabsQCarFlooring.parent_with_relative_transform_degrees(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Parents one existing actor to another to create a kinematic relationship.

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.

  • parentClassID (uint32) – (Optional) See the ID variables in the respective library classes for the class identifier

  • parentActorNumber (uint32) – (Optional) User defined unique identifier for the class actor in QLabs

  • parentComponent (uint32) – (Optional) 0 for the origin of the parent actor, see the parent class for additional reference frame options

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 cannot find this actor, 2 cannot find the parent actor, 3 unknown error, -1 communications error

Return type

int32

QLabsQCarFlooring.parent_with_current_world_transform(parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Parents one existing actor to another to create a kinematic relationship while preserving the current world transform of the child actor.

Parameters

  • parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier

  • parentActorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame options

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 cannot find this actor, 2 cannot find the parent actor, 3 unknown error, -1 communications error

Return type

int32

QLabsQCarFlooring.parent_break(waitForConfirmation=True)

Breaks any relationship with a parent actor (if it exists) and preserves the current world transform

Parameters

waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 cannot find this actor, -1 communications error

Return type

int32

Configurations

There are 2 configurations (0-1) for the QCar flooring class.

  • 0 - Large QCar Map

  • 1 - Small QCar Map

Tip

See QCar Flooring Tutorial to see the different flooring options.

Connection Points

There are no connections points for the person actor.

QCar Flooring Tutorial

Python Tutorial

Raw to download this tutorial: QCar Floor Mats Tutorial (.py).

  1"""
  2QCar Floor Mats Example
  3---------------
  4
  5.. note::
  6
  7    Make sure you have Quanser Interactive Labs open before running this
  8    example. This example is designed to be run in any of the open world 
  9    environments.
 10
 11"""
 12
 13from qvl.qcar_flooring import QLabsQCarFlooring
 14from qvl.qlabs import QuanserInteractiveLabs
 15from qvl.free_camera import QLabsFreeCamera 
 16from qvl.system import QLabsSystem
 17
 18import time
 19import os
 20import math
 21
 22from qvl.walls import QLabsWalls
 23
 24
 25def main():
 26
 27    # Clears the screen in Windows
 28    os.system('cls')
 29
 30    print("\n\n------------------------------ Communications --------------------------------\n")
 31
 32    # Creates a server connection with Quanser Interactive Labs and manages
 33    # the communications
 34    qlabs = QuanserInteractiveLabs()
 35
 36    # Ensure that QLabs is running on your local machine
 37    print("Connecting to QLabs...")
 38    if (not qlabs.open("localhost")):
 39        print("Unable to connect to QLabs")
 40        return    
 41
 42    print("Connected")
 43
 44    hSystem = QLabsSystem(qlabs)
 45    hSystem.set_title_string('QCar Floor Mats Tutorial')
 46
 47    num_destroyed = qlabs.destroy_all_spawned_actors()
 48
 49    # Initialize an instance of a camera 
 50    camera = QLabsFreeCamera(qlabs)
 51
 52    # Set the spawn of the camera in a specific location 
 53    camera.spawn([4.945, -3.006, 1.482], [0, 0.201, 2.644], [1, 1, 1], 0, 1)
 54
 55    # Spawn the camera
 56    camera.possess()
 57
 58    # set locational parameters 
 59    x_offset = 0.13
 60    y_offset = 0
 61
 62    # Initialize an instance of each configuration of floor mat 
 63    floor = QLabsQCarFlooring(qlabs)
 64    floor1 = QLabsQCarFlooring(qlabs)
 65
 66    time.sleep(0.5)
 67
 68    # Spawn the first configuration floor mat
 69    floor.spawn_degrees([x_offset, y_offset, 0.001], [0, 0, -90], [1, 1, 1], 0, 1)
 70
 71    # Initialize instances of walls 
 72    wall = QLabsWalls(qlabs)
 73    
 74
 75
 76    # Use 'for' loops to spawn walls on the perimeter of the floor mat and wait for walls to spawn
 77    for y in range (5):
 78        wall.spawn_degrees([-2.4 + x_offset, (-y*1.0)+2.55 + y_offset, 0.001], [0, 0, 0], [1, 1, 1], 0, 1)
 79        #make walls harder to knock down
 80        wall.set_enable_dynamics(False)
 81    time.sleep(1)
 82
 83    for x in range (4):
 84        wall.spawn_degrees([-1.9 + x + x_offset, 3.05 + y_offset, 0.001], [0, 0, 90], [1, 1, 1], 0, 1)
 85        wall.set_enable_dynamics(False)
 86
 87    time.sleep(1)
 88    wall.spawn_degrees([2.174, 2.686, 0.001], [0, 0, 45], [1, 1, 1], 0, 1)
 89    wall.set_enable_dynamics(False)
 90
 91    time.sleep(1)
 92
 93    for y in range (4):
 94        wall.spawn_degrees([2.4 + x_offset, (-y*1.0)+1.68 + y_offset, 0.001], [0, 0, 0], [1, 1, 1,], 0, 1)
 95        wall.set_enable_dynamics(False)
 96
 97    time.sleep(1)
 98
 99    wall.spawn_degrees([2.334, -2.456, 0.001], [0, 0, -22], [1, 1, 1], 0, 1)
100    wall.set_enable_dynamics(False)
101
102    time.sleep(1)
103
104    for x in range (3):
105        wall.spawn_degrees([-0.56 + x + x_offset, -3.05 + y_offset, 0.001], [0, 0, 90], [1, 1, 1], 0, 1)
106        wall.set_enable_dynamics(False)
107
108    time.sleep(1)
109
110    wall.spawn_degrees([-2.03 + x_offset, -2.275 + y_offset, 0.001], [0, 0, 48], [1, 1, 1], 0, 1)
111    wall.set_enable_dynamics(False)
112    wall.spawn_degrees([-1.575 + x_offset, -2.7 + y_offset, 0.001], [0, 0, 48], [1, 1, 1], 0, 1)
113    wall.set_enable_dynamics(False)
114
115    time.sleep(2)
116
117    # Destroy all of the walls
118    wall.destroy_all_actors_of_class()
119
120    time.sleep(1)
121
122    # Destroy the first configuration floor mat
123    floor.destroy()
124
125    # Spawn the second configuration floor mat
126    floor1.spawn_degrees([0, 0, 0.001], [0, 0, -90], [1, 1, 1], 1, 1)
127
128    time.sleep(1)
129
130    # Spawn the walls around the second floor mat
131
132    wall.spawn_degrees([2.217, -0.819, 0.001], [0, 0, -22], [1, 1, 1], 0, 1)
133    wall.set_enable_dynamics(False)
134
135    time.sleep(1)
136
137    for x in range (3):
138        wall.spawn_degrees([-0.6 + x + x_offset, -1.3, 0.001], [0, 0, 90], [1, 1, 1], 0, 1)
139        wall.set_enable_dynamics(False)
140
141    time.sleep(1)
142
143    wall.spawn_degrees([-2.06 + x_offset, -0.6, 0.001], [0, 0, 48], [1, 1, 1], 0, 1)
144    wall.set_enable_dynamics(False)
145    wall.spawn_degrees([-1.5 + x_offset, -1.1, 0.001], [0, 0, 48], [1, 1, 1], 0, 1)
146    wall.set_enable_dynamics(False)
147
148    time.sleep(1)
149
150    wall.spawn_degrees([-2.3, 0.28, 0.001], [0, 0, 0], [1, 1, 1], 0, 1)
151    wall.set_enable_dynamics(False)
152    wall.spawn_degrees([-2.3, 0.8, 0.001], [0, 0, 0], [1, 1, 1], 0, 1)
153    wall.set_enable_dynamics(False)
154
155    time.sleep(1)
156
157    for x in range (5):
158        wall.spawn_degrees([-1.9 + x + x_offset, 1.32 , 0.001], [0, 0, 90], [1, 1, 1], 0, 1)
159        wall.set_enable_dynamics(False)
160
161    time.sleep(1)
162
163    wall.spawn_degrees([2.4, 0.22, 0.001], [0, 0, 0], [1, 1, 1], 0, 1)
164    wall.set_enable_dynamics(False)
165    wall.spawn_degrees([2.4, 0.8, 0.001], [0, 0, 0], [1, 1, 1], 0, 1)
166    wall.set_enable_dynamics(False)
167
168    time.sleep(2)
169
170    # Destroy all of the walls
171    wall.destroy_all_actors_of_class()
172
173    time.sleep(2)
174
175    # Destroy the second configuration of floor mat                                                                                                                                                                         
176    floor1.destroy()
177
178    # Closing qlabs
179    qlabs.close()
180    print('Done!')
181
182if __name__ == "__main__":
183    main()