Road Signage

Road signage is considered an “actor” in Virtual Self-Driving Car Studio. The road signage library controls the road signage available to be placed in the QLabs environment. Road signage can be spawned anywhere in the Open Worlds.

See the Road Signage Tutorial to get a better understanding of using road signage in Quanser Interactive Labs.

Contents:

Road Signage

Crosswalk

Library

class library_qlabs_crosswalk.QLabsCrosswalk(qlabs, verbose=False)[source]: This class is for spawning crosswalks.

Constants

QLabsCrosswalk.ID_CROSSWALK = 10010: Class ID

Member Variables

QLabsCrosswalk.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

QLabsCrosswalk.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

QLabsCrosswalk.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

QLabsCrosswalk.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

QLabsCrosswalk.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

QLabsCrosswalk.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

QLabsCrosswalk.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

QLabsCrosswalk.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

QLabsCrosswalk.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

QLabsCrosswalk.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

QLabsCrosswalk.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]

QLabsCrosswalk.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]

QLabsCrosswalk.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

QLabsCrosswalk.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) – 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

QLabsCrosswalk.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

QLabsCrosswalk.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 3 different configurations (0-2) available for crosswalks generated in QLabs.

Connection Points

There are no connection points for this actor class.

Roundabout Sign

Library

class library_qlabs_roundabout_sign.QLabsRoundaboutSign(qlabs, verbose=False)[source]: This class is for spawning roundabout signs.

Constants

QLabsRoundaboutSign.ID_ROUNDABOUT_SIGN = 10060: Class ID

Member Variables

QLabsRoundaboutSign.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

QLabsRoundaboutSign.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

QLabsRoundaboutSign.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

QLabsRoundaboutSign.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

QLabsRoundaboutSign.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

QLabsRoundaboutSign.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

QLabsRoundaboutSign.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

QLabsRoundaboutSign.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

QLabsRoundaboutSign.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

QLabsRoundaboutSign.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

QLabsRoundaboutSign.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]

QLabsRoundaboutSign.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]

QLabsRoundaboutSign.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

QLabsRoundaboutSign.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) – 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

QLabsRoundaboutSign.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

QLabsRoundaboutSign.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 is only one configuration (0) of the roundabout sign actor generated in QLabs.

Connection Points

There are no connection points for this actor class.

Stop Sign

Library

class library_qlabs_stop_sign.QLabsStopSign(qlabs, verbose=False)[source]: This class is for spawning stop signs.

Constants

QLabsStopSign.ID_STOP_SIGN = 10020: Class ID

Member Variables

QLabsStopSign.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

QLabsStopSign.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

QLabsStopSign.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

QLabsStopSign.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

QLabsStopSign.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

QLabsStopSign.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

QLabsStopSign.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

QLabsStopSign.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

QLabsStopSign.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

QLabsStopSign.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

QLabsStopSign.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]

QLabsStopSign.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]

QLabsStopSign.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

QLabsStopSign.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) – 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

QLabsStopSign.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

QLabsStopSign.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 is only one configuration (0) of the stop sign actor generated in QLabs.

Connection Points

There are no connection points for this actor class.

Yield Sign

Library

class library_qlabs_yield_sign.QLabsYieldSign(qlabs, verbose=False)[source]: This class is for spawning yield signs.

Constants

QLabsYieldSign.ID_YIELD_SIGN = 10070: Class ID

Member Variables

QLabsYieldSign.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

QLabsYieldSign.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

QLabsYieldSign.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

QLabsYieldSign.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

QLabsYieldSign.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

QLabsYieldSign.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

QLabsYieldSign.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

QLabsYieldSign.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

QLabsYieldSign.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

QLabsYieldSign.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

QLabsYieldSign.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]

QLabsYieldSign.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]

QLabsYieldSign.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

QLabsYieldSign.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) – 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

QLabsYieldSign.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

QLabsYieldSign.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 is only one configuration (0) of the yield sign actor generated in QLabs.

Connection Points

There are no connection points for this actor class.

Traffic Cone

Library

class library_qlabs_traffic_cone.QLabsTrafficCone(qlabs, verbose=False)[source]: This class is for spawning traffic cones.

Constants

QLabsTrafficCone.ID_TRAFFIC_CONE = 10000: Class ID

Member Variables

QLabsTrafficCone.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

QLabsTrafficCone.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

QLabsTrafficCone.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

QLabsTrafficCone.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

QLabsTrafficCone.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

QLabsTrafficCone.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

QLabsTrafficCone.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

QLabsTrafficCone.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

QLabsTrafficCone.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

QLabsTrafficCone.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

QLabsTrafficCone.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]

QLabsTrafficCone.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]

QLabsTrafficCone.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

QLabsTrafficCone.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) – 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

QLabsTrafficCone.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

QLabsTrafficCone.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 two configurations (0-1) for the traffic cone actor class generated in QLabs.

Connection Points

There are no connection points for this actor class.

Traffic Light

Library

class library_qlabs_traffic_light.QLabsTrafficLight(qlabs, verbose=False)[source]

Constants

QLabsTrafficLight.ID_TRAFFIC_LIGHT = 10051: Class ID

QLabsTrafficLight.STATE_RED = 0: State constant for red light

QLabsTrafficLight.STATE_GREEN = 1: State constant for green light

QLabsTrafficLight.STATE_YELLOW = 2: State constant for yellow light

Member Variables

QLabsTrafficLight.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

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

Constructor Method

Parameters

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

QLabsTrafficLight.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

QLabsTrafficLight.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

QLabsTrafficLight.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

QLabsTrafficLight.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

QLabsTrafficLight.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

QLabsTrafficLight.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

QLabsTrafficLight.set_state(state, waitForConfirmation=True)[source]

Set the light state (red/yellow/green) of a traffic light actor

Parameters

state (uint32) – An integer constant corresponding to a light state (see class constants)
waitForConfirmation (boolean) – (Optional) Wait for confirmation of the state change before proceeding. This makes the method a blocking operation.

Returns

True if successful, False otherwise

Return type

boolean

QLabsTrafficLight.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

QLabsTrafficLight.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

QLabsTrafficLight.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

QLabsTrafficLight.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]

QLabsTrafficLight.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]

QLabsTrafficLight.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

QLabsTrafficLight.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) – 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

QLabsTrafficLight.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

QLabsTrafficLight.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 three configurations (0-2) for the traffic light actor class generated in QLabs.

Connection Points

There are no connection points for this actor class.

Road Signage Tutorial

Example

"""
Road Signage Library Example
----------------------------

.. note:: Make sure you have Quanser Interactive Labs open before running any of these examples.

.. tip:: If you are struggling to get this example running check out our _Troubleshooting page.

"""

# imports to important libraries
import sys
import math
import time
sys.path.append('../libraries/')

from library_qlabs import QuanserInteractiveLabs
from library_qlabs_free_camera import QLabsFreeCamera
from library_qlabs_crosswalk import QLabsCrosswalk
from library_qlabs_roundabout_sign import QLabsRoundaboutSign
from library_qlabs_yield_sign import QLabsYieldSign
from library_qlabs_stop_sign import QLabsStopSign 
from library_qlabs_traffic_cone import QLabsTrafficCone
from library_qlabs_traffic_light import QLabsTrafficLight

# set any of these flags to False if you don't want to see the output
CROSSWALK_FLAG = True
ROUNDABOUT_FLAG = True
YIELDSIGN_FLAG = True
STOPSIGN_FLAG = True
TRAFFICCONE_FLAG = True
TRAFFICLIGHT_FLAG = True

def crosswalk(qlabs):
    """This method demonstrates some basic commands with the crosswalk class"""
    
    # initialize a camera - See Camera Actor Library Reference for more information
    cameraCrosswalk = QLabsFreeCamera(qlabs)
    cameraCrosswalk.spawn(location=[-25.286, 46.167, 5.333], rotation=[-0, 0.239, -0.043])
    cameraCrosswalk.possess()

    # create a crosswalk in this qlabs instance
    crosswalk = QLabsCrosswalk(qlabs)

    # spawn crosswalk with radians in config
    crosswalk.spawn_id(actorNumber=0, location=[-15.788, 47.5, 0.00], rotation=[0,0,math.pi/2], scale=[1,1,1], configuration=0, waitForConfirmation=True)
    # waits so we can see the output
    time.sleep(1)
    # spawn crosswalk with degrees in config 1
    crosswalk.spawn_id_degrees(actorNumber=1, location=[-11.788, 47.5, 0.00], rotation=[0,0,90], scale=[1,1,1], configuration=1, waitForConfirmation=True)
    # waits so we can see the output
    time.sleep(1)
    # spawn crosswalk with degress in config 2
    crosswalk.spawn_id_degrees(actorNumber=2, location=[-7.8, 47.5, 0.0], rotation=[0,0,90], scale=[1,1,1], configuration=2, waitForConfirmation=True)
    
    # collecting the world transform coordinates of the crosswalk
    x, loc, rot, scale = crosswalk.get_world_transform()
    print( x, loc, rot, scale)
    
    # pinging existing sign - this should return True if we printed it
    crosswalk.ping()
   


def roundabout_sign(qlabs):
    """This method demonstrates some basic commands with the roundabout sign class"""

    # create two roundabouts in this qlabs instance
    roundabout = QLabsRoundaboutSign(qlabs)
    roundabout2 = QLabsRoundaboutSign(qlabs)

    # spawns the sign we just created using radians and specifying the actorNumber
    roundabout.spawn_id(actorNumber=0, location=[-17, 36, 0.0], rotation=[0, 0, math.pi], scale=[1,1,1], configuration=0, waitForConfirmation=True)    
    # spawns the second sign we just created using degrees and allowing the computer to 
    # generate an actorNumber internally
    roundabout2.spawn_id_degrees(actorNumber=2, location=[-15, 36, 0.0], rotation=[0,0,180], scale=[1,1,1], configuration=0, waitForConfirmation=True)
    
    # collecting the world transform coordinates of the roundabout sign
    x, loc, rot, scale = roundabout2.get_world_transform()
    print( x, loc, rot, scale)

    # pinging existing sign - this should return True if we printed it
    roundabout2.ping()
    # waits so we can see the output
    time.sleep(1)

    # destroying the sign we just created
    roundabout.destroy()


def yield_sign(qlabs):
    """This method demonstrates some basic commands with the yield sign class"""

    # create two yieldsigns in this qlabs instance
    yieldsign = QLabsYieldSign(qlabs)
    yieldsign2 = QLabsYieldSign(qlabs)

    # spawns the sign we just created using radians and specifying the actorNumber
    yieldsign.spawn_id(actorNumber=0, location=[-17, 38, 0.0], rotation=[0,0,math.pi], scale=[1,1,1], configuration=0, waitForConfirmation=True)
    # spawns the second sign we just created using degrees and allowing the computer to 
    # generate an actorNumber internally
    yieldsign2.spawn_degrees(location=[-15, 38, 0.0], rotation=[0,0,180], scale=[1,1,1], configuration=0, waitForConfirmation=True)
    
    # collecting the world transform coordinates of the yield sign
    x, loc, rot, scale = yieldsign2.get_world_transform()
    print( x, loc, rot, scale)
    
    # pinging existing sign - this should return "True" if we printed it
    yieldsign2.ping()
    # waits so we can see the output
    time.sleep(1) 

    # destroying the sign we just created
    yieldsign.destroy()


def stop_sign(qlabs):
    """This method demonstrates some basic commands with the stop sign class"""

    # create two stop signs in this qlabs instance
    stop = QLabsStopSign(qlabs)
    stop2 = QLabsStopSign(qlabs)
    # spawns the sign we just created using radians
    stop.spawn_id(actorNumber=1, location=[-16, 37, 0.0], rotation=[0,0,math.pi], scale=[1,1,1], configuration=0, waitForConfirmation=True)
    # spawns the second sign we just created using degrees and generating the actorNumber internally
    stop2.spawn_degrees(location=[-15, 37, 0.0], rotation=[0,0,180], scale=[1,1,1], configuration=0, waitForConfirmation=True)
    
    # collecting the world transform coordinates of the stop sign
    x, loc, rot, scale = stop2.get_world_transform()
    print(x, loc, rot, scale)
    
    # pinging existing sign - this should return True if we printed it
    stop2.ping()
    # waits so we can see the output
    time.sleep(1)

    # destroying the sign we just created
    stop.destroy()
    

def traffic_cone(qlabs):
    """This method demonstrates some basic commands with the traffic cone class"""

    # creates 3 cones in this qlabs instance
    cone = QLabsTrafficCone(qlabs)
    cone1 = QLabsTrafficCone(qlabs)
    cone2 = QLabsTrafficCone(qlabs)

    # spawns a small traffic cone we just initialized using radians
    cone.spawn(location=[-17, 35, 1.0], rotation=[0,0,math.pi], scale=[1,1,1], configuration=0, waitForConfirmation=True)
    # waits so we can see the output
    time.sleep (1)
    # destroy the cone we just made
    cone.destroy()
    # waits so we can see the output
    time.sleep(1)
    # spawns another small traffic cone we just initialized using radians in the same place
    cone1.spawn_id(actorNumber=1, location=[-17, 35, 1.0], rotation=[0,0,math.pi], scale=[1,1,1], configuration=0, waitForConfirmation=True)
    # spawns a construction pylon using the cone we just initialized using degrees and generating 
    # the actorNumber internally
    cone2.spawn_degrees(location=[-15, 35, 1.0], rotation=[0,0,180], scale=[1,1,1], configuration=1, waitForConfirmation=True)
   
    # collecting the world transform coordinates of the traffic cone
    x, loc, rot, scale = cone2.get_world_transform()
    print(x, loc, rot, scale)
    
    # pinging existing cone - this should return True if we printed it
    cone2.ping()


def traffic_light(qlabs):
    """This method demonstrates some basic commands with the traffic light class"""

    # initialize a camera - See Camera Actor Library Reference for more information
    cameraTraffic = QLabsFreeCamera(qlabs)
    cameraTraffic.spawn(location=[-6.891, 3.568, 2.127], rotation=[0, 0.049, 1.105])
    cameraTraffic.possess()

    # initialize three traffic light instances in qlabs
    trafficLight = QLabsTrafficLight(qlabs)
    trafficLight2 = QLabsTrafficLight(qlabs)
    trafficLight3 = QLabsTrafficLight(qlabs)

    # spawn a traffic light in config 1 - vertical using radians and specifying a specific actorNumber
    trafficLight.spawn_id(actorNumber=0, location=[-0.044, 17.715, 0.215], rotation=[0,0,0], scale=[1,1,1], configuration=0, waitForConfirmation=True)
    # spawn a second traffic light using degrees in config 1 - vertical and specifying a specific actorNumber
    trafficLight2.spawn_id_degrees(actorNumber=2, location=[-8.455, 17.527, 0.215], rotation=[0,0,180], scale=[1,1,1], configuration=1, waitForConfirmation=True)
    # spawn traffic light using degrees in config 2 - horizontal and generating the actorNumber internally
    trafficLight3.spawn_degrees(location=[-0.195, 7.261, 0.215], rotation=[0,0,-90], scale=[1,1,1], configuration=2, waitForConfirmation=True)
    
    # collecting the world transform coordinates of the traffic light
    x, loc, rot, scale = trafficLight2.get_world_transform()
    print(x, loc, rot, scale)
    
    # pinging existing traffic light - this should return True if we printed it
    trafficLight2.ping()
    
    # changing the state of the traffic lights from green to red
    trafficLight.set_state(state=trafficLight.STATE_GREEN, waitForConfirmation=True)
    trafficLight2.set_state(state=trafficLight2.STATE_GREEN, waitForConfirmation=True)
    trafficLight3.set_state(state=trafficLight3.STATE_RED, waitForConfirmation=True)

    time.sleep(2)
    
    trafficLight.set_state(state=trafficLight.STATE_YELLOW, waitForConfirmation=True)
    trafficLight2.set_state(state=trafficLight2.STATE_YELLOW, waitForConfirmation=True)

    time.sleep(1)

    trafficLight.set_state(state=trafficLight.STATE_RED, waitForConfirmation=True)
    trafficLight2.set_state(state=trafficLight2.STATE_RED, waitForConfirmation=True)
    
    time.sleep(1)

    trafficLight3.set_state(state=trafficLight3.STATE_GREEN, waitForConfirmation=True)

    # destroying a traffic light
    trafficLight.destroy()


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

    print("Connecting to QLabs...")
    # trying to connect to QLabs and open the instance we have created - program will end if this fails
    try:
        qlabs.open("localhost")
    except:
        print("Unable to connect to QLabs")
        return

    # destroying any spawned actors in our QLabs that currently exist
    qlabs.destroy_all_spawned_actors()

    if CROSSWALK_FLAG == True:
        crosswalk(qlabs)
        time.sleep(2)

    # switch the camera angle from whatever it was previous to be able to see where we will be 
    # spawning the rest of the objects - see Camera Actor Library Reference for more information
    if ROUNDABOUT_FLAG or YIELDSIGN_FLAG or STOPSIGN_FLAG or TRAFFICCONE_FLAG:
        camera0 = QLabsFreeCamera(qlabs)
        camera0.spawn(location=[-23.106, 37.257, 3.482], rotation=[0, 0.349, -0.04])
        camera0.possess()

        if ROUNDABOUT_FLAG:
            roundabout_sign(qlabs)
            time.sleep(1)
        
        if YIELDSIGN_FLAG:
            yield_sign(qlabs)
            time.sleep(1)
        
        if STOPSIGN_FLAG:
            stop_sign(qlabs)
            time.sleep(1)
        
        if TRAFFICCONE_FLAG:
            traffic_cone(qlabs)
            time.sleep(1)
    
    if TRAFFICLIGHT_FLAG:
        traffic_light(qlabs)


if __name__ == "__main__":
    main()