QCars are considered "actors" in Quanser Interactive Labs.The QCar library can be used to acquire sensor data from the virtual environment and controls the motion of the vehicles.
See the QCar :ref:`carTutorial` to get a better understanding of using QCars in Quanser Interactive Labs.
.. autoclass:: qvl.qcar.QLabsQCar
.. autoattribute:: qvl.qcar.QLabsQCar.ID_QCAR
Note
CSI camera resolution is 820x410.
.. autoattribute:: qvl.qcar.QLabsQCar.CAMERA_CSI_RIGHT
.. autoattribute:: qvl.qcar.QLabsQCar.CAMERA_CSI_BACK
.. autoattribute:: qvl.qcar.QLabsQCar.CAMERA_CSI_LEFT
.. autoattribute:: qvl.qcar.QLabsQCar.CAMERA_CSI_FRONT
Note
RGB and depth resolution is 640x480.
.. autoattribute:: qvl.qcar.QLabsQCar.CAMERA_RGB
.. autoattribute:: qvl.qcar.QLabsQCar.CAMERA_DEPTH
Note
Overhead and trailing cameras support user zoom using the mouse wheel.
.. autoattribute:: qvl.qcar.QLabsQCar.CAMERA_OVERHEAD
.. autoattribute:: qvl.qcar.QLabsQCar.CAMERA_TRAILING
.. autoattribute:: qvl.qcar.QLabsQCar.actorNumber
.. automethod:: qvl.qcar.QLabsQCar.__init__
.. automethod:: qvl.qcar.QLabsQCar.spawn
.. automethod:: qvl.qcar.QLabsQCar.spawn_degrees
.. automethod:: qvl.qcar.QLabsQCar.spawn_id
.. automethod:: qvl.qcar.QLabsQCar.spawn_id_degrees
.. automethod:: qvl.qcar.QLabsQCar.set_transform_and_request_state
.. automethod:: qvl.qcar.QLabsQCar.set_transform_and_request_state_degrees
.. automethod:: qvl.qcar.QLabsQCar.set_velocity_and_request_state
.. automethod:: qvl.qcar.QLabsQCar.set_velocity_and_request_state_degrees
.. automethod:: qvl.qcar.QLabsQCar.possess
.. automethod:: qvl.qcar.QLabsQCar.ghost_mode
.. automethod:: qvl.qcar.QLabsQCar.get_image
.. automethod:: qvl.qcar.QLabsQCar.get_lidar
.. automethod:: qvl.qcar.QLabsQCar.destroy
.. automethod:: qvl.qcar.QLabsQCar.destroy_all_actors_of_class
.. automethod:: qvl.qcar.QLabsQCar.ping
.. automethod:: qvl.qcar.QLabsQCar.get_world_transform
.. automethod:: qvl.qcar.QLabsQCar.get_world_transform_degrees
There is only one configuration of the QCar actor.
| Reference Frame Number | Parent Frame | Relative Transform to Parent (Location, Rotation) | Description |
|---|---|---|---|
| 0 | The base frame is located at ground level, centered between the two rear wheels. This represents the location of the car with no filtering, suspension, or dynamics. Collision detection is connected to this reference frame. | ||
| 1 | 0 | [0,0,0] [0,0,0] | The filtered frame is co-located with connection point 0, but it is a filtered position to simulated the suspension and dynamic effects. All the visual elements and sensors of the QCar are connected to this frame. |
"Extrinsics" refer to the external relationship of an object with respect to a specific frame of reference (in this case the body center of the QCar). Sometimes it's important to know specific distances and orientation of extrinsic components, for instance, this can be use for obstacle detection and camera calibration. You will find a list of the important extrinsics below.
Distances of the QCar in its virtual environment are 10 times larger then in real life when scaled at [1,1,1]. Therefore the distances to important components have been scaled accordingly below to match a scale of [1,1,1]:
| Component | x (m) | y (m) | z (m) |
|---|---|---|---|
| CG | 0.248 | -0.074 | 0.606 |
| Front axle | 1.300 | 0 | 0.207 |
| Rear axle | -1.300 | 0 | 0.207 |
| CSI front | 1.930 | 0 | 0.850 |
| CSI left | 0.140 | 0.438 | 0.850 |
| CSI rear | -1.650 | 0 | 0.850 |
| CSI right | 0.140 | -0.674 | 0.850 |
| IMU | 1.278 | 0.223 | 0.792 |
| RealSense | 0.822 | 0.003 | 1.479 |
| RPLIDAR | -0.108 | -0.001 | 1.696 |
All transformation matrices are built off of the body frame and camera frames for the QCar. To read more about this check out our documentation here by clicking on resources button and looking inside the zip folder for User Guides/System Hardware.pdf
.. dropdown:: Example
Raw to download this tutorial: |qcar_tutorial1.py|.
.. |qcar_tutorial1.py| replace::
:download:`QCar Tutorial <../../../tutorials/qcar_tutorial1.py>`
.. literalinclude:: ../../../tutorials/qcar_tutorial1.py
:language: python
:linenos: