Implementation:CARLA simulator Carla Geometry API Spec

Knowledge Sources	CARLA
Domains	Simulation, Geometry, API Specification
Last Updated	2026-02-15 05:00 GMT

Overview

YML specification file that defines geometry and math helper classes in the CARLA Python API, including Vector2D, Vector3D, Location, Rotation, Transform, and BoundingBox.

Description

This YML file specifies the core geometry classes for spatial operations in the CARLA simulator. Vector2D provides 2D vector operations with x and y components, including length(), squared_length(), and make_unit_vector() methods plus arithmetic operators. Vector3D extends this to 3D with an additional z component and cross/dot product support. Location represents 3D coordinates with a distance() method. Rotation stores pitch, yaw, and roll in degrees. Transform combines Location and Rotation, providing transform() for applying the transform to points. BoundingBox defines axis-aligned bounding volumes with location, extent, and rotation.

Usage

Use these geometry classes for spatial calculations, coordinate transformations, collision detection, and positioning actors within the CARLA simulation world.

Code Reference

Source Location

Repository: CARLA
File: PythonAPI/docs/geom.yml

Signature

- module_name: carla
  classes:
  - class_name: Vector2D
    instance_variables:
    - var_name: x    # type: float
    - var_name: y    # type: float
    methods:
    - def_name: length           # return: float
    - def_name: squared_length   # return: float
    - def_name: make_unit_vector # return: carla.Vector3D
    - def_name: __add__
    - def_name: __sub__
    - def_name: __mul__
    - def_name: __truediv__

  - class_name: Vector3D
    instance_variables:
    - var_name: x    # type: float
    - var_name: y    # type: float
    - var_name: z    # type: float
    methods:
    - def_name: __init__(x=0.0, y=0.0, z=0.0)
    - def_name: length
    - def_name: squared_length
    - def_name: cross
    - def_name: dot

Import

import carla
v = carla.Vector3D(1.0, 2.0, 3.0)
loc = carla.Location(x=10.0, y=20.0, z=0.5)
rot = carla.Rotation(pitch=0, yaw=90, roll=0)
transform = carla.Transform(loc, rot)

I/O Contract

Class	Properties	Description
Vector2D	x, y	2D vector for planar operations
Vector3D	x, y, z	3D vector for spatial operations
Location	x, y, z	3D point in world coordinates (meters)
Rotation	pitch, yaw, roll	Euler angles in degrees
Transform	location, rotation	Combined position and orientation
BoundingBox	location, extent, rotation	Axis-aligned bounding volume

Usage Examples

import carla

# Vector operations
v1 = carla.Vector3D(1.0, 0.0, 0.0)
v2 = carla.Vector3D(0.0, 1.0, 0.0)
cross = v1.cross(v2)
length = v1.length()

# Transform operations
location = carla.Location(x=100.0, y=200.0, z=0.0)
rotation = carla.Rotation(pitch=0, yaw=90, roll=0)
transform = carla.Transform(location, rotation)

# Apply transform to a point
point = carla.Location(x=1.0, y=0.0, z=0.0)
world_point = transform.transform(point)

# Distance calculation
dist = location.distance(carla.Location(x=0, y=0, z=0))

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