Implementation:CARLA simulator Carla WalkerManager Interface

Knowledge Sources	CARLA
Domains	Navigation, Pedestrian AI
Last Updated	2026-02-15 05:00 GMT

Overview

The WalkerManager class manages pedestrian route planning with event-based behavior at crosswalks and intersections, coordinating with the Navigation system and traffic lights.

Description

carla::nav::WalkerManager is a NonCopyable class that maintains a map of walker routes (WalkerInfo) and handles their progression through route points with associated events. Key features:

• Walker lifecycle -- AddWalker() and RemoveWalker() manage walker registration
• Route management -- SetWalkerRoute() computes a new route from current position to a target (or random location), producing a sequence of WalkerRoutePoint objects with events and area types
• Route progression -- SetWalkerNextPoint() and GetWalkerNextPoint() advance through route points
• Event execution -- Update(delta) processes all walkers, executing events via the visitor pattern
• Traffic light awareness -- GetTrafficLightAffecting() finds the nearest traffic light affecting a position
• Crosswalk handling -- GetWalkerCrosswalkEnd() returns the endpoint of the current crosswalk for vehicle checking

The WalkerState enum tracks walker states: IDLE, WALKING, IN_EVENT, STOP. Each WalkerInfo stores the from/to locations, current route index, state, and the full route.

Usage

This class is used by the Navigation system to manage high-level walker behavior, particularly the event-driven interactions at crosswalks and traffic lights.

Code Reference

Source Location

• Repository: CARLA
• File: LibCarla/source/carla/nav/WalkerManager.h

Signature

class WalkerManager : private NonCopyable {
public:
  WalkerManager();
  ~WalkerManager();

  void SetNav(Navigation *nav);
  void SetSimulator(std::weak_ptr<client::detail::Simulator> simulator);

  bool AddWalker(ActorId id);
  bool RemoveWalker(ActorId id);
  bool Update(double delta);

  bool SetWalkerRoute(ActorId id);
  bool SetWalkerRoute(ActorId id, geom::Location to);
  bool SetWalkerNextPoint(ActorId id);
  bool GetWalkerNextPoint(ActorId id, geom::Location &location);
  bool GetWalkerCrosswalkEnd(ActorId id, geom::Location &location);

  Navigation *GetNavigation();
  SharedPtr<client::TrafficLight> GetTrafficLightAffecting(
      geom::Location UnrealPos, float max_distance = -1.0f);
};

Import

#include "carla/nav/WalkerManager.h"

I/O Contract

Input	Type	Description
ActorId | Walker actor identifier
geom::Location | Target destination for route
double | Time elapsed since last update

Output	Type	Description
geom::Location & | Next waypoint location (out parameter)
bool | Whether the operation succeeded

Usage Examples

WalkerManager manager;
manager.SetNav(&navigation);

manager.AddWalker(walker_id);
manager.SetWalkerRoute(walker_id, target_location);
manager.Update(delta_seconds);

Related Pages

• Environment:CARLA_simulator_Carla_Simulation_Runtime