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This document describes the JSON object send back from the simulator command server.

Fields:

  • ptsx (Array) - The global x positions of the waypoints.
  • ptsy (Array) - The global y positions of the waypoints. This corresponds to the z coordinate in Unity since y is the up-down direction.
  • psi (float) - The orientation of the vehicle in radians converted from the Unity format to the standard format expected in most mathemetical functions (more details below).
  • psi_unity (float) - The orientation of the vehicle in radians. This is an orientation commonly used in navigation.
  • x (float) - The global x position of the vehicle.
  • y (float) - The global y position of the vehicle.
  • steering_angle (float) - The current steering angle in radians.
  • throttle (float) - The current throttle value [-1, 1].
  • speed (float) - The current velocity in mph.

psi and psi_unity representations

psi

//            90
//
//  180                   0/360
//
//            270

psi_unity

//            0/360
//
//  270                   90
//
//            180