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Lidar.wrl
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# The Lidar node is used to model an on-board lidar.
# A lidar is used to measure the distance to obstacles.
# parent: Solid
Lidar {
#fields that inherit from the Solid node:
w3dField SFVec3f translation 0 0 0
w3dField SFRotation rotation 0 0 1 0
w3dField MFNode children [] # shape and solids fixed to that solid
field SFString name "lidar" # used by wb_robot_get_device()
field SFString model "" # generic name of the solid (eg: "chair")
field SFString description "" # a short (1 line) of description of the solid
field SFString contactMaterial "default" # see ContactProperties node
field MFNode immersionProperties [] # see ImmersionProperties node
field SFNode boundingObject NULL # for collision detection
field SFNode physics NULL # physical properties (Physics node)
field SFBool locked FALSE # to avoid moving objects with the mouse
field SFFloat translationStep 0.01 # step size used by translation manipulator
field SFFloat rotationStep 0.261799387 # step size used by rotation manipulator
field SFFloat radarCrossSection 0.0 # radar cross section of this solid
field MFColor recognitionColors [] # colors returned for this Solid by Cameras with a Recognition node
#fields specific to the Lidar node:
field SFFloat tiltAngle 0.0 # tilt angle of the lasers with respect to the sensor
field SFInt32 horizontalResolution 512 # number of point per revolution per laser
field SFFloat fieldOfView 1.5708 # horizontal field of view of each laser
field SFFloat verticalFieldOfView 0.2 # vertical field of view covered by the lasers
field SFInt32 numberOfLayers 4 # number of laser-layers
field SFFloat near 0.01 # OpenGL near clipping plane (meters)
field SFFloat minRange 0.01 # minimum range (meters)
field SFFloat maxRange 1.0 # maximum range
field SFString{"fixed", "rotating"} type "fixed" # defines whether this is a rotating lidar or not
field SFString{"planar", "cylindrical"} projection "cylindrical" # projection type
field SFFloat noise 0.0 # add a noise to the distance values
field SFFloat resolution -1.0 # distance resolution
field SFFloat defaultFrequency 10 # default rotating frequency of the lidar in Hz
field SFFloat minFrequency 1 # minimum rotating frequency of the lidar in Hz
field SFFloat maxFrequency 25 # maximum rotating frequency of the lidar in Hz
field SFNode rotatingHead NULL # Solid rotating head of the lidar
# hidden fields
hiddenField SFVec3f linearVelocity 0 0 0 # (m/s) Solid's initial linear velocity
hiddenField SFVec3f angularVelocity 0 0 0 # (rad/s) Solid's initial angular velocity
deprecatedField SFBool spherical TRUE # to switch between a plane/sphere projection
}