Radar.wrl

# The Radar node is used to model a radar device, commonly found in automobiles.
# parent: Solid

Radar {
  #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                   "radar"      # 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 (PI/12)
  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 Radar node:
  field    SFFloat    minRange               1            # minimum detection range
  field    SFFloat    maxRange               50.0         # maximum detection range
  field    SFFloat    horizontalFieldOfView  0.78         # horizontal field of view of the detection frustum
  field    SFFloat    verticalFieldOfView    0.1          # vertical field of view of the detection frustum
  field    SFFloat    minAbsoluteRadialSpeed 0.0          # minimum absolute relative speed to be able to detect the target
  field    SFFloat    minRadialSpeed         0.0          # minimum relative speed to be able to detect the target
  field    SFFloat    maxRadialSpeed         0.0          # maximum relative speed to be able to detect the target
  field    SFFloat    cellDistance           0.0          # minimum distance between to target to be able to distinguish them
  field    SFFloat    cellSpeed              0.0          # minimum speed difference between two targets to be able to distinguish them
  field    SFFloat    rangeNoise             0.0          # standard deviation of the noise on the returned distance
  field    SFFloat    speedNoise             0.0          # standard deviation of the noise on the returned speed
  field    SFFloat    angularNoise           0.0          # standard deviation of the noise on the horizontal angle estimation
  field    SFFloat    antennaGain            20.0         # gain of the antenna in dBi
  field    SFFloat    frequency              24.0         # frequency of the radar in Ghz
  field    SFFloat    transmittedPower       20.0         # power transmitted by the radar in dBm
  field    SFFloat    minDetectableSignal    -100         # minimum power received to detect a target in dBm
  field    SFBool     occlusion              FALSE        # should occlusions between the radar and the target be checked

  # 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
}