Receiver.wrl

# A Receiver node models a radio or infra-red receiver.
# It can be used to receive data packets emitted by Emitter nodes (onboard other robots).
# A Receiver cannot emit data: bidirectional communication requires two Emitter/Receiver pairs.
# parent: Solid

Receiver {
  #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                "receiver"   # 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    MFNode                                   immersionProperties []           # see ImmersionProperties node
  field    SFString                                 contactMaterial     "default"    # see ContactProperties node
  field    SFNode                                   boundingObject      NULL         # for collision detection
  field    SFNode                                   physics             NULL         # physics 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 Receiver node:
  field    SFString{"infra-red", "radio", "serial"} type                "radio"      # communication medium
  field    SFFloat                                  aperture            -1           # reception cone aperture (for "infra-red" only, -1 for infinite)
  field    SFInt32                                  channel             0            # ir emmiter id or radio frequency
  field    SFInt32                                  baudRate            -1           # speed expressed in number of bits per second (-1 for infinite)
  field    SFInt32                                  byteSize            8            # might be 8 or more depending on control bits
  field    SFInt32                                  bufferSize          -1           # reception buffer size in bytes (-1 for unlimited)
  field    SFFloat                                  signalStrengthNoise 0            # standard deviation of the noise applied to the signal strength (0 for no noise)
  field    SFFloat                                  directionNoise      0            # standard deviation of the noise applied to the direction (0 for no noise)
  field    MFInt32                                  allowedChannels     []           # allowed channels to listen to (empty for unlimited access)

  # 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
}