@prefix :        <https://savage.nps.edu/Savage/CommunicationsAndSensors/Sonar/SideScanSonarExample.ttl#> .
@prefix owl:     <http://www.w3.org/2002/07/owl#> .
@prefix rdf:     <http://www.w3.org/1999/02/22-rdf-syntax-ns#> .
@prefix rdfs:    <http://www.w3.org/2000/01/rdf-schema#> .
@prefix schema:  <http://schema.org/> .
@prefix dcterms: <http://purl.org/dc/terms/> .
@prefix xsd:     <http://www.w3.org/2001/XMLSchema#> .
@prefix x3d:     <https://www.web3d.org/specifications/x3d-4.0.xsd#> .
@prefix x3do:    <https://www.web3d.org/specifications/X3dOntology4.0#> .

:X3D a owl:NamedIndividual, x3do:X3D ;
  x3do:hasHead :head ;
  x3do:hasScene :Scene ;
  x3do:profile 'Immersive' ;
  x3do:version '3.3' ;
  x3do:noNamespaceSchemaLocation 'https://www.web3d.org/specifications/x3d-3.3.xsd' .
:head a owl:NamedIndividual, x3do:head ;
  x3do:hasParent :X3D ;
  x3do:hasMeta :meta_1_1, :meta_1_2, :meta_1_3, :meta_1_4, :meta_1_5, :meta_1_6, :meta_1_7, :meta_1_8, :meta_1_9 .
:meta_1_1 a owl:NamedIndividual, x3do:meta ;
  x3do:hasParent :head ;
  x3do:content 'SideScanSonarExample.x3d' ;
  x3do:name 'title' .
:meta_1_2 a owl:NamedIndividual, x3do:meta ;
  x3do:hasParent :head ;
  x3do:content 'Produce wireframe or transparent sidescan sonar beams.' ;
  x3do:name 'description' .
:meta_1_3 a owl:NamedIndividual, x3do:meta ;
  x3do:hasParent :head ;
  x3do:content 'Don Brutzman' ;
  x3do:name 'creator' .
:meta_1_4 a owl:NamedIndividual, x3do:meta ;
  x3do:hasParent :head ;
  x3do:content '15 March 2001' ;
  x3do:name 'created' .
:meta_1_5 a owl:NamedIndividual, x3do:meta ;
  x3do:hasParent :head ;
  x3do:content '20 October 2019' ;
  x3do:name 'modified' .
:meta_1_6 a owl:NamedIndividual, x3do:meta ;
  x3do:hasParent :head ;
  x3do:content 'https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/RemusSideScan.x3d' ;
  x3do:name 'reference' .
:meta_1_7 a owl:NamedIndividual, x3do:meta ;
  x3do:hasParent :head ;
  x3do:content 'https://savage.nps.edu/Savage/CommunicationsAndSensors/Sonar/SideScanSonarExample.x3d' ;
  x3do:name 'identifier' .
:meta_1_8 a owl:NamedIndividual, x3do:meta ;
  x3do:hasParent :head ;
  x3do:content 'X3D-Edit 3.3 https://savage.nps.edu/X3D-Edit' ;
  x3do:name 'generator' .
:meta_1_9 a owl:NamedIndividual, x3do:meta ;
  x3do:hasParent :head ;
  x3do:content '../../license.html' ;
  x3do:name 'license' .
:meta dcterms:title "SideScanSonarExample.x3d" .
:meta dcterms:description "Produce wireframe or transparent sidescan sonar beams." .
:meta dcterms:creator "Don Brutzman" .
:meta dcterms:created "15 March 2001" .
:meta dcterms:modified "20 October 2019" .
:meta dcterms:reference "https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/RemusSideScan.x3d" .
:meta dcterms:identifier "https://savage.nps.edu/Savage/CommunicationsAndSensors/Sonar/SideScanSonarExample.x3d" .
:meta dcterms:generator "X3D-Edit 3.3 https://savage.nps.edu/X3D-Edit" .
:meta dcterms:license "../../license.html" .
:Scene a owl:NamedIndividual, x3do:Scene ;
  x3do:hasParent :X3D ;
  x3do:hasChildren :Background_2_1, :WorldInfo_2_2, :Viewpoint_2_3, :Group_2_5, :AnimationGroup ;
  x3do:hasExternProtoDeclare :ExternProtoDeclare_2_4 .
:Background_2_1 a owl:NamedIndividual, x3do:Background ;
  x3do:hasParent :Scene ;
  x3do:skyColor ( 0.2 0.2 0.4 ) .
:WorldInfo_2_2 a owl:NamedIndividual, x3do:WorldInfo ;
  x3do:hasParent :Scene ;
  x3do:info '"Produce wireframe or transparent beam cones"' ;
  x3do:title 'BeamConeExample' .
:Viewpoint_2_3 a owl:NamedIndividual, x3do:Viewpoint ;
  x3do:hasParent :Scene ;
  x3do:description 'SideScanSonar example' ;
  x3do:orientation ( 0 1 0 -1.57 ) ;
  x3do:position ( -40 0 0 ) .
:ExternProtoDeclare_2_4 a owl:NamedIndividual, x3do:ExternProtoDeclare ;
  x3do:hasParent :Scene ;
  x3do:hasField :field_2_4_1, :field_2_4_2, :field_2_4_3, :field_2_4_4, :field_2_4_5, :field_2_4_6, :field_2_4_7, :field_2_4_8, :field_2_4_9, :field_2_4_10, :field_2_4_11, :field_2_4_12 ;
  x3do:appinfo 'Produce wireframe or semi-transparent sonar sidescan beams' ;
  x3do:name 'SideScanSonar' ;
  x3do:url '"../../../Savage/CommunicationsAndSensors/Sonar/SideScanSonarPrototype.x3d#SideScanSonar" "https://savage.nps.edu/Savage/CommunicationsAndSensors/Sonar/SideScanSonarPrototype.x3d#SideScanSonar" "../../../Savage/CommunicationsAndSensors/Sonar/SideScanSonarPrototype.wrl#SideScanSonar" "https://savage.nps.edu/Savage/CommunicationsAndSensors/Sonar/SideScanSonarPrototype.wrl#SideScanSonar"' .
:field_2_4_1 a owl:NamedIndividual, x3do:field ;
  x3do:hasParent :ExternProtoDeclare_2_4 ;
  x3do:accessType 'inputOnly' ;
  x3do:appinfo 'vertical distance above bottom in meters along y axis' ;
  x3do:name 'altitude' ;
  x3do:type 'SFFloat' .
:field_2_4_2 a owl:NamedIndividual, x3do:field ;
  x3do:hasParent :ExternProtoDeclare_2_4 ;
  x3do:accessType 'initializeOnly' ;
  x3do:appinfo 'default vertical distance above bottom in meters along y axis' ;
  x3do:name 'defaultAltitude' ;
  x3do:type 'SFFloat' .
:field_2_4_3 a owl:NamedIndividual, x3do:field ;
  x3do:hasParent :ExternProtoDeclare_2_4 ;
  x3do:accessType 'initializeOnly' ;
  x3do:appinfo 'maximum effective altitude of sidescan sonar above bottom' ;
  x3do:name 'maxAltitude' ;
  x3do:type 'SFFloat' .
:field_2_4_4 a owl:NamedIndividual, x3do:field ;
  x3do:hasParent :ExternProtoDeclare_2_4 ;
  x3do:accessType 'initializeOnly' ;
  x3do:appinfo 'distance in meters from nadir to rightmost/leftmost edge when operating at defaultAltitude above the bottom' ;
  x3do:name 'defaultCrossTrackHalfRange' ;
  x3do:type 'SFFloat' .
:field_2_4_5 a owl:NamedIndividual, x3do:field ;
  x3do:hasParent :ExternProtoDeclare_2_4 ;
  x3do:accessType 'initializeOnly' ;
  x3do:appinfo 'longitudinal width of a single return' ;
  x3do:name 'defaultTrackWidthMeters' ;
  x3do:type 'SFFloat' .
:field_2_4_6 a owl:NamedIndividual, x3do:field ;
  x3do:hasParent :ExternProtoDeclare_2_4 ;
  x3do:accessType 'initializeOnly' ;
  x3do:appinfo 'width (or diameter) of vehicle carrying port/starboard sidescan sonar transducers' ;
  x3do:name 'vehicleWidthMeters' ;
  x3do:type 'SFFloat' .
:field_2_4_7 a owl:NamedIndividual, x3do:field ;
  x3do:hasParent :ExternProtoDeclare_2_4 ;
  x3do:accessType 'inputOnly' ;
  x3do:appinfo '(communications) whether transmitted signal is in contact with receiver or (sensor) is a target return detected?' ;
  x3do:name 'contact' ;
  x3do:type 'SFBool' .
:field_2_4_8 a owl:NamedIndividual, x3do:field ;
  x3do:hasParent :ExternProtoDeclare_2_4 ;
  x3do:accessType 'initializeOnly' ;
  x3do:appinfo 'draw lines for tracking shape?' ;
  x3do:name 'wireframe' ;
  x3do:type 'SFBool' .
:field_2_4_9 a owl:NamedIndividual, x3do:field ;
  x3do:hasParent :ExternProtoDeclare_2_4 ;
  x3do:accessType 'initializeOnly' ;
  x3do:appinfo 'draw solid tracking shape?' ;
  x3do:name 'solid' ;
  x3do:type 'SFBool' .
:field_2_4_10 a owl:NamedIndividual, x3do:field ;
  x3do:hasParent :ExternProtoDeclare_2_4 ;
  x3do:accessType 'initializeOnly' ;
  x3do:appinfo 'rendering color when contact=true' ;
  x3do:name 'contactColor' ;
  x3do:type 'SFColor' .
:field_2_4_11 a owl:NamedIndividual, x3do:field ;
  x3do:hasParent :ExternProtoDeclare_2_4 ;
  x3do:accessType 'initializeOnly' ;
  x3do:appinfo 'rendering color when contact=false' ;
  x3do:name 'noContactColor' ;
  x3do:type 'SFColor' .
:field_2_4_12 a owl:NamedIndividual, x3do:field ;
  x3do:hasParent :ExternProtoDeclare_2_4 ;
  x3do:accessType 'inputOutput' ;
  x3do:appinfo '1 = fully transparent wireframe only' ;
  x3do:name 'transparency' ;
  x3do:type 'SFFloat' .
:Group_2_5 a owl:NamedIndividual, x3do:Group ;
  x3do:hasParent :Scene ;
  x3do:hasChildren :SideScanSonarBeam, :Transform_2_5_2 .
:SideScanSonarBeam a owl:NamedIndividual, x3do:ProtoInstance ;
  x3do:hasParent :Group_2_5 ;
  x3do:hasFieldValue :fieldValue_2_5_1_1, :fieldValue_2_5_1_2, :fieldValue_2_5_1_3, :fieldValue_2_5_1_4 ;
  x3do:DEF 'SideScanSonarBeam' ;
  x3do:name 'SideScanSonar' .
:fieldValue_2_5_1_1 a owl:NamedIndividual, x3do:fieldValue ;
  x3do:hasParent :SideScanSonarBeam ;
  x3do:name 'defaultTrackWidthMeters' ;
  x3do:value 1 .
:fieldValue_2_5_1_2 a owl:NamedIndividual, x3do:fieldValue ;
  x3do:hasParent :SideScanSonarBeam ;
  x3do:name 'transparency' ;
  x3do:value 0.5 .
:fieldValue_2_5_1_3 a owl:NamedIndividual, x3do:fieldValue ;
  x3do:hasParent :SideScanSonarBeam ;
  x3do:name 'wireframe' ;
  x3do:value true .
:fieldValue_2_5_1_4 a owl:NamedIndividual, x3do:fieldValue ;
  x3do:hasParent :SideScanSonarBeam ;
  x3do:name 'solid' ;
  x3do:value true .
:Transform_2_5_2 a owl:NamedIndividual, x3do:Transform ;
  x3do:hasParent :Group_2_5 ;
  x3do:hasChildren :Billboard_2_5_2_1, :TextTouch ;
  x3do:hasROUTE :ROUTE_2_5_2_3 ;
  x3do:translation ( 0 4 0 ) .
:Billboard_2_5_2_1 a owl:NamedIndividual, x3do:Billboard ;
  x3do:hasParent :Transform_2_5_2 ;
  x3do:hasChildren :Shape_2_5_2_1_1, :TouchSensor_2_5_2_1_2, :Shape_2_5_2_1_3 .
:Shape_2_5_2_1_1 a owl:NamedIndividual, x3do:Shape ;
  x3do:hasParent :Billboard_2_5_2_1 ;
  x3do:hasAppearance :Appearance_2_5_2_1_1_1 ;
  x3do:hasGeometry :Text_2_5_2_1_1_2 .
:Appearance_2_5_2_1_1_1 a owl:NamedIndividual, x3do:Appearance ;
  x3do:hasParent :Shape_2_5_2_1_1 ;
  x3do:hasMaterial :Material_2_5_2_1_1_1_1 .
:Material_2_5_2_1_1_1_1 a owl:NamedIndividual, x3do:Material ;
  x3do:hasParent :Appearance_2_5_2_1_1_1 ;
  x3do:diffuseColor ( .8 .8 0 ) .
:Text_2_5_2_1_1_2 a owl:NamedIndividual, x3do:Text ;
  x3do:hasParent :Shape_2_5_2_1_1 ;
  x3do:hasFontStyle :FontStyle_2_5_2_1_1_2_1 ;
  x3do:string '"touch text to activate contact-mode rendering"' .
:FontStyle_2_5_2_1_1_2_1 a owl:NamedIndividual, x3do:FontStyle ;
  x3do:hasParent :Text_2_5_2_1_1_2 ;
  x3do:justify '"MIDDLE" "MIDDLE"' ;
  x3do:size 2 .
:TouchSensor_2_5_2_1_2 a owl:NamedIndividual, x3do:TouchSensor ;
  x3do:hasParent :Billboard_2_5_2_1 ;
  x3do:description 'Hover over text to activate contact mode' .
:Shape_2_5_2_1_3 a owl:NamedIndividual, x3do:Shape ;
  x3do:hasParent :Billboard_2_5_2_1 ;
  x3do:hasGeometry :Box_2_5_2_1_3_1 ;
  x3do:hasAppearance :Appearance_2_5_2_1_3_2 .
:Box_2_5_2_1_3_1 a owl:NamedIndividual, x3do:Box ;
  x3do:hasParent :Shape_2_5_2_1_3 ;
  x3do:size ( 32 2 .001 ) .
:Appearance_2_5_2_1_3_2 a owl:NamedIndividual, x3do:Appearance ;
  x3do:hasParent :Shape_2_5_2_1_3 ;
  x3do:hasMaterial :Material_2_5_2_1_3_2_1 .
:Material_2_5_2_1_3_2_1 a owl:NamedIndividual, x3do:Material ;
  x3do:hasParent :Appearance_2_5_2_1_3_2 ;
  x3do:transparency 1 .
:TextTouch a owl:NamedIndividual, x3do:TouchSensor ;
  x3do:hasParent :Transform_2_5_2 ;
  x3do:DEF 'TextTouch' ;
  x3do:description 'touch text to toggle contact-mode rendering' .
:ROUTE_2_5_2_3 a owl:NamedIndividual, x3do:ROUTE ;
  x3do:hasParent :Transform_2_5_2 ;
  x3do:fromField 'isOver' ;
  x3do:fromNode 'TextTouch' ;
  x3do:toField 'contact' ;
  x3do:toNode 'SideScanSonarBeam' .
:AnimationGroup a owl:NamedIndividual, x3do:Group ;
  x3do:hasParent :Scene ;
  x3do:hasChildren :SonarClock, :RangeInterpolator, :TransparencyInterpolator ;
  x3do:hasROUTE :ROUTE_2_6_3, :ROUTE_2_6_4, :ROUTE_2_6_6, :ROUTE_2_6_7 ;
  x3do:DEF 'AnimationGroup' .
:SonarClock a owl:NamedIndividual, x3do:TimeSensor ;
  x3do:hasParent :AnimationGroup ;
  x3do:DEF 'SonarClock' ;
  x3do:cycleInterval '10' ;
  x3do:loop true .
:RangeInterpolator a owl:NamedIndividual, x3do:ScalarInterpolator ;
  x3do:hasParent :AnimationGroup ;
  x3do:DEF 'RangeInterpolator' ;
  x3do:key ( 0 .2 0.8 1 ) ;
  x3do:keyValue ( 0 0.01 5 5 ) .
:ROUTE_2_6_3 a owl:NamedIndividual, x3do:ROUTE ;
  x3do:hasParent :AnimationGroup ;
  x3do:fromField 'fraction_changed' ;
  x3do:fromNode 'SonarClock' ;
  x3do:toField 'set_fraction' ;
  x3do:toNode 'RangeInterpolator' .
:ROUTE_2_6_4 a owl:NamedIndividual, x3do:ROUTE ;
  x3do:hasParent :AnimationGroup ;
  x3do:fromField 'value_changed' ;
  x3do:fromNode 'RangeInterpolator' ;
  x3do:toField 'altitude' ;
  x3do:toNode 'SideScanSonarBeam' .
:TransparencyInterpolator a owl:NamedIndividual, x3do:ScalarInterpolator ;
  x3do:hasParent :AnimationGroup ;
  x3do:DEF 'TransparencyInterpolator' ;
  x3do:key ( 0 .2 0.8 1 ) ;
  x3do:keyValue ( 0 0 1 1 ) .
:ROUTE_2_6_6 a owl:NamedIndividual, x3do:ROUTE ;
  x3do:hasParent :AnimationGroup ;
  x3do:fromField 'fraction_changed' ;
  x3do:fromNode 'SonarClock' ;
  x3do:toField 'set_fraction' ;
  x3do:toNode 'TransparencyInterpolator' .
:ROUTE_2_6_7 a owl:NamedIndividual, x3do:ROUTE ;
  x3do:hasParent :AnimationGroup ;
  x3do:fromField 'value_changed' ;
  x3do:fromNode 'TransparencyInterpolator' ;
  x3do:toField 'transparency' ;
  x3do:toNode 'SideScanSonarBeam' .