X3D Model Documentation: RemusSideScan.x3d

  1  <?xml version="1.0" encoding="UTF-8"?>
  2 
<!DOCTYPE X3D PUBLIC "ISO//Web3D//DTD X3D 3.0//EN" "https://www.web3d.org/specifications/x3d-3.0.dtd">
  3  <X3D profile='Immersive' version='3.0'  xmlns:xsd='http://www.w3.org/2001/XMLSchema-instance' xsd:noNamespaceSchemaLocation='https://www.web3d.org/specifications/x3d-3.0.xsd'>
  4       <head>
  5            <meta name='title' content='RemusSideScan.x3d'/>
  6            <meta name='description' content='REMUS Autonomous Underwater Vehicle (AUV) with side-scan sonar beams.'/>
  7            <meta name='creator' content='Jeffrey Weekley and Don Brutzman'/>
  8            <meta name='created' content='12 March 2001'/>
  9            <meta name='modified' content='20 October 2019'/>
 10            <meta name='Image' content='RemusAssetTrackPlayback3d.jpg'/>
 11            <meta name='identifier' content='https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/RemusSideScan.x3d'/>
 12            <meta name='generator' content='X3D-Edit 3.2, https://savage.nps.edu/X3D-Edit'/>
 13            <meta name='license' content='../../license.html'/>
 14       </head>
<!--
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Event Graph ROUTE Table shows event connections.
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<!-- to top Index for DEF nodes: CoordinateAxes, Grid, Remus, SideScanSonarBeam

Index for Viewpoint node: Viewpoint_1

Index for ExternProtoDeclare definition: SideScanSonar
-->
 15       <Scene>
 16            <WorldInfo info='"Only unclassified open resources were used to create this model."' title='REMUS Side Scan'/>
 17            <ExternProtoDeclare name='SideScanSonar' appinfo='Produce wireframe or semi-transparent sonar sidescan beams'   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" '>
 18                 <field name='altitude' type='SFFloat' accessType='inputOnly'
                appinfo='vertical distance above bottom in meters along y axis'/>
 19                 <field name='defaultAltitude' type='SFFloat' accessType='initializeOnly'
                appinfo='default vertical distance above bottom in meters along y axis'/>
 20                 <field name='maxAltitude' type='SFFloat' accessType='initializeOnly'
                appinfo='maximum effective altitude of sidescan sonar above bottom'/>
 21                 <field name='defaultCrossTrackHalfRange' type='SFFloat' accessType='initializeOnly'
                appinfo='distance in meters from nadir to rightmost/leftmost edge when operating at defaultAltitude above the bottom'/>
 22                 <field name='defaultTrackWidthMeters' type='SFFloat' accessType='initializeOnly'
                appinfo='longitudinal width of a single return'/>
 23                 <field name='vehicleWidthMeters' type='SFFloat' accessType='initializeOnly'
                appinfo='width (or diameter) of vehicle carrying port/starboard sidescan sonar transducers'/>
 24                 <field name='contact' type='SFBool' accessType='inputOnly'
                appinfo='(communications) whether transmitted signal is in contact with receiver or (sensor) is a target return detected?'/>
 25                 <field name='wireframe' type='SFBool' accessType='initializeOnly'
                appinfo='draw lines for tracking shape?'/>
 26                 <field name='solid' type='SFBool' accessType='initializeOnly'
                appinfo='draw solid tracking shape?'/>
 27                 <field name='contactColor' type='SFColor' accessType='initializeOnly'
                appinfo='rendering color when contact=true'/>
 28                 <field name='noContactColor' type='SFColor' accessType='initializeOnly'
                appinfo='rendering color when contact=false'/>
 29                 <field name='transparency' type='SFFloat' accessType='inputOutput'
                appinfo='1 = fully transparent wireframe only'/>
 30            </ExternProtoDeclare>
 31            <Background skyColor='0.2 0.7 0.7'/>
 32            <Viewpoint description='Remus from ahead 30m' orientation='0 1 0 1.57' position='30 0.1 0'/>
 33            <!-- This file builds the REMUS Autonomous Underwater Vehicle (AUV). The dimensions were originally provided in English units and is converted to metric using a scale that 39.3 inches equal one meter. -->
 34            <Inline DEF='Remus'   url=' "Remus.x3d" "../../../Savage/Robots/UnmannedUnderwaterVehicles/Remus.x3d" "https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/Remus.x3d" "Remus.wrl" "../../../Savage/Robots/UnmannedUnderwaterVehicles/Remus.wrl" "https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/Remus.wrl" '/>
 35            <!-- Remus maxAltitude typically 10% of swath width. -->
 36            <Transform translation='0.04 0 0'>
 37                 <ProtoInstance name='SideScanSonar' DEF='SideScanSonarBeam'>
 38                      <fieldValue name='defaultTrackWidthMeters' value='1'/>
 39                      <fieldValue name='transparency' value='0.5'/>
 40                      <fieldValue name='wireframe' value='true'/>
 41                      <fieldValue name='solid' value='true'/>
 42                 </ProtoInstance>
 43            </Transform>
 44            <!-- Authoring assist, hidden under Switch whichChoice=0 -->
 45            <Switch whichChoice='-1'>
 46                 <Group>
 47                      <Transform translation='0 -0.5 0'>
 48                           <Inline DEF='CoordinateAxes'   url=' "../../../Savage/Tools/Authoring/CoordinateAxes.x3d" "../../../X3dForWebAuthors/Chapter03Grouping/CoordinateAxes.x3d" "https://savage.nps.edu/Savage/Tools/Authoring/CoordinateAxes.x3d" "https://www.web3d.org/x3d/content/examples/X3dForWebAuthors/Chapter03Grouping/CoordinateAxes.x3d" "../../../Savage/Tools/Authoring/CoordinateAxes.wrl" "../../../X3dForWebAuthors/Chapter03Grouping/CoordinateAxes.wrl" "https://savage.nps.edu/Savage/Tools/Authoring/CoordinateAxes.wrl" "https://www.web3d.org/x3d/content/examples/X3dForWebAuthors/Chapter03Grouping/CoordinateAxes.wrl" '/>
 49                      </Transform>
 50                      <Transform scale='0.1 0.1 0.1'>
 51 
                         <!-- Inline Grid is a DEF node that has 1 USE node: USE_1 -->
                          <Inline DEF='Grid'   url=' "../../../Savage/Tools/Authoring/GridXZ_20x20Movable.x3d" "https://savage.nps.edu/Savage/Tools/Authoring/GridXZ_20x20Movable.x3d" "../../../Savage/Tools/Authoring/GridXZ_20x20Movable.wrl" "https://savage.nps.edu/Savage/Tools/Authoring/GridXZ_20x20Movable.wrl" '/>
 52                      </Transform>
 53                      <Transform scale='3 3 3' translation='0 -3 0'>
 54                           <Inline USE='Grid'/>
 55                      </Transform>
 56                 </Group>
 57            </Switch>
 58       </Scene>
 59  </X3D>
<!--
<!--
Event Graph ROUTE Table shows event connections.
-->
<!-- to top Index for DEF nodes: CoordinateAxes, Grid, Remus, SideScanSonarBeam

Index for Viewpoint node: Viewpoint_1

Index for ExternProtoDeclare definition: SideScanSonar
-->
X3D Tooltips element index: Background, ExternProtoDeclare, field, fieldValue, Group, head, Inline, meta, ProtoInstance, Scene, Switch, Transform, Viewpoint, WorldInfo, X3D, plus documentation for accessType definitions, type definitions, XML data types, and field types
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<!-- Online at
https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/RemusSideScanIndex.html -->
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https://gitlab.nps.edu/Savage/Savage/Robots/UnmannedUnderwaterVehicles/RemusSideScan.x3d -->

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