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%figure "Illustration of aperture and range for infra-red Emitter/Receiver"

See this figure for an illustration of range and aperture. The cone's apex is located at the origin () of the emitter's coordinate system and the cone's axis coincides with the z-axis of the emitter coordinate system.Īn "infra-red" emitter can only send data to receivers currently located within its emission cone.Īn aperture of -1 (the default) is considered to be infinite, meaning that the emitted signals are omni-directional.įor "radio" and "serial" emitters, this field is ignored. This field defines the maximum value that can be set using the wb_emitter_set_range function.Ī value of -1 (the default) for maxRange is considered to be infinite.Īperture opening angle of the emission cone (in radians) for "infra-red" only. MaxRange: defines the maximum value allowed for range. Range: radius of the emission sphere (in meters).Ī receiver can only receive a message if it is located within the emission sphere.Ī value of -1 (the default) for range is considered to be an infinite range. The structure of the emitting or receiving robot itself will not block an "infra-red" transmission.Ĭurrently, there is no implementation difference between the "radio" and "serial" types. ) with a defined bounding object is a potential obstacle to an "infra-red" communication. Signals of type "infra-red," however, do take potential obstacles between the emitter and the receiver into account.Īny solid object (solid, robots, etc. Signals of type "radio" (the default) and "serial" are transmitted without taking obstacles into account. Type: type of signals: "radio", "serial" or "infra-red". Note that messages are never transmitted from one robot to itself. To simulate a bidirectional communication between two robots, each robot needs to have both an Emitter and a Receiver. In order to simulate a unidirectional communication between two robots, one robot must have an Emitter while the other robot must have a Receiver. Please note that an emitter can send data but it cannot receive data.
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The Emitter node is used to model radio, serial or infra-red emitters.Īn Emitter node must be added to the children of a robot or a supervisor.
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