Single-Beam Sonar

A sensor that simulates with octrees a single conical sonar beam, returning a 1D array of return strength at each range bin.

See Visualizing Singlebeam Sonar for an example of how to use this sensor.

See SinglebeamSonar for the python API.

Example sensor definition:

{
    "sensor_type": "SinglebeamSonar",
    "socket": "SonarSocket",
    "Hz": 10,
    "configuration": {
        "OpeningAngle": 30,
        "RangeMin": 0.5,
        "RangeMax": 30,
        "RangeBins": 200,
        "AddSigma": 0,
        "MultSigma": 0,
        "RangeSigma": 0.1,
        "ShowWarning": true,
        "InitOctreeRange": 40,
        "ViewRegion": false,
        "ViewOctree": -10,
        "WaterDensity": 997,
        "WaterSpeedSound": 1480,
        "UseApprox": true
    }
}