pxmlw6n2f/sdformat_for_tcp/sdf/1.0/ray.sdf

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<element name="ray" required="0">
<element name="scan" required="1">
<element name="horizontal" required="1">
<attribute name="samples" type="unsigned int" default="1" required="1"/>
<attribute name="resolution" type="double" default="1" required="0"/>
<attribute name="min_angle" type="double" default="0" required="1"/>
<attribute name="max_angle" type="double" default="0" required="1"/>
</element> <!-- End Horizontal -->
<element name="vertical" required="0">
<attribute name="samples" type="unsigned int" default="1" required="1"/>
<attribute name="resolution" type="double" default="1" required="0"/>
<attribute name="min_angle" type="double" default="0" required="1"/>
<attribute name="max_angle" type="double" default="0" required="1"/>
</element> <!-- End Vertical -->
</element> <!-- End Scan -->
<element name="range" required="1">
<attribute name="min" type="double" default="0" required="1"/>
<attribute name="max" type="double" default="0" required="1"/>
<attribute name="resolution" type="double" default="0" required="0"/>
</element> <!-- End Range -->
</element> <!-- End Ray -->