pegsim op• Data kinds: table → table
• Call: import fullseye as fs; fs.ledger.contact_state_predict(kp, tip_xyz, axis, tol: 'float' = 6e-05) -> 'dict' (to call the implementation directly, import pegsim; pegsim.contact_state_predict(kp, tip_xyz, axis, tol: 'float' = 6e-05) -> 'dict'; from the registry, opsdrive.get("contact_state_predict"))
> This operator's description has not been translated yet. The original text follows as it is.
真のペグ姿勢(先端中心と軸の向き)から、接触点の数と場所を幾何だけで予測する(接触計算と独立な第 2 実装)。
先端の縁の円(半径 r、水平投影は e₁ 方向 r・傾き方向 r cos θ の楕円)が穴の最狭部の円 R(面取り帯では高さに応じた円錐の半径)に
届けば「tip」、胴の最狭部(z = −W)での水平断面(半径 r と r/cos θ の楕円)が R に届けば「mouth」。胴が面取りの円錐に触れる
場所は tan θ < 1 なら必ず最狭部の縁になる(円錐の半径は高さに 1 で増え、断面の中心は tan θ でしか動かない)。
返り: `n(0/1/2)、where("none" / "chamfer" / "tip" / "mouth" / "tip+mouth")、depth`(口の面からの先端深さ、
負なら空中)、`depth_below_chamfer、tilt [rad]。tol` は「届いた」とみなす半径方向の余裕。
Raises `ValueError`: axis がゼロ、tip_xyz の形が (3,) でない。
• Sample-data catalog (download URLs / licences) — 2-D uses skimage.data (BSD/public domain) plus synthetic images; 3-D lists download URLs for real data sources (Stanford, PDS, …).
• Operator provenance and references — the sources of the research/methods this op family came from.
• The canonical algorithm (author, year) and its uses are named in the family usage guide above.
• poc_pegsim_insertion — py -3.11 examples/poc_pegsim_insertion.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
pegsim)peg_params · whitney_clearance · two_point_depth · wedging_check · jamming_diagram · chamfer_capture · circle_fit_known_radius · cylinder_fit_known_radius
*Provenance: pegsim.py — DRIVE operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.