odometry_slip — DRIVE `roverslip` op

• Data kinds: any × signal × scalar → table

• Call: import fullseye as fs; fs.ledger.odometry_slip(position, wheel_angle, radius: 'float', window: 'int' = 1) -> 'dict' (to call the implementation directly, import roverslip; roverslip.odometry_slip(position, wheel_angle, radius: 'float', window: 'int' = 1) -> 'dict'; from the registry, opsdrive.get("odometry_slip"))

Usage

> This operator's description has not been translated yet. The original text follows as it is.

視覚オドメトリの位置の列と車輪の累積回転角から、実際の滑り率 `s = 1 − Δx / (r Δφ)`。

`position は (T,) の進んだ距離か (T, 2) の平面の位置 [m]、wheel_angle` は (T,) の車輪の累積回転角 [rad]、

`radius = r [m]。window` 個ぶんの区間でまとめて割る(短い区間は雑音を拾う)。車輪がほとんど回らない

区間(`r Δφ が全体の中央値の 1 % 未満)は nan。返り値 `{"slip": (T − window,), "slip_total": 全区間の 1 個,

"distance": 区間ごとの車体の移動 [m], "wheel_travel": 区間ごとの r Δφ [m]}``。

References (sample data, literature)

• 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.

Runnable examples (verified samples that actually call this op)

• poc_rover_slip_risk_path — py -3.11 examples/poc_rover_slip_risk_path.py

Ops the type connects to (they accept `table` as input)

course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same

Same category (`roverslip`)

bekker_pressure · bekker_wheel_sinkage · wheel_forces · wheel_sinkage · wheel_traction_curve · slope_slip_curve · ground_shift_track · slip_gp_fit

*Provenance: roverslip.py — DRIVE operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

odometry_slip — DRIVE roverslip op