lateral op• Data kinds: none → table (an op determined by its arguments alone — it takes no image or data input)
• Call: import fullseye as fs; fs.ledger.clothoid_points(length: 'float', s, *, kappa0: 'float' = 0.0, kappa1: 'float' = 0.0, start=(0.0, 0.0), heading0: 'float' = 0.0) -> 'Dict[str, np.ndarray]' (to call the implementation directly, import drivelateral; drivelateral.clothoid_points(length: 'float', s, *, kappa0: 'float' = 0.0, kappa1: 'float' = 0.0, start=(0.0, 0.0), heading0: 'float' = 0.0) -> 'Dict[str, np.ndarray]'; from the registry, opsdrive.get("clothoid_points"))
> This operator's description has not been translated yet. The original text follows as it is.
曲率が弧長に一次 κ(s) = κ₀ + (κ₁ − κ₀) s / length の曲線(クロソイドの一部。κ₀ = κ₁ なら円弧・直線)の点。
`s: 0 ≤ s ≤ length の弧長(配列)。start・heading0`: 始点と始点の向き。左へ曲がる曲率を正。
クロソイドの部分は標準形(A² = 1/|dκ/ds|)をフレネル積分で写し、始点・向きに合わせて回す(数値積分を使わない)。
返り値: `points (N, 2)、heading (N,)、curvature (N,)、A`(クロソイドのパラメータ、円弧・直線は inf)。
Raises `ValueError`: length ≤ 0、s が範囲外、非有限。
• 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_driving_lateral — py -3.11 examples/poc_driving_lateral.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
lateral)friction_circle_usage · curve_speed_limit · design_min_radius · understeer_gradient · steady_cornering · bicycle_model_step · ackermann_steer_angles · offtracking_circle
*Provenance: drivelateral.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.