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.offtracking_circle(front_radius: 'float', wheelbase: 'float', arc_length, *, track: 'float' = 0.0, gamma0: 'float' = 0.0) -> 'Dict[str, np.ndarray]' (to call the implementation directly, import drivelateral; drivelateral.offtracking_circle(front_radius: 'float', wheelbase: 'float', arc_length, *, track: 'float' = 0.0, gamma0: 'float' = 0.0) -> 'Dict[str, np.ndarray]'; from the registry, opsdrive.get("offtracking_circle"))
> This operator's description has not been translated yet. The original text follows as it is.
内輪差の過渡(閉形式): 前車軸の中心が半径 R の円に入ってから弧長 s 進んだときの車の姿勢と内側の車輪の半径。
後車軸の中心は前車軸の中心を長さ L の棒で引く(すべりなし)。棒と前の速度のなす角 γ は dγ/ds = 1/R − sin γ / L。
a = 1/R、b = 1/L、k = √(b² − a²)、t± = (b ± k)/a(t− = tan(γ*/2)、sin γ* = L/R)とすると
Q = ((t+ − t₀)/(t− − t₀)) e^{k s}、tan(γ/2) = (Q t− − t+)/(Q − 1)。
`arc_length: s ≥ 0(配列可)。track: 輪距 t(内側の車輪の位置に使う)。gamma0`: 円に入るときの γ(0 = 直線から
まっすぐ入る、0 ≤ γ₀ < γ*)。返り値(s と同じ形): `gamma、rear_radius`(後車軸の中心の半径
√(R² + L² − 2RL sin γ))、`front_inner_wheel_radius・rear_inner_wheel_radius`(内側の車輪の旋回中心からの距離)、
`offtracking(前内輪 − 後内輪)、steady`(s → ∞ の値の dict)。
Raises `ValueError`: R ≤ L(定常が無い)、s < 0、γ₀ が範囲外、t/2 ≥ 後輪の半径。
• 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 · rear_axle_path
*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.