pure_pursuit_circle_offset — DRIVE `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.pure_pursuit_circle_offset(radius: 'float', lookahead: 'float', wheelbase: 'float', *, understeer: 'float' = 0.0, speed: 'float' = 0.0, params: 'Optional[dict]' = None) -> 'Dict[str, float]' (to call the implementation directly, import drivelateral; drivelateral.pure_pursuit_circle_offset(radius: 'float', lookahead: 'float', wheelbase: 'float', *, understeer: 'float' = 0.0, speed: 'float' = 0.0, params: 'Optional[dict]' = None) -> 'Dict[str, float]'; from the registry, opsdrive.get("pure_pursuit_circle_offset"))

Usage

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

定常円(半径 R)を pure pursuit(後車軸の中心を基準)で追うときの定常の円の半径 ρ と横ずれ ρ − R(外へ正)。

運動学 + アンダーステア(`params` = None): 指令の舵角 δ = L κ_cmd に対し実際の曲率が κ_cmd / (1 + K v²/L)

になるとすると、同心円の定常で ρ = √(R² + (K v²/L) L_d²)(この版で導いた閉形式)。K = 0 なら ρ = R(横ずれ 0)。

線形 2 輪等価モデル(`params` を与える。δ = atan(L κ_cmd)): 定常では車体の向きが後車軸の速度(円の接線)より

後軸の横すべり角 α_r = m l_f a_y / (C_r L) だけ内を向くので、注視点の見える角が α_r 減る。定常の関係

(δ = L/R_c + K u²/R_c、β、回転の中心)を重心の旋回半径 R_c の 1 変数の方程式にして二分法で解く(半閉形式)。

運動学の式はこの効果を落とすので横ずれを小さく見積もる(PoC では約半分)。

Raises `ValueError`: R, L_d, L ≤ 0、注視点が円に届かない、1 + K v²/L ≤ 0、params で v ≤ 0.5。

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_driving_lateral — py -3.11 examples/poc_driving_lateral.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 (`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).*

pure_pursuit_circle_offset — DRIVE lateral op