stanley_steer — DRIVE `lateral` op

• Data kinds: any → table

• Call: import fullseye as fs; fs.ledger.stanley_steer(front_pose, path, *, gain: 'float', speed, softening: 'float' = 0.0, max_steer: 'float' = inf, start_index=None, window: 'int' = 40) -> 'Dict[str, np.ndarray]' (to call the implementation directly, import drivelateral; drivelateral.stanley_steer(front_pose, path, *, gain: 'float', speed, softening: 'float' = 0.0, max_steer: 'float' = inf, start_index=None, window: 'int' = 40) -> 'Dict[str, np.ndarray]'; from the registry, opsdrive.get("stanley_steer"))

Usage

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

Stanley の舵角 δ = ψ_e + atan2(−k e, k_s + v)(前車軸の中心の横ずれ e は経路の左が正、ψ_e = 経路の向き − ψ)。

`front_pose: (3,) または (N, 3)。max_steer で切る(切ると :func:stanley_straight_decay` の閉形式から外れる)。

返り値: `steer, lateral, heading_error, index`。

Raises `ValueError`: 形の誤り、k ≤ 0、v < 0、k_s < 0、max_steer ≤ 0。

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)

• (none yet)

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).*

stanley_steer — DRIVE lateral op