lateral op• Data kinds: any → table
• Call: import fullseye as fs; fs.ledger.pure_pursuit_curvature(pose, path, lookahead, *, start_index=None, window: 'int' = 40) -> 'Dict[str, np.ndarray]' (to call the implementation directly, import drivelateral; drivelateral.pure_pursuit_curvature(pose, path, lookahead, *, start_index=None, window: 'int' = 40) -> 'Dict[str, np.ndarray]'; from the registry, opsdrive.get("pure_pursuit_curvature"))
> This operator's description has not been translated yet. The original text follows as it is.
pure pursuit: 後車軸の中心(`pose` = (x, y, ψ)、(N, 3) 可)から経路の上で距離 L_d 先の点を狙う曲率 κ = 2 sin α / L_d。
経路は折線(M, 2)。最も近い点を探し、そこから先で初めて距離が L_d になる点を区間の上で 2 次方程式で求める
(経路の終わりまで届かなければ終点を狙い、L_d をその距離にする)。`start_index と window` で最も近い点を
探す範囲を絞る(長い経路の繰り返しを速くする。None なら全体)。
返り値: `kappa, alpha, goal (N, 2), index(最も近い区間), lateral`(経路からの横ずれ、左が正),
`lookahead`(実際の距離)。1 つの pose なら先頭の次元を落とす。
Raises `ValueError`: 形の誤り、L_d ≤ 0、start_index が範囲外。
• 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.