search_expected_tries — DRIVE `pegsym` op

• Data kinds: scalar × scalar → table

• Call: import fullseye as fs; fs.ledger.search_expected_tries(n_sym: 'int', phi_cap: 'float', order: 'str' = 'alternate', estimate_sigma: 'float | None' = None) -> 'dict' (to call the implementation directly, import pegsym; pegsym.search_expected_tries(n_sym: 'int', phi_cap: 'float', order: 'str' = 'alternate', estimate_sigma: 'float | None' = None) -> 'dict'; from the registry, opsdrive.get("search_expected_tries"))

Usage

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

回転の探索の期待試行回数(未知の向きの誤差 e が 1 周期に一様のとき、厳密)。候補 c_k(:func:rotation_search_plan)で k 回目に

入るのは e が [c_k − φ, c_k + φ] (周期 P)に初めて入った時なので E = Σ_k (1 − |∪_{i<k} I_i|/P)。計算は区間の端で円周を割り、

小区間ごとに最初に覆う候補の番号を数える(同じ値、O(M²) のベクトル演算)。刻みが

ちょうど 2φ なら E = (M + 1)/2(`closed)。対称を知らない探索(周期 2π、M₁ = ⌈π/φ⌉)との比 ratio_vs_blind` → 1/n。

`estimate_sigma` [rad] を渡すと、e が推定値のまわりに標準偏差 σ の正規(周期に巻いたもの)で、"alternate" の順の期待回数も返す

(`expected_with_estimate、数値積分 4,096 点)。返り expected・closed・M・blind_expected・ratio_vs_blind`。

Raises ValueError: n_sym < 1、phi_cap ≤ 0、sigma ≤ 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)

• poc_peg_symmetry_search — py -3.11 examples/poc_peg_symmetry_search.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 (`pegsym`)

polygon_peg · polygon_offset · polygon_fit_check · rotation_window · polygon_two_point_depth · polygon_coverage_image · plane_topview · polygon_yaw_read

*Provenance: pegsym.py — DRIVE operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

search_expected_tries — DRIVE pegsym op