striker_plan — DRIVE `puck` op

• Data kinds: any × signal × table → table

• Call: import fullseye as fs; fs.ledger.striker_plan(crossing, q_now, link: 'dict', *, omega_max: 'float' = 6.0, t_now: 'float' = 0.0, margin: 'float' = 0.0) -> 'dict' (to call the implementation directly, import puck; puck.striker_plan(crossing, q_now, link: 'dict', *, omega_max: 'float' = 6.0, t_now: 'float' = 0.0, margin: 'float' = 0.0) -> 'dict'; from the registry, opsdrive.get("striker_plan"))

Usage

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

打点計画(規則): 予測の交点へ IK で関節角を出し、各サーボを一定角速度 ≤ ω_max で動かす。所要 = max|Δq|/ω_max。

交点の到着より先に着けば feasible。返り値 `{"feasible","reason","q_target","dq","t_move","t_arrive","t_cross","E"}`、

reason ∈ {"ok","no_crossing","unreachable","too_late"}。`crossing = :func:puck_crossing_point` の返り値(None 可)。

ω_max = 6 rad/s の既定は仮定。

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_air_hockey_intercept — py -3.11 examples/poc_air_hockey_intercept.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 (`puck`)

puck_table · puck_wall_bounce · puck_slide_predict · puck_state_at · puck_crossing_point · puck_mirror_path · puck_stop_distance · puck_camera

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

striker_plan — DRIVE puck op