tactorque op• Data kinds: matrix × matrix → table
• Call: import fullseye as fs; fs.ledger.tactile_dipole_moment(pts, u, form: 'str' = 'divergence', origin='midpoint', weight: 'str' = 'area', area: 'float | None' = None, window=None, rho=None, radius: 'float | None' = None) -> 'dict' (to call the implementation directly, import tactorque; tactorque.tactile_dipole_moment(pts, u, form: 'str' = 'divergence', origin='midpoint', weight: 'str' = 'area', area: 'float | None' = None, window=None, rho=None, radius: 'float | None' = None) -> 'dict'; from the registry, opsdrive.get("tactile_dipole_moment"))
> This operator's description has not been translated yet. The original text follows as it is.
触覚双極子モーメント D = Σ_i w ρ_i r_i(2 成分)。`form`:
• `"divergence" —— 論文(arXiv 2404.15626)式 4–8: ρ_i = (∇·u)_i(rho を渡すか、radius で :func:marker_divergence`)。
• `"norm_cross"` —— 論文の基線(式 10–11、Yamaguchi & Atkeson 流): ρ_i = |u_i|(ベクトルのノルムを法線力の代わりに)。
l_i × f_i の傾き成分は (l_y|u|, −l_x|u|) で D を 90° 回したものなので、同じ「1 次モーメント」の枡で返す。零点後の対称な傾きでは
|u| が M の偶関数なので恒等的に 0(符号を知らない、門)。
• `"radial"` —— 本モジュールの変種: ρ_i = u_i · r̂_i(放射成分)。
`origin: "midpoint"(式 6–7、正負の重心の中点)/ "centre"`(pts の平均、基線の作法)/ (x0, y0)。
`weight: "area" = 1 点あたり面積 area [m²] を掛ける(閉形式の係数 −(1−2ν)/(2G) と比べられる、単位 m³)/ "mean"` = 1/N(論文)。
`window` = (cx, cy, R) なら半径 R 内の点だけ使う(せん断の漏れを切る窓、根拠はモジュール docstring)。valid でない点(nan)は除く。
返り `D (2,)、tau_dir = (−D_y, D_x)(式 9 の向き、係数なし)、origin、n、rho、form、keep`。
Raises ValueError: form/origin/weight が未知(綴り違いは fail-closed)、pts/u の形、area 無しの "area"、使える点が 3 未満。
• 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_tactile_dipole_torque — py -3.11 examples/poc_tactile_dipole_torque.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
tactorque)punch_pressure · punch_surface_uz · hertz_pressure_shifted · ellipse_pressure_shifted · pressure_first_moment · boussinesq_kernel · boussinesq_surface_displacement · surface_divergence_closed_form
*Provenance: tactorque.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.