com_support_margin — DRIVE locomotion op

• データ種: vector × points → measurement

• 呼び出し: import fullseye as fs; fs.ledger.com_support_margin(com_xy, contacts, ground=None, contact_tol: 'float' = 0.02) -> 'float' (実装を直接呼ぶなら import locomotion; locomotion.com_support_margin(com_xy, contacts, ground=None, contact_tol: 'float' = 0.02) -> 'float'、台帳から引くなら opsdrive.get("com_support_margin"))

• GPU: なし(CPU 参照実装のみ)

使い方

Static stability margin: signed distance from the COM ground-projection to the support-polygon boundary (McGhee & Frank 1968).

com_xy is the COM projected onto the ground (x, y). Positive = the COM is inside the support polygon by that margin (statically stable, larger = safer); negative = outside (tipping). Returns the margin in world units (-inf if the polygon is degenerate / has no area).

★ground / contact_tol are forwarded to support_polygon — pass them (floor level z or plane [a, b, c, d]) so airborne feet are excluded. Without them the contacts are used as given and a lifted foot can turn a tipping robot into a "stable" one; pre-filter with contact_points in that case.

★2 足支持(線分)と 1 足(点)では面積が無いので -inf を返す(この値は変えない —— 変えると破壊的変更)。線分・点までの余裕が要るときは support_line_margin。Two-foot (segment) and one-foot support return -inf by contract; use support_line_margin for a finite margin there.

参考(サンプルデータ・文献)

• サンプルデータ カタログ(DL URL / ライセンス) — 2-D は skimage.data(BSD/public)+ 合成、3-D は実データ源(Stanford/PDS 等)の DL URL。

• 演算子の来歴・参考文献 — この op 族の元になった研究/手法の出典。

• アルゴリズムの正典(著者・年)と用途は上記ファミリ使い方ガイドに記載。

実行できる例(この op を実際に呼ぶ検証済みサンプル)

• consumer_hillco — py -3.11 examples/consumer_hillco.py

• consumer_onocollo — py -3.11 examples/consumer_onocollo.py

• physical_ai_perception — py -3.11 examples/physical_ai_perception.py

• walking_ops_tour — py -3.11 examples/walking_ops_tour.py

型が繋がる次の op(measurement を入力に取れる)

spin_from_marker_sequence · carla_transform_matrix · carla_pose_to_world · carla_camera_pose · carla_xy_yaw · carla_scene_load · town_chain · osm_parse

同カテゴリ(locomotion)

contact_points · com_from_silhouette · support_polygon · gait_phase · support_line_margin · lipm_capture_point · capture_margin · gait_step_events

*Provenance: locomotion.py — DRIVE operator registry. この per-op ノートは tools/opdocs.py md が自動生成(手編集しない)。*

© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.