locomotion op• 数据种类:vector × points → measurement
• 调用: import fullseye as fs; fs.ledger.com_support_margin(com_xy, contacts, ground=None, contact_tol: 'float' = 0.02) -> 'float'(要直接调用实现,import locomotion; locomotion.com_support_margin(com_xy, contacts, ground=None, contact_tol: 'float' = 0.02) -> 'float';从台账取用则 opsdrive.get("com_support_margin"))
• GPU:无(仅 CPU 参考实现)
静态稳定裕度:COM 的地面投影到支撑多边形边界的有符号距离(McGhee & Frank 1968)。
> 以下的详细说明为原文 —— 摘要与标题已翻译。
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.
• 示例数据目录(下载 URL / 许可证) —— 2-D 用 skimage.data(BSD/公有领域)加合成图,3-D 给出真实数据源(Stanford/PDS 等)的下载 URL。
• 算子来历与参考文献 —— 该算子族所依据的研究/方法出处。
• 算法的正典(作者、年份)与用途见上面的族使用指南。
• 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
measurement 作为输入)spin_from_marker_sequence · carla_transform_matrix · carla_pose_to_world · carla_camera_pose · carla_xy_yaw · carla_scene_load · town_chain · osm_parse
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 算子登记表。本条目由 tools/opdocs.py md 自动生成(请勿手工编辑)。*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.