locomotion op• Data kinds: points × any → points
• Call: import fullseye as fs; fs.ledger.contact_points(points, plane, tol: 'float' = 0.02) (to call the implementation directly, import locomotion; locomotion.contact_points(points, plane, tol: 'float' = 0.02); from the registry, opsdrive.get("contact_points"))
• Return value through the ledger: fullseye.ledger.contact_points(...) returns only the declared out type points (the underlying function also returns auxiliary values). When you need what was dropped, use fullseye.ledger.contact_points.raw(...) or call locomotion.contact_points directly.
• GPU: none (CPU reference implementation only)
Points lying within *tol* of a ground plane [a,b,c,d] = ground contacts.
> The detailed description below is the original text — the summary and the headings are translated.
Given a cloud and the fitted ground plane (see pcseg.fit_plane_ransac), returns (contacts (M,3), mask) — the feet/wheels/base actually touching the floor, the input to support_polygon.
空の入力(points が 0 要素)は(0, 3) の点と空の maskを返す(理由: 点が無ければ接地点も無い。拒否すると逐次の処理が止まる)。
• 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.
• consumer_onocollo — py -3.11 examples/consumer_onocollo.py
• walking_ops_tour — py -3.11 examples/walking_ops_tour.py
points as input)course_contains · ray_plane_range · ray_box_ranges · course_distance · mesh_signed_volume · fit_parabola · flight_fit · fit_aero
locomotion)com_from_silhouette · support_polygon · com_support_margin · gait_phase · support_line_margin · lipm_capture_point · capture_margin · gait_step_events
*Provenance: locomotion.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.