locomotion op• 資料種類:matrix → table
• 呼叫: import fullseye as fs; fs.ledger.gait_phase(foot_heights, stance_frac: 'float' = 0.25, ground=None, contact_tol=None)(要直接呼叫實作,import locomotion; locomotion.gait_phase(foot_heights, stance_frac: 'float' = 0.25, ground=None, contact_tol=None);從台帳取用則 opsdrive.get("gait_phase"))
• GPU:無(僅 CPU 參考實作)
依高度逐格把每隻腳分類為支撐相(著地)或擺動相。
> 以下的詳細說明為原文 —— 摘要與標題已翻譯。
foot_heights is (T, F) — the height of each of F feet over T frames. Returns {stance (T,F bool), duty_factor (F,), n_contacts (T,), double_support} (duty factor, Alexander 1984; how many feet are down each frame; fraction of frames with >=2 feet down).
★Stance is defined against a ground reference:
• ground given (recommended for anti-cheat) — a foot is stance only when it is within contact_tol of the absolute floor level ground. This is the honest test: an airborne / hopping / frozen-in-air foot is correctly NOT stance. contact_tol defaults to stance_frac × the foot's own range.
• ground=None (default, backward-compatible) — stance is inferred from each foot's OWN height range (within stance_frac of its per-foot minimum). ★This heuristic CANNOT tell a foot planted on the floor from a foot at the bottom of an airborne trajectory, so it must NOT be used as a stability / cheat gate — pass ground for that.
• 範例資料目錄(下載 URL / 授權) —— 2-D 用 skimage.data(BSD/公有領域)加合成圖,3-D 給出真實資料源(Stanford/PDS 等)的下載 URL。
• 運算子來歷與參考文獻 —— 該運算子族所依據的研究/方法出處。
• 演算法的正典(作者、年份)與用途見上面的族使用指南。
• consumer_hillco — py -3.11 examples/consumer_hillco.py
• consumer_onocollo — py -3.11 examples/consumer_onocollo.py
• walking_ops_tour — py -3.11 examples/walking_ops_tour.py
table 作為輸入)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
locomotion)contact_points · com_from_silhouette · support_polygon · com_support_margin · support_line_margin · lipm_capture_point · capture_margin · gait_step_events
*Provenance: locomotion.py — DRIVE 運算子登記表。本條目由 tools/opdocs.py md 自動產生(請勿手動編輯)。*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.