locomotion op• Data kinds: vector × points → measurement
• Call: import fullseye as fs; fs.ledger.support_line_margin(com, contacts, ground=None, contact_tol: 'float' = 0.02) -> 'float' (to call the implementation directly, import locomotion; locomotion.support_line_margin(com, contacts, ground=None, contact_tol: 'float' = 0.02) -> 'float'; from the registry, opsdrive.get("support_line_margin"))
• GPU: none (CPU reference implementation only)
Support margin that is defined for EVERY support set, including two-foot (segment) support.
> The detailed description below is the original text — the summary and the headings are translated.
支持の形がどれでも値を持つ静的安定余裕。com_support_margin は支持多角形に面積が無いとき(2 足支持 = 線分、1 足 = 点)-inf を返す ―― 2 足で立つ人型の大半の時間が「測れない」になる穴がある。既存の値を変えると破壊的変更なので、この op を別に足した。
• 面積のある多角形: com_support_margin と同じ符号つき距離(+ = 内側)。
• 線分(2 足、または一直線に並んだ足): COM の地面への射影から閉じた線分までの距離に 負号を付けた値(-dist)。線分の上でちょうど 0、離れるほど負。線分には内側が無いので正にはならない(刃の上で釣り合うのが最良)。点と線分の距離は閉形式 t = clip(((p-a)·(b-a))/|b-a|², 0, 1)。
• 点(1 足): -|p - foot|。
com は (x, y) か (x, y, z)(z は使わない)。contacts は (N, 2) / (N, 3)。ground / contact_tol は support_polygon に渡す(宙に浮いた足を外す)。単位は入力の世界単位。足が 1 つも無い(フィルタ後も含む)ときは ValueError (支えが無いことを -inf で黙って返さない)。
English: polygon with area -> the same signed distance as com_support_margin; segment -> -distance to the closed segment (0 on it, never positive: a line has no interior); single foot -> -distance to that foot; no foot -> ValueError. The first source of the segment rule is fullseye_shows/common/measure.py (support_line_margin, same author).
• 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.
• walking_ops_tour — py -3.11 examples/walking_ops_tour.py
measurement as input)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 · com_support_margin · gait_phase · 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.