locomotion op• 資料種類:points → table
• 呼叫: import fullseye as fs; fs.ledger.support_polygon(contacts, ground=None, contact_tol: 'float' = 0.02) -> 'dict'(要直接呼叫實作,import locomotion; locomotion.support_polygon(contacts, ground=None, contact_tol: 'float' = 0.02) -> 'dict';從台帳取用則 opsdrive.get("support_polygon"))
• GPU:無(僅 CPU 參考實作)
地面接觸點的凸支撐多邊形(地面 x, y 平面)。
> 以下的詳細說明為原文 —— 摘要與標題已翻譯。
Returns {vertices (M,2 CCW), area, perimeter, centroid}. With <3 distinct points it degenerates gracefully (a point or a segment, area = 0). This is the base of support a static-stability check is measured against. 空の入力(contacts が 0 要素)は頂点 0 個・面積 0 の多角形を返す(理由: 足が 1 つも接地していない状態そのもの。重心は nan)。
★Precondition — only feet ACTUALLY TOUCHING the floor may take part: every contact is projected to (x, y), so a lifted foot out at some far x/y inflates the polygon and can make a tipping robot read as statically stable.
• ground given (recommended for anti-cheat) — a floor level z or a plane [a, b, c, d]; contacts further than contact_tol from it are filtered out here, so an airborne foot supports nothing.
• ground=None (default, backward-compatible) — no z check at all; the caller MUST pre-filter with contact_points.
• 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
• physical_ai_perception — py -3.11 examples/physical_ai_perception.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 · com_support_margin · gait_phase · 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.