locomotion op• 数据种类:points → table
• 调用: import fullseye as fs; fs.ledger.support_polygon(contacts, ground=None, contact_tol: 'float' = 0.02) -> 'dict'(要直接调用实现,import locomotion; locomotion.support_polygon(contacts, ground=None, contact_tol: 'float' = 0.02) -> 'dict';从台账取用则 opsdrive.get("support_polygon"))
• GPU:无(仅 CPU 参考实现)
地面接触点的凸支撑多边形(地面 x, y 平面)。
> 以下的详细说明为原文 —— 摘要与标题已翻译。
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.
• 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
table 作为输入)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 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.