lateral op• Data kinds: any → table
• Call: import fullseye as fs; fs.ledger.ackermann_steer_angles(radius, wheelbase: 'float', track: 'float') -> 'Dict[str, np.ndarray]' (to call the implementation directly, import drivelateral; drivelateral.ackermann_steer_angles(radius, wheelbase: 'float', track: 'float') -> 'Dict[str, np.ndarray]'; from the registry, opsdrive.get("ackermann_steer_angles"))
Ackermann inner and outer wheel steering angles (turning radius R at the center of the rear axle, wheelbase L, track width t).
> The detailed description below is the original text — the summary and the headings are translated.
δ_in = atan(L/(R − t/2))、δ_out = atan(L/(R + t/2))、2 輪等価 δ = atan(L/R)。cot δ_out − cot δ_in = t/L。
返り値: inner, outer, bicycle [rad]、front_inner_radius √((R − t/2)² + L²)、front_outer_radius、rear_inner_radius R − t/2、offtracking(定常の内輪差 = 前内輪 − 後内輪の半径)。
Raises ValueError: R ≤ t/2(内側の後輪が旋回の中心を越える)、L ≤ 0、t < 0。
• 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.
• poc_driving_lateral — py -3.11 examples/poc_driving_lateral.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
lateral)friction_circle_usage · curve_speed_limit · design_min_radius · understeer_gradient · steady_cornering · bicycle_model_step · offtracking_circle · rear_axle_path
*Provenance: drivelateral.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.