boussinesq_kernel — DRIVE tactorque op

• Data kinds: scalar × scalar × scalar × scalar → table

• Call: import fullseye as fs; fs.ledger.boussinesq_kernel(n: 'int', pitch: 'float', G: 'float', nu: 'float', sub: 'int' = 4, with_uz: 'bool' = True) -> 'dict' (to call the implementation directly, import tactorque; tactorque.boussinesq_kernel(n: 'int', pitch: 'float', G: 'float', nu: 'float', sub: 'int' = 4, with_uz: 'bool' = True) -> 'dict'; from the registry, opsdrive.get("boussinesq_kernel"))

Usage

Discrete kernel (2n grid, already rfft2-transformed) of the surface displacement produced by normal pressure (uniform 1 Pa on 1 pixel = pitch²): Kx = ū_x, Ky = ū_y (tangential, −(1−2ν)/(4πG) · x/r² and y/r², point-load solution of Johnson 1985 §3.2), and with with_uz also Kz = ū_z ((1−ν)/(2πGr)). Pixel-averaged (sub² subsamples). Center pixel: ∫□ x/r² dA = 0 (odd function), ∫□ 1/r dA = 4h ln(1+√2) (analytic value). Normal-load counterpart built the same way as tacslip.cerruti_kernel (tangential → tangential). Raises ValueError: n < 8, pitch, G ≤ 0, ν outside [0, 0.5].

References (sample data, literature)

• 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.

Runnable examples (verified samples that actually call this op)

• poc_tactile_dipole_torque — py -3.11 examples/poc_tactile_dipole_torque.py

Ops the type connects to (they accept table as input)

course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same

Same category (tactorque)

punch_pressure · punch_surface_uz · hertz_pressure_shifted · ellipse_pressure_shifted · pressure_first_moment · boussinesq_surface_displacement · surface_divergence_closed_form · tilt_shear_field

*Provenance: tactorque.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.