lateral op• Data kinds: any → table
• Call: import fullseye as fs; fs.ledger.rear_axle_path(front_path, wheelbase: 'float', *, rear0=None) -> 'Dict[str, np.ndarray]' (to call the implementation directly, import drivelateral; drivelateral.rear_axle_path(front_path, wheelbase: 'float', *, rear0=None) -> 'Dict[str, np.ndarray]'; from the registry, opsdrive.get("rear_axle_path"))
Trajectory of the rear-axle center dragged without slip by a polyline trajectory of the front-axle center (an exact pursuit curve per segment).
> The detailed description below is the original text — the summary and the headings are translated.
前が直線を Δ 進む間、棒(後 → 前)と直線のなす角 θ は tan(θ/2) = tan(θ₀/2) e^{−Δ/L}(厳密)。折線の頂点ごとにこれを繋ぐ。rear0: 後車軸の初めの位置(None なら最初の区間の向きに L だけ後ろ = 真っすぐ)。|前 − 後| = L を要求。
返り値: rear (N, 2)、heading (N,)(車体の向き = 棒の向き)、gamma (N,)(棒と前の進む向きのなす角、左旋回で正)。
Raises ValueError: 形の誤り、重複点、L ≤ 0、|前 − 後| ≠ L、θ₀ = π(後ろ向きに押す)。
• 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 · ackermann_steer_angles · offtracking_circle
*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.