clothoid_points — DRIVE `lateral` op

• Data kinds: none → table (an op determined by its arguments alone — it takes no image or data input)

• Call: import fullseye as fs; fs.ledger.clothoid_points(length: 'float', s, *, kappa0: 'float' = 0.0, kappa1: 'float' = 0.0, start=(0.0, 0.0), heading0: 'float' = 0.0) -> 'Dict[str, np.ndarray]' (to call the implementation directly, import drivelateral; drivelateral.clothoid_points(length: 'float', s, *, kappa0: 'float' = 0.0, kappa1: 'float' = 0.0, start=(0.0, 0.0), heading0: 'float' = 0.0) -> 'Dict[str, np.ndarray]'; from the registry, opsdrive.get("clothoid_points"))

Usage

Points of a curve whose curvature is linear in arc length, κ(s) = κ₀ + (κ₁ − κ₀) s / length (part of a clothoid; a circular arc or straight line if κ₀ = κ₁).

s: arc length 0 ≤ s ≤ length (array). start, heading0: start point and heading at the start. Curvature turning left is positive. The clothoid part maps the standard form (A² = 1/|dκ/ds|) with Fresnel integrals and rotates it to match the start point and heading (no numerical integration). Return value: points (N, 2), heading (N,), curvature (N,), A (clothoid parameter; inf for arcs and straights).

Raises ValueError: length ≤ 0, s out of range, non-finite.

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_driving_lateral — py -3.11 examples/poc_driving_lateral.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 (`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).*

clothoid_points — DRIVE lateral op