puck op• Data kinds: signal × signal × table × scalar → table
• Call: import fullseye as fs; fs.ledger.puck_slide_predict(p0, v0, table: 'dict', t_end: 'float', *, model: 'str' = 'coulomb', max_bounces: 'int' = 50, goals: 'bool' = True, t0: 'float' = 0.0) -> 'dict' (to call the implementation directly, import puck; puck.puck_slide_predict(p0, v0, table: 'dict', t_end: 'float', *, model: 'str' = 'coulomb', max_bounces: 'int' = 50, goals: 'bool' = True, t0: 'float' = 0.0) -> 'dict'; from the registry, opsdrive.get("puck_slide_predict"))
Chains the puck path in closed form: constant direction and uniform deceleration per segment (wall to wall), puck_wall_bounce at the walls.
Clock: p₀ and v₀ are the state at time t0 (default 0), and t_end is the length from there. Segment times and crossing times are absolute times including t0 (if you pass the t_ref of velocity estimation as t0, crossing times come out on the camera's clock). model = "coulomb" (a = μg, with stopping) / "viscous" (a = (c/m) v, the damping in the Challenge's MJCF) / "none" (no friction). The time of hitting a wall is the closed-form solution of d(τ) = required distance (a quadratic equation or a logarithm). If goals=True, |y| < goal_half on the end walls is a goal (ends there, event "goal"). When the speed reaches 0, "stop"; timeout is "end". Return value {"segments": [{"t0","t1","p0","v0","u","s0","event"}, …], "t_end", "p_end", "v_end", "n_bounces", "events"}. Positions along the path via puck_state_at. Agrees with the mirror method (puck_mirror_path, no friction, e = kₜ = 1) to 1e-9 (gate).
• 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_air_hockey_intercept — py -3.11 examples/poc_air_hockey_intercept.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
puck)puck_table · puck_wall_bounce · puck_state_at · puck_crossing_point · puck_mirror_path · puck_stop_distance · puck_camera · puck_pinhole_camera
*Provenance: puck.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.