pegsim op• Data kinds: table → table
• Call: import fullseye as fs; fs.ledger.whitney_clearance(kp=None) -> 'dict' (to call the implementation directly, import pegsim; pegsim.whitney_clearance(kp=None) -> 'dict'; from the registry, opsdrive.get("whitney_clearance"))
Whitney's dimensionless clearance and the thresholds that follow from it: c = (D − d)/D, c_r = R − r, θ_m = √(2c), the chamfer's tolerated misalignment, the wedging angle.
Returns: c (clearance ratio, OCW p.11), c_r (radial clearance), theta_m (small-angle θ_m = √(2c), p.9), theta_m_exact (arccos(d/D): the angle at which the semi-major axis r/cos θ of the ellipse of the horizontal cross-section reaches R — √(2c) is its second-order approximation), eps_chamfer_max (W + c_r: the initial lateral offset a chamfer can rescue without correction, derived), theta_wedge (c/μ: if tilted more than this at the onset of two-point contact, wedging can occur, p.28; inf if μ = 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_peg_failure_recovery — py -3.11 examples/poc_peg_failure_recovery.py
• poc_pegsim_insertion — py -3.11 examples/poc_pegsim_insertion.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
pegsim)peg_params · two_point_depth · wedging_check · jamming_diagram · chamfer_capture · contact_state_predict · circle_fit_known_radius · cylinder_fit_known_radius
*Provenance: pegsim.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.