course_layout — DRIVE course op

• Data kinds: table × table → table

• Call: import fullseye as fs; fs.ledger.course_layout(elements, placements) (to call the implementation directly, import drivecourse; drivecourse.course_layout(elements, placements); from the registry, opsdrive.get("course_layout"))

Usage

Places multiple elements by rigid motions (x, y, yaw) and combines them into 1 dict.

> The detailed description below is the original text — the summary and the headings are translated.

各要素の polygon / centerline / rails / stop_lines は点として、entry / exit / signal_poses は姿勢として(yaw も回す)変換する。profile(坂道の (s, z))は要素の局所弧長なのでそのまま。返り値は {"kind": "layout", "elements": [変換済み要素(各々 "placement" を持つ)], "polygon": None, "bounds": (xmin, xmax, ymin, ymax), "placements": [...]}。内外判定は要素の和(course_contains / course_occupancy)。要素の重なりは和として扱う。

Raises ValueError: 要素が空・要素と配置の数が違う・要素が dict でない・配置が 3 要素で有限でない。

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_longitudinal — py -3.11 examples/poc_driving_longitudinal.py

• poc_driving_school — py -3.11 examples/poc_driving_school.py

• poc_driving_weather — py -3.11 examples/poc_driving_weather.py

• poc_ttc_rss — py -3.11 examples/poc_ttc_rss.py

• poc_world_terrain — py -3.11 examples/poc_world_terrain.py

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

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

Same category (course)

course_crank · course_s_curve · course_turnaround · course_slope · course_intersection · course_parallel_parking · course_crossing · course_road

*Provenance: drivecourse.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.