lateral_offset — DRIVE `lateral` op

• Data kinds: any → table

• Call: import fullseye as fs; fs.ledger.lateral_offset(points, path, *, start_index=None, window: 'int' = 40) -> 'Dict[str, np.ndarray]' (to call the implementation directly, import drivelateral; drivelateral.lateral_offset(points, path, *, start_index=None, window: 'int' = 40) -> 'Dict[str, np.ndarray]'; from the registry, opsdrive.get("lateral_offset"))

Usage

Arc length s along a polyline path and lateral offset n (positive to the left of the direction of travel) of a point. Projection onto the nearest segment.

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

start_index(点ごと、または 1 つ)を与えると、その区間の前後 window 区間だけを調べる(繰り返しを速くする。窓の外に本当の最寄りがあると誤るので、点が少しずつ動くときに使う)。None なら全区間を調べる。

返り値: s, n, index(区間)、heading(その区間の向き)。点 (2,) ならスカラー。

Raises ValueError: 形の誤り、start_index が範囲外。

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).*

lateral_offset — DRIVE lateral op