roverslip op• Data kinds: any × signal × scalar → table
• Call: import fullseye as fs; fs.ledger.odometry_slip(position, wheel_angle, radius: 'float', window: 'int' = 1) -> 'dict' (to call the implementation directly, import roverslip; roverslip.odometry_slip(position, wheel_angle, radius: 'float', window: 'int' = 1) -> 'dict'; from the registry, opsdrive.get("odometry_slip"))
Actual slip ratio s = 1 − Δx / (r Δφ) from the visual-odometry position sequence and the cumulative wheel rotation angle.
> The detailed description below is the original text — the summary and the headings are translated.
position は (T,) の進んだ距離か (T, 2) の平面の位置 [m]、wheel_angle は (T,) の車輪の累積回転角 [rad]、radius = r [m]。window 個ぶんの区間でまとめて割る(短い区間は雑音を拾う)。車輪がほとんど回らない区間(r Δφ が全体の中央値の 1 % 未満)は nan。返り値 {"slip": (T − window,), "slip_total": 全区間の 1 個, "distance": 区間ごとの車体の移動 [m], "wheel_travel": 区間ごとの r Δφ [m]}。
• 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_rover_slip_risk_path — py -3.11 examples/poc_rover_slip_risk_path.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
roverslip)bekker_pressure · bekker_wheel_sinkage · wheel_forces · wheel_sinkage · wheel_traction_curve · slope_slip_curve · ground_shift_track · slip_gp_fit
*Provenance: roverslip.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.