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.
> The detailed description below is the original text — the summary and the headings are translated.
時計: p₀・v₀ は時刻 t0(既定 0)の状態、t_end はそこからの長さ。区間の時刻と交点の時刻は t0 を含む絶対時刻 (速度推定の t_ref を t0 に渡せば交点の時刻がカメラの時計で出る)。model = "coulomb"(a = μg、停止あり)/ "viscous"(a = (c/m) v、Challenge の MJCF の減衰)/ "none"(摩擦なし)。壁に当たる時刻は d(τ) = 必要距離 の閉形式解(二次方程式か対数)。goals=True なら端の壁の |y| < goal_half はゴール(そこで終わる、event "goal")。速さが 0 になれば "stop"、時間切れは "end"。返り値 {"segments": [{"t0","t1","p0","v0","u","s0","event"}, …], "t_end", "p_end", "v_end", "n_bounces", "events"}。
経路の位置は puck_state_at。鏡映法(puck_mirror_path、摩擦なし・e = kₜ = 1)と 1e-9 で一致(門)。
• 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.