lateral op• Data kinds: none → signal (an op determined by its arguments alone — it takes no image or data input)
• Call: import fullseye as fs; fs.ledger.stanley_straight_decay(e0: 'float', t, *, gain: 'float', speed: 'float', softening: 'float' = 0.0) -> 'np.ndarray' (to call the implementation directly, import drivelateral; drivelateral.stanley_straight_decay(e0: 'float', t, *, gain: 'float', speed: 'float', softening: 'float' = 0.0) -> 'np.ndarray'; from the registry, opsdrive.get("stanley_straight_decay"))
Closed form of the front-axle lateral offset e(t) under Stanley (unclipped) on a straight path.
> The detailed description below is the original text — the summary and the headings are translated.
ė = −v k e / √(a² + k² e²)、a = k_s + v。F(e) = √(a² + k²e²) − a ln((a + √(a² + k²e²))/(k|e|)) は dF/dt = −v k(一定)。F(e(t)) = F(e₀) − v k t を |e| ∈ (0, |e₀|] の二分法(F は |e| に単調増加)で解く。小さい e では e ≈ e₀' e^{−k t v/a}(指数)、大きい e では |e| がほぼ v t で減る(直線)。
Raises ValueError: k ≤ 0、v ≤ 0、k_s < 0、t < 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.
• (none yet)
signal as input)flight_vacuum · magnus_lift_coefficient · drag_coefficient_sphere · restitution_from_apexes · restitution_from_intervals · fit_parabola · flight_fit · fit_aero
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).*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.