tip_force_ratios — DRIVE pegfail op

• Data kinds: table × signal × signal × signal → table

• Call: import fullseye as fs; fs.ledger.tip_force_ratios(kp, F, M_tip, e_x) -> 'dict' (to call the implementation directly, import pegfail; pegfail.tip_force_ratios(kp, F, M_tip, e_x) -> 'dict'; from the registry, opsdrive.get("tip_force_ratios"))

Usage

Converts the tip load (F⃗, M⃗) into Whitney's ratios: x = F⃗·e_x / F_z, y = M⃗·(e_x × ẑ) / (r F_z), F_z = −F⃗·ẑ (positive when pushing in). If F_z ≤ 1e-6 N, the ratios are None (cannot divide). e_x is the horizontal unit vector (convention of jamming_force_check). Raises ValueError: e_x has no horizontal component.

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_peg_failure_recovery — py -3.11 examples/poc_peg_failure_recovery.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 (pegfail)

insertion_failure_table · insertion_failure_validate · insertion_signature · insertion_failure_classify · insertion_recovery_primitive · jamming_parallelogram_planar · jamming_force_check · wedging_risk

*Provenance: pegfail.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.