pegsim op• Data kinds: table → table
• Call: import fullseye as fs; fs.ledger.whitney_clearance(kp=None) -> 'dict' (to call the implementation directly, import pegsim; pegsim.whitney_clearance(kp=None) -> 'dict'; from the registry, opsdrive.get("whitney_clearance"))
Whitney's dimensionless clearance and the thresholds that follow from it: c = (D − d)/D, c_r = R − r, θ_m = √(2c), the chamfer's tolerated misalignment, the wedging angle.
> The detailed description below is the original text — the summary and the headings are translated.
返り: c(clearance ratio、OCW p.11)、c_r(半径 clearance)、theta_m(小角の θ_m = √(2c)、p.9)、theta_m_exact (arccos(d/D): 水平断面の楕円の長半径 r/cos θ が R に達する角 —— √(2c) はその 2 次の近似)、eps_chamfer_max (W + c_r: 面取りが補正なしで救える初期横ずれ、導出)、theta_wedge(c/μ: 二点接触の始まりでこれより傾いているとくさびが起こりうる、p.28。μ = 0 なら inf)。
• 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_peg_failure_recovery — py -3.11 examples/poc_peg_failure_recovery.py
• poc_pegsim_insertion — py -3.11 examples/poc_pegsim_insertion.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
pegsim)peg_params · two_point_depth · wedging_check · jamming_diagram · chamfer_capture · contact_state_predict · circle_fit_known_radius · cylinder_fit_known_radius
*Provenance: pegsim.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.