lateral op• Data kinds: none → table (an op determined by its arguments alone — it takes no image or data input)
• Call: import fullseye as fs; fs.ledger.clothoid_design(radius: 'float', length: 'float', speed: 'Optional[float]' = None) -> 'Dict[str, float]' (to call the implementation directly, import drivelateral; drivelateral.clothoid_design(radius: 'float', length: 'float', speed: 'Optional[float]' = None) -> 'Dict[str, float]'; from the registry, opsdrive.get("clothoid_design"))
Quantities for joining a straight line → circle (radius R) with a clothoid of length L.
Return value: A = √(R L), end_angle τ = L/(2R), end_point ((x, y) of the end point, Fresnel integrals), shift ΔR = y_end − R(1 − cos τ) (how far the circle is offset from the straight; approx. L²/(24R)), lateral_jerk (when speed v is given, v³/(R L) [m/s³] = P of Shortt's formula), min_length_3s (when v is given, the 3-second travel length 3v [m]).
Raises ValueError: R ≤ 0, L ≤ 0, v ≤ 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.
• poc_driving_lateral — py -3.11 examples/poc_driving_lateral.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
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.