roverslip op• Data kinds: image2d × scalar × any → table
• Call: import fullseye as fs; fs.ledger.cvar_cost_map(dtm, cell: 'float', model, alpha: 'float' = 0.9, speed: 'float' = 0.05, s_max: 'float' = 0.9, soil_map=None, extrapolate: 'bool' = False) -> 'dict' (to call the implementation directly, import roverslip; roverslip.cvar_cost_map(dtm, cell: 'float', model, alpha: 'float' = 0.9, speed: 'float' = 0.05, s_max: 'float' = 0.9, soil_map=None, extrapolate: 'bool' = False) -> 'dict'; from the registry, opsdrive.get("cvar_cost_map"))
From a digital terrain model (DTM), builds the travel time [s] of each 8-neighbor edge, discounted by the CVaR_α of the slip at the edge's slope (signed by the direction of travel).
dtm (H, W) [m], cell [m]. For edge (i, j) → neighbour k, slope θ = atan2(Δz, 水平距離), pessimistic slip ρ = CVaR_α(s(θ)) (θ ≥ 0) / CVaR_α(−s(θ)) (θ < 0), travel time L / (v (1 − ρ)), L being the 3-D edge length. ρ ≥ s_max and out-of-range are inf. With extrapolate = False (default), edges with slopes outside the angle range of the data the model was fitted to (x_range) are also inf (do not traverse slopes we do not know) —— a Gaussian process reverts to the prior mean outside the data, so if allowed to extrapolate it answers "no slip" the steeper the slope (the gate's trap). alpha = 0 gives the mean slip (risk-neutral). model is a single one, or a list of K paired with soil_map (H, W integers 0..K−1). Return value {"cost": (8, H, W), "risk_slip": (8, H, W), "pitch": (8, H, W) [deg], "offsets": (8, 2), "worst_slip": (H, W) 8 方向の ρ の最大, "alpha", "cell"}. Cross slope (rollover, side slip) is not included.
• 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_rover_slip_risk_path — py -3.11 examples/poc_rover_slip_risk_path.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
roverslip)bekker_pressure · bekker_wheel_sinkage · wheel_forces · wheel_sinkage · wheel_traction_curve · slope_slip_curve · ground_shift_track · odometry_slip
*Provenance: roverslip.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.