tacslip op• Data kinds: table × matrix × matrix × table × scalar × scalar → table
• Call: import fullseye as fs; fs.ledger.mindlin_model(hz: 'dict', X, Y, kern: 'dict', G: 'float', nu: 'float') -> 'dict' (to call the implementation directly, import tacslip; tacslip.mindlin_model(hz: 'dict', X, Y, kern: 'dict', G: 'float', nu: 'float') -> 'dict'; from the registry, opsdrive.get("mindlin_model"))
Inverse model that produces the Mindlin displacement field for any c/a via similarity laws (only 1 convolution).
The surface displacement of a Hertz-type tangential traction (radius R, peak q0) is u = q0·R·ĝ(x/R) (linear elasticity + non-dimensionalisation). Since the traction is the difference of q′ (radius a, peak μp0) and q″ (radius c, peak μp0·c/a), with g(x) = the field of peak 1 Pa and radius a, u(x; c) = μp0·[g(x) − (c/a)²·g(x·a/c)]. g is built on the grid with the Cerruti kernel; points where x·a/c falls outside the grid are filled with the asymptotic form of a point load (total force (2/3)πa²·1 Pa). The difference from the forward convolution is 0.05 % for the kernel and 0.13 % for the annulus. Returns gx, gy (n, n), Qunit, n, pitch, c0 (grid centre [px]), hz, G, nu. A model that linearly interpolated over a grid of c/a shifted c/a by 0.01 because the field is non-linear in c (discarded). Raises ValueError: shape mismatch, G ≤ 0.
Empty input (hz is an empty dict) raises ValueError.
• 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.
• gallery_drive_soil_tactile — py -3.11 examples/gallery_drive_soil_tactile.py
• poc_tacsim_marker_shear — py -3.11 examples/poc_tacsim_marker_shear.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
tacslip)mindlin_partial_slip · mindlin_traction · hertz_surface_ur · hertzian_tangential_inner · cerruti_kernel · cerruti_surface_displacement · membrane_shear_field · membrane_markers
*Provenance: tacslip.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.