lateral op• Data kinds: none → signal (an op determined by its arguments alone — it takes no image or data input)
• Call: import fullseye as fs; fs.ledger.stanley_straight_decay(e0: 'float', t, *, gain: 'float', speed: 'float', softening: 'float' = 0.0) -> 'np.ndarray' (to call the implementation directly, import drivelateral; drivelateral.stanley_straight_decay(e0: 'float', t, *, gain: 'float', speed: 'float', softening: 'float' = 0.0) -> 'np.ndarray'; from the registry, opsdrive.get("stanley_straight_decay"))
Closed form of the front-axle lateral offset e(t) under Stanley (unclipped) on a straight path.
ė = −v k e / √(a² + k² e²), a = k_s + v. F(e) = √(a² + k²e²) − a ln((a + √(a² + k²e²))/(k|e|)) satisfies dF/dt = −v k (constant). F(e(t)) = F(e₀) − v k t is solved by bisection on |e| ∈ (0, |e₀|] (F is monotonically increasing in |e|). For small e, e ≈ e₀' e^{−k t v/a} (exponential); for large e, |e| decreases roughly as v t (linear).
Raises ValueError: k ≤ 0, v ≤ 0, k_s < 0, t < 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.
• gallery_drive_lateral_env — py -3.11 examples/gallery_drive_lateral_env.py
signal as input)flight_vacuum · magnus_lift_coefficient · drag_coefficient_sphere · restitution_from_apexes · restitution_from_intervals · fit_parabola · flight_fit · fit_aero
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.