roverslip op• Data kinds: scalar × table × any → scalar
• Call: import fullseye as fs; fs.ledger.bekker_wheel_sinkage(load, wheel, soil, form: 'str' = 'classic') -> 'float' (to call the implementation directly, import roverslip; roverslip.bekker_wheel_sinkage(load, wheel, soil, form: 'str' = 'classic') -> 'float'; from the registry, opsdrive.get("bekker_wheel_sinkage"))
> This operator's description has not been translated yet. The original text follows as it is.
Bekker の剛な車輪の沈下の近似式 [m]。接地を放物線 `z(x) = z₀ − x²/D` で近似し、せん断は入れない。
`load は 1 輪の垂直荷重 [N]、D = 2r、k = k_c/b + k_φ。荷重は W = b k sqrt(D) z₀^(n+1/2) · I(n)`、
`I(n) = ∫₀¹ (1 − t²)ⁿ dt`。
`form = "classic": Bekker の教科書の式 z = [3W / ((3 − n) b k sqrt(D))]^(2/(2n+1))`。これは
`(1 − t²)ⁿ ≈ 1 − n t² と置いた I(n) ≈ (3 − n)/3` で、n = 1 でだけ厳密(n = 1.9 では I を 21 % 大きく
見積もり、沈下を 17 % 深く出す —— 2026-10-06 の試作で数値積分と比べて見つけた)。
`form = "parabolic": 同じ放物線のまま I(n) = √π Γ(n+1) / (2 Γ(n + 3/2))` を厳密に使う。小さな沈下
(z ≪ D)で :func:wheel_sinkage の数値積分(後側の接地なし、τ = 0)に収束する。
• 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
scalar as input)spin_from_marker_sequence · carla_transform_matrix · carla_pose_to_world · carla_camera_pose · carla_xy_yaw · carla_scene_load · town_chain · osm_parse
roverslip)bekker_pressure · wheel_forces · wheel_sinkage · wheel_traction_curve · slope_slip_curve · ground_shift_track · odometry_slip · slip_gp_fit
*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.