wheel_forces — DRIVE roverslip op

• Data kinds: signal × signal × table × any → table

• Call: import fullseye as fs; fs.ledger.wheel_forces(sinkage, slip, wheel, soil, n_quad: 'int' = 96) -> 'dict' (to call the implementation directly, import roverslip; roverslip.wheel_forces(sinkage, slip, wheel, soil, n_quad: 'int' = 96) -> 'dict'; from the registry, opsdrive.get("wheel_forces"))

Usage

> This operator's description has not been translated yet. The original text follows as it is.

沈下 z [m] と滑り率 s で、剛な車輪が土から受ける力(Wong–Reece の応力分布の数値積分)。

返り値 `{"Fz", "DP", "T", "theta_f", "theta_m", "theta_r"}`: 垂直力 [N]、牽引力(drawbar pull、前向き正)[N]、

駆動トルク [N·m]、角 [rad]。`sinkage・slip` はスカラーか同じ形に放送できる配列(0 ≤ z < r、−1 < s < 1)。

References (sample data, literature)

• 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.

Runnable examples (verified samples that actually call this op)

• poc_rover_slip_risk_path — py -3.11 examples/poc_rover_slip_risk_path.py

Ops the type connects to (they accept table as input)

course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same

Same category (roverslip)

bekker_pressure · bekker_wheel_sinkage · 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.