torque_decompose — DRIVE `tactorque` op

• Data kinds: matrix × matrix × scalar × scalar × scalar → table

• Call: import fullseye as fs; fs.ledger.torque_decompose(pts, u, area: 'float', G: 'float', nu: 'float', a: 'float | None' = None, window=None, radius: 'float | None' = None, coef: 'float | None' = None) -> 'dict' (to call the implementation directly, import tactorque; tactorque.torque_decompose(pts, u, area: 'float', G: 'float', nu: 'float', a: 'float | None' = None, window=None, radius: 'float | None' = None, coef: 'float | None' = None) -> 'dict'; from the registry, opsdrive.get("torque_decompose"))

Usage

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

マーカー場を 3 つの力学量に分ける: `translation = 窓内の平均変位(せん断 Q、単向成分)、omega` = 剛体回転角

(:func:rigid_rotation_fit)→ ねじり `Mz = (16Ga³/3) ω(無滑り Reissner–Sagoci、a が要る; omega_curl` = 平均 curl/2 は参考)、

`D = 発散双極子(面積重み)→ 傾き M1 = D / coef(coef 既定 = 半空間の閉形式 −(1−2ν)/(2G)、実機は較正値を渡す)、tau` = (−M1_y, M1_x)。

発散・curl は平均変位を引いても変わらない(定数の微分は 0)ので順序に依らない。窓 (cx, cy, R) は接触円に限る(半空間では純せん断が

窓全体に発散双極子を作るため、モジュール docstring 参照)。`radius` = 発散の近傍半径(必須)。

Raises ValueError: area, G ≤ 0、ν が [0, 0.5] の外、点の形、radius 無し、窓内の点が 3 未満。

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_tactile_dipole_torque — py -3.11 examples/poc_tactile_dipole_torque.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 (`tactorque`)

punch_pressure · punch_surface_uz · hertz_pressure_shifted · ellipse_pressure_shifted · pressure_first_moment · boussinesq_kernel · boussinesq_surface_displacement · surface_divergence_closed_form

*Provenance: tactorque.py — DRIVE operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

torque_decompose — DRIVE tactorque op