Conventions » History » Version 2
Simon Lacroix, 2018-04-01 15:53
| 1 | 1 | Simon Lacroix | h1. Conventions |
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| 3 | h2. Terminology |
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| 5 | # A *pose* is the position of a given frame with respect to a reference frame. Whenever one writes or says the word "pose", one must say the "pose of which frame with respect to which frame". |
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| 6 | # A *transform* is the 3D transformation from one frame to an other one. Whenever one writes or says the word "transform", one must say the "transform from which frame to which frame". |
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| 8 | Note these two words are exactly the same concept, they denote the same data structure. They can be used indifferently, provided one use them according to the convention above. |
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| 10 | h2. Definition of the various frames |
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| 11 | 2 | Simon Lacroix | |
| 12 | * The *Robot Body Frame* (aka the *RBF*) is a frame attached to the robot body. Its origin is the center of the robot, at the ground level when the robot lies on a flat ground. Its x axis points forward, its y axis leftward, and z axis upward |