Conventions¶

Terminology¶

1. 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".
2. 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".

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.

Definition of the various frames¶

• 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 points leftward, and z axis points upward
• World frame
• Site frame
• Mission frame
• Sensor Frame * Camera * Stereovision * Lidar