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Simon Lacroix, 2018-04-01 15:55

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h1. Conventions
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h2. Terminology
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# 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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# 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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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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h2. Definition of the various frames
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* 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
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* World frame
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* Site frame
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* Mission frame
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* Sensor Frame
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** Camera
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** Stereovision
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** Lidar