What does body frame mean?

The coordinate frame fixed to the robot, which turns as the robot turns. On the BugBot its x axis points to the robot's right and its y axis straight ahead; drive() commands and flow() readings are in this frame.

Also written as: body frames

In a lesson

drive(fwd, lat, rot) is a body frame command. position() is a world frame answer. Anything that connects them has to know the heading.

Learn it

• Taught in U2.1 Two frames Kinematics and frames, University

Used in

• U2.2 The rotation matrix
• U2.5 Inverse kinematics
• U3.2 Write your own odometry
• U10.3 Cross-track error
• U10.4 Pure pursuit

All glossary terms