Frame Tags Reference

This page serves as a reference for the standard frame tags available in the refx library. Frame tags are metadata used to classify coordinate frames based on their function and type, which is crucial for ensuring type-safe and accurate transformations.

Tag	Description
Geocentric / Global Frames
ecef	Earth-Centered, Earth-Fixed. A global Cartesian frame.
lla	Geodetic Latitude, Longitude, Altitude.
lld	Geodetic Latitude, Longitude, Down.
Local Tangent Frames
ned	North-East-Down. A right-handed local Cartesian frame.
enu	East-North-Up. A right-handed local Cartesian frame.
nwu	North-West-Up. A right-handed local Cartesian frame.
wa_generic	Generic Wander Azimuth. A generic local Cartesian frame, templated wrt axis orientation.
wa_ned	Wander Azimuth. A standard generic local Cartesian frame (underlying NED).
wa	Alias for wa_ned.
wa_enu	Wander Azimuth. A generic local Cartesian frame (underlying ENU).
aer	Azimuth, Elevation, Range. A local spherical frame.
Body-Fixed Frames
frd	Forward-Right-Down. A right-handed body frame (aerospace standard).
flu	Forward-Left-Up. A right-handed body frame (robotics standard, ROS).
rfu	Right-Forward-Up. A right-handed body frame (vision standard).
ssh	Surge-Sway-Heave. A velocity frame for marine robotics.
Sensor-Fixed Frames
imu	[Forward-Left-Up]. A right-handed frame usually related to Inertial Sensor suites.
camera	[Right-Down-Forward]. A right-handed camera (pinhole) frame.