这个REP指定了ROS下移动机器人平台的坐标系命名规则和语义。
This REP specifies naming conventions and semantic meaning for coordinate frames of mobile platforms used with ROS.
程序基于物理组成贴体坐标系(PCBFC)，结合任意拉格朗日欧拉坐标法(ale)实现网格的移动。
It is based on physical component and body-fitted coordinate (PCBFC), and applies arbitrary Lagrangian Eulerian (ALE) method to realize the grid moving.
map坐标是不连续的，这意味着在map坐标系中移动平台的姿态可以随时发生离散的跳变。
The map frame is not continuous, meaning the pose of a mobile platform in the map frame can change in discrete jumps at any time.
此文给出了在任意坐标系下视点移动后生成新视图的公式，以及具体推导过程。
In this thesis, the authors have given the process that the view is synthesized after the motion of viewpoint in the arbitrary coordinate system and the process of specific speculation.
例如，本rep指定了写一个定位模块中必须的坐标系，它还指定跟移动机器人底座相关的坐标系。
For example, this REP specifies the frames necessary for writing a new localization component. It also specifies frames that can be used to refer to the mobile base of a robot.
相对于map坐标系的移动平台的姿态，不应该随时间显著移动。
The pose of a mobile platform, relative to the map frame, should not significantly drift over time.
然而，在odom坐标系中的机器人的姿态能够保证是连续的，这意味着在odom坐标系中的移动平台的姿态总是平滑变化，没有跳变。
However, the pose of a robot in the odom frame is guaranteed to be continuous, meaning that the pose of a mobile platform in the odom frame always evolves in a smooth way, without discrete jumps.
这种移动使得odom坐标系不能作为长期的全局参考。
This drift makes the odom frame useless as a long-term global reference.
这种移动使得odom坐标系不能作为长期的全局参考。
This drift makes the odom frame useless as a long-term global reference.
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