coordinateframe
A coordinate frame, or reference frame, is a system used to assign numerical coordinates to points in space. It consists of an origin point and a set of axes that define direction and scale. The orientation of the axes gives the frame its handedness, commonly right-handed in 3D, and the units determine the scale of coordinates. In a Cartesian frame, points are described by orthogonal unit vectors along three axes, resulting in coordinates (x, y, z). More general frames may use non-orthogonal or curvilinear bases, such as cylindrical or spherical coordinate systems, or arbitrary affine bases defined by a basis matrix.
Coordinates of a point are expressed relative to the chosen frame. Changing from one frame to another
Frames can be global (world) frames or local (object, sensor, or body) frames. A collection of frames