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Fig. 1. The four main classes of possible home vector. Left, geocentric rectangular
(x,y) and polar (r,
); right, egocentric rectangular
(x',y') and polar
(r',
'). N is the nest position,
A is the animal's position, the short arrow indicating its
orientation. We use the convention of measuring angles as positive
anti-clockwise from the x-axis or from the animal's body axis.