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Figure 1


Fig. 1. Definition of kinematic frames of reference. The fixed lab frame (xf, yf, zf) is a right-handed coordinate system with the positive zf-axis pointing down towards the ground. A second frame of reference (xb, yb, zb) has its origin at the fly's center of mass with the xb-axis oriented along the long body axis towards the animal's head, the yb-axis oriented parallel to the fly's right wing, and the zb-axis positioned perpendicular to the xb- and yb-axes and directed towards the ventral surface of the animal. Right-wing down rotation about the xb-axis is positive roll, nose-up rotation around the yb-axis is positive pitch, and a turn to the fly's right around the zb-axis is positive yaw. For each video frame, a unit quaternion q specifies the rotation from body-centered coordinates to the fixed lab coordinates necessary to achieve the attitude of the fly in that frame.





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