\subsection{Positioning}
\shortdefinition[Position Vector]
$_{\color{blue}\fbox{W}}\,\vec{t}\,_{\color{red}\fbox{B}} = \, _{\color{blue}\fbox{W}}\,\vec{t}\,_{\color{ForestGreen}\fbox{W}}\,_{\color{red}\fbox{B}}$,
{\color{blue} Original Frame}, {\color{red} End point}, {\color{ForestGreen} Target Frame}

\shortdefinition[State vector] $x_R$: $x$, $v$ of rob in $W$, pos of sensors