Newton made clear his heliocentric view of the Solar System—developed in a somewhat modern way because already in the mid-1680s he recognised the "deviation of the Sun" from the centre of gravity of the Solar System. For Newton, it was not precisely the centre of the Sun or any other body that could be considered at rest, but rather "the common centre of gravity of the Earth, the Sun and all the Planets is to be esteem'd the Centre of the World", and this centre of gravity "either is at rest or moves uniformly forward in a right line" (Newton adopted the "at rest" alternative in view of common consent that the centre, wherever it was, was at rest).