You did lucid dream. Now there may be a distinction between lucid dreaming and out of body experience.
A lucid dream is simply that. A dream in which you became lucid or aware that you were dreaming.
Whether you had more or less control is a different issue altogether. That is a matter of technique not a question of lucidity.
Pick-up the book, "The Art of Lucid Dreaming" by Stephen LaBerge.
