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</p><!--/introduction--><h2>Contents</h2><div><ul><li><a href="#1">Bicycle model</a></li><li><a href="#2">Initialization</a></li><li><a href="#3">Generalized coordinates and time derivatives</a></li><li><a href="#4">Alternative velocity related variables</a></li><li><a href="#5">Conversion variables</a></li><li><a href="#6">Position</a></li><li><a href="#7">Velocity</a></li><li><a href="#8">Slip angles</a></li><li><a href="