} = \{ {\rm T} {\bf t}_x {\bf t}_y {\bf t}_z \}\) is fixed to the simple vehicle. The vector basis \(\{ {\rm F} {\bf e}_x {\bf e}_y {\bf e}_z \}\) is fixed to the front axle.</p>
<p>The center of gravity of the vehicle is located at the point \({\rm T}\). The front and rear axles are located at the points \({\rm F}\) and \({\rm R}\), respectively. Point \({\rm O}\) is the origin. The constant \(a\) measures the distance of point \({\rm F}\) to \({\rm T}\) and \(b\) the distance of point \({\rm T}\) to \({\r