Orientation is irrelevant here)</span>
<span class="comment">% Orientation can be neglected, i.e., for the truck: Orientation=PSI=0</span>
ALPHAF = subs(ALPHAF_def,PSI,0);
ALPHAR = subs(ALPHAR_def,PSI,0);
</pre><pre class="codeinput">disp(ALPHAF)
</pre><pre class="codeoutput">- deltaf + atan2(a*dPSI + VT*sin(ALPHAT), VT*cos(ALPHAT))
 
</pre><pre class="codeinput">disp(ALPHAR)
</pre><pre class="codeoutput">- deltar + atan2(VT*sin(ALPHAT) - b*dPSI, VT*cos(ALPHAT))
 
</pre><h2 id="11">Forces</h2><p>
<p>Force v