% P_{T/O}</span>

<span class="comment">% Relative positions</span>
PFT_t = [ a*cos(PSI_t)  a*sin(PSI_t) 0];                        <span class="comment">% P_{F/T}</span>
PRT_t = [-b*cos(PSI_t) -b*sin(PSI_t) 0];                        <span class="comment">% P_{R/T}</span>

<span class="comment">% Axle position</span>
PFO_t = PFT_t + PTO_t;                                          <span class="comment">% P_{F/O}</span>
PRO_t = PRT_t + PTO_t ;                                         <span class="comment">% P