
% Array to switch symfun <-> sym

symfunVariables = [q_t  dq_t    ddq_t   altVar_t    altVarD1_t  ];
symVariables    = [q    dq      ddq     altVar      altVarD1    ];

%% Position
% <html>
% <p>The position of the CG of the tractor relative to the origin \({\rm O}\) is</p>
% <p>
% \begin{equation*} {\bf p}_{{\rm T}/{\rm O}} = x \, {\bf i} + y \, {\bf j}. \end{equation*}
% </p>
% <p>Relative positions are</p>
% <p>
% \begin{eqnarray}
% \nonumber {\bf p}_{{\rm F}/{\rm T}} &=& a \cos \psi {\bf i} + a \sin \p