}{ v_{\rm T} \cos \left( \psi + \alpha_{\rm T} \right) + b \dot{\psi} \sin \psi} \right) - \left( \delta_{\rm R} + \psi \right) \label{eq:slipangleRfull}
% \end{eqnarray}
% </p>
% <p>Since the definition of slip angle does not actually depend on the orientation, the orientation may be considered zero for simplification. For the tractor, orientation is \(\psi\). Thus, (\(\psi=0\)) in \ref{eq:slipangleFfull} and \ref{eq:slipangleRfull}. Then </p>
% <p>
% \begin{eqnarray}
% \nonumber \alpha_{\rm F} &=& \arctan