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four wheel steering controller

Hello All,

I am looking at the code in the four_wheel_steering_controller package found in the ros-controllers repository: https://github.com/ros-controls/ros_controllers

I am wondering if someone can provide sources or explanations for the derivations of the four wheel drive/steering kinematics implemented in this controller. I can't for the life of me find anything on the web and starring at nested tan functions is difficult to visualize..

Thank you all,