(self, Lagrangian, q_list, coneqs=None, forcelist=None, frame=None)
Supply the following for the initialization of LagrangesMethod

        Lagrangian : Sympifyable

        q_list : list
            A list of the generalized coordinates

        coneqs : list
            A list of the holonomic and non-holonomic constraint equations.
            VERY IMPORTANT NOTE- The holonomic constraints must be
            differentiated with respect to time and then included in coneqs.

        forcelist : list
            Takes a list of (Point, Vector) or (ReferenceFrame, Vector) tuples
            which represent the force at a point or torque on a frame. This
            feature is primarily to account for the nonconservative forces
            amd/or moments.

        frame : ReferenceFrame
            Supply the inertial frame. This is used to determine the
            generalized forces due to non-sonservative forces.
Supply the following for the initialization of LagrangesMethod
Supply the following for the initialization of LagrangesMethod
def __init__(self, Lagrangian, q_list, coneqs=None, forcelist=None, frame=None):
        """Supply the following for the initialization of LagrangesMethod

        Lagrangian : Sympifyable

        q_list : list
            A list of the generalized coordinates

        coneqs : list
            A list of the holonomic and non-holonomic constraint equations.
            VERY IMPORTANT NOTE- The holonomic constraints must be
            differentiated with respect to time and then included in coneqs.

        forcelist : list
            Takes a list of (Point, Vector) or (ReferenceFrame, Vector) tuples
            which represent the force at a point or torque on a frame. This
            feature is primarily to account for the nonconservative forces
            amd/or moments.

        frame : ReferenceFrame
            Supply the inertial frame. This is used to determine the
            generalized forces due to non-sonservative forces.

        """

        self._L = sympify(Lagrangian)
        self.eom = None  # initializing the eom Matrix
        self._m_cd = Matrix([])  # Mass Matrix of differentiated coneqs
        self._m_d = Matrix([])  # Mass Matrix of dynamic equations
        self._f_cd = Matrix([])  # Forcing part of the diff coneqs
        self._f_d = Matrix([])  # Forcing part of the dynamic equations
        self.lam_coeffs = Matrix([])  # Initializing the coeffecients of lams

        self.forcelist = forcelist
        self.inertial = frame

        self.lam_vec = Matrix([])

        self._term1 = Matrix([])
        self._term2 = Matrix([])
        self._term3 = Matrix([])
        self._term4 = Matrix([])

        # Creating the qs, qdots and qdoubledots

        q_list = list(q_list)
        if not isinstance(q_list, list):
            raise TypeError('Generalized coords. must be supplied in a list')
        self._q = q_list
        self._qdots = [diff(i, dynamicsymbols._t) for i in self._q]
        self._qdoubledots = [diff(i, dynamicsymbols._t) for i in self._qdots]

        self.coneqs = coneqs
def __init__ ( self , Lagrangian , q_list , coneqs = None , forcelist = None , frame = None ) : self . _L = sympify ( Lagrangian ) self . eom = None # initializing the eom Matrix self . _m_cd = Matrix ( [ ] ) # Mass Matrix of differentiated coneqs self . _m_d = Matrix ( [ ] ) # Mass Matrix of dynamic equations self . _f_cd = Matrix ( [ ] ) # Forcing part of the diff coneqs self . _f_d = Matrix ( [ ] ) # Forcing part of the dynamic equations self . lam_coeffs = Matrix ( [ ] ) # Initializing the coeffecients of lams self . forcelist = forcelist self . inertial = frame self . lam_vec = Matrix ( [ ] ) self . _term1 = Matrix ( [ ] ) self . _term2 = Matrix ( [ ] ) self . _term3 = Matrix ( [ ] ) self . _term4 = Matrix ( [ ] ) # Creating the qs, qdots and qdoubledots q_list = list ( q_list ) if not isinstance ( q_list , list ) : raise TypeError ( 'Generalized coords. must be supplied in a list' ) self . _q = q_list self . _qdots = [ diff ( i , dynamicsymbols . _t ) for i in self . _q ] self . _qdoubledots = [ diff ( i , dynamicsymbols . _t ) for i in self . _qdots ] self . coneqs = coneqs