(self, frame, q_ind, u_ind, kd_eqs=None, q_dependent=[],
            configuration_constraints=[], u_dependent=[],
            velocity_constraints=[], acceleration_constraints=None,
            u_auxiliary=[])
Please read the online documentation.
Please read the online documentation.
Please read the online documentation .
def __init__(self, frame, q_ind, u_ind, kd_eqs=None, q_dependent=[],
            configuration_constraints=[], u_dependent=[],
            velocity_constraints=[], acceleration_constraints=None,
            u_auxiliary=[]):

        """Please read the online documentation. """
        # Big storage things
        if not isinstance(frame, ReferenceFrame):
            raise TypeError('An intertial ReferenceFrame must be supplied')
        self._inertial = frame
        self._forcelist = None
        self._bodylist = None
        self._fr = None
        self._frstar = None
        self._rhs = None
        self._aux_eq = None

        # States
        self._q = None
        self._qdep = []
        self._qdot = None
        self._u = None
        self._udep = []
        self._udot = None
        self._uaux = None

        # Differential Equations Matrices and Map
        self._k_d = None
        self._f_d = None
        self._k_kqdot = None
        self._k_ku = None
        self._f_k = None
        self._qdot_u_map = None

        # Constraint Matrices
        self._f_h = Matrix([])
        self._k_nh = Matrix([])
        self._f_nh = Matrix([])
        self._k_dnh = Matrix([])
        self._f_dnh = Matrix([])

        self._coords(q_ind, q_dependent, configuration_constraints)
        self._speeds(u_ind, u_dependent, velocity_constraints,
                acceleration_constraints, u_auxiliary)
        if kd_eqs is not None:
            self._kindiffeq(kd_eqs)
def __init__ ( self , frame , q_ind , u_ind , kd_eqs = None , q_dependent = [ ] , configuration_constraints = [ ] , u_dependent = [ ] , velocity_constraints = [ ] , acceleration_constraints = None , u_auxiliary = [ ] ) : # Big storage things if not isinstance ( frame , ReferenceFrame ) : raise TypeError ( 'An intertial ReferenceFrame must be supplied' ) self . _inertial = frame self . _forcelist = None self . _bodylist = None self . _fr = None self . _frstar = None self . _rhs = None self . _aux_eq = None # States self . _q = None self . _qdep = [ ] self . _qdot = None self . _u = None self . _udep = [ ] self . _udot = None self . _uaux = None # Differential Equations Matrices and Map self . _k_d = None self . _f_d = None self . _k_kqdot = None self . _k_ku = None self . _f_k = None self . _qdot_u_map = None # Constraint Matrices self . _f_h = Matrix ( [ ] ) self . _k_nh = Matrix ( [ ] ) self . _f_nh = Matrix ( [ ] ) self . _k_dnh = Matrix ( [ ] ) self . _f_dnh = Matrix ( [ ] ) self . _coords ( q_ind , q_dependent , configuration_constraints ) self . _speeds ( u_ind , u_dependent , velocity_constraints , acceleration_constraints , u_auxiliary ) if kd_eqs is not None : self . _kindiffeq ( kd_eqs )