(self, qind, qdep=[], coneqs=[])
Supply all the generalized coordinates in a list.

        If some coordinates are dependent, supply them as part of qdep. Their
        dependent nature will only show up in the linearization process though.

        Parameters
        ==========

        qind : list
            A list of independent generalized coords
        qdep : list
            List of dependent coordinates
        coneq : list
            List of expressions which are equal to zero; these are the
            configuration constraint equations
Supply all the generalized coordinates in a list.
Supply all the generalized coordinates in a list .
def _coords(self, qind, qdep=[], coneqs=[]):
        """Supply all the generalized coordinates in a list.

        If some coordinates are dependent, supply them as part of qdep. Their
        dependent nature will only show up in the linearization process though.

        Parameters
        ==========

        qind : list
            A list of independent generalized coords
        qdep : list
            List of dependent coordinates
        coneq : list
            List of expressions which are equal to zero; these are the
            configuration constraint equations
        """

        if not isinstance(qind, (list, tuple)):
            raise TypeError('Generalized coords. must be supplied in a list.')
        self._q = qind + qdep
        self._qdot = [diff(i, dynamicsymbols._t) for i in self._q]

        if not isinstance(qdep, (list, tuple)):
            raise TypeError('Dependent coordinates and constraints must each be '
                            'provided in their own list.')
        if len(qdep) != len(coneqs):
            raise ValueError('There must be an equal number of dependent '
                             'coordinates and constraints.')
        coneqs = Matrix(coneqs)
        self._qdep = qdep
        self._f_h = coneqs
def _coords ( self , qind , qdep = [ ] , coneqs = [ ] ) : if not isinstance ( qind , ( list , tuple ) ) : raise TypeError ( 'Generalized coords. must be supplied in a list.' ) self . _q = qind + qdep self . _qdot = [ diff ( i , dynamicsymbols . _t ) for i in self . _q ] if not isinstance ( qdep , ( list , tuple ) ) : raise TypeError ( 'Dependent coordinates and constraints must each be ' 'provided in their own list.' ) if len ( qdep ) != len ( coneqs ) : raise ValueError ( 'There must be an equal number of dependent ' 'coordinates and constraints.' ) coneqs = Matrix ( coneqs ) self . _qdep = qdep self . _f_h = coneqs