'Form the coefficient matrices C_0, C_1, and C_2.'

def _form_coefficient_matrices(self):

    (l, m, n, o, s, k) = self._dims
    if (l > 0):
        f_c_jac_q = self.f_c.jacobian(self.q)
        self._C_0 = ((eye(n) - (self._Pqd * (f_c_jac_q * self._Pqd).LUsolve(f_c_jac_q))) * self._Pqi)
    else:
        self._C_0 = eye(n)
    if (m > 0):
        f_v_jac_u = self.f_v.jacobian(self.u)
        temp = (f_v_jac_u * self._Pud)
        if (n != 0):
            f_v_jac_q = self.f_v.jacobian(self.q)
            self._C_1 = ((- self._Pud) * temp.LUsolve(f_v_jac_q))
        else:
            self._C_1 = zeros(o, n)
        self._C_2 = ((eye(o) - (self._Pud * temp.LUsolve(f_v_jac_u))) * self._Pui)
    else:
        self._C_1 = zeros(o, n)
        self._C_2 = eye(o)
