'Augments the coefficients of qdots to the mass_matrix.'

@property
def mass_matrix_full(self):

    if (self.eom is None):
        raise ValueError('Need    to    compute    the    equations    of    motion    first')
    n = len(self.q)
    m = len(self.coneqs)
    row1 = eye(n).row_join(zeros(n, (n + m)))
    row2 = zeros(n, n).row_join(self.mass_matrix)
    if self.coneqs:
        row3 = zeros(m, n).row_join(self._m_cd).row_join(zeros(m, m))
        return row1.col_join(row2).col_join(row3)
    else:
        return row1.col_join(row2)
