'Initialize the coordinate and speed vectors.'

def _initialize_vectors(self, q_ind, q_dep, u_ind, u_dep, u_aux):

    none_handler = (lambda x: (Matrix(x) if x else Matrix()))
    q_dep = none_handler(q_dep)
    if (not iterable(q_ind)):
        raise TypeError('Generalized    coordinates    must    be    an    iterable.')
    if (not iterable(q_dep)):
        raise TypeError('Dependent    coordinates    must    be    an    iterable.')
    q_ind = Matrix(q_ind)
    self._qdep = q_dep
    self._q = Matrix([q_ind, q_dep])
    self._qdot = self.q.diff(dynamicsymbols._t)
    u_dep = none_handler(u_dep)
    if (not iterable(u_ind)):
        raise TypeError('Generalized    speeds    must    be    an    iterable.')
    if (not iterable(u_dep)):
        raise TypeError('Dependent    speeds    must    be    an    iterable.')
    u_ind = Matrix(u_ind)
    self._udep = u_dep
    self._u = Matrix([u_ind, u_dep])
    self._udot = self.u.diff(dynamicsymbols._t)
    self._uaux = none_handler(u_aux)
