'Please read the online documentation.'

def __init__(self, frame, q_ind, u_ind, kd_eqs=None, q_dependent=None, configuration_constraints=None, u_dependent=None, velocity_constraints=None, acceleration_constraints=None, u_auxiliary=None):

    if (not isinstance(frame, ReferenceFrame)):
        raise TypeError('An    intertial    ReferenceFrame    must    be    supplied')
    self._inertial = frame
    self._fr = None
    self._frstar = None
    self._forcelist = None
    self._bodylist = None
    self._initialize_vectors(q_ind, q_dependent, u_ind, u_dependent, u_auxiliary)
    self._initialize_kindiffeq_matrices(kd_eqs)
    self._initialize_constraint_matrices(configuration_constraints, velocity_constraints, acceleration_constraints)
