Allow velocity constraints to be formulated with qdots
Allow velocity constraints to be formulated with qdots

Replace qdot expressions in the velocity constraints when initializing
constraint matrices. This allows the velocities of all points/frames to
be defined in terms of qdots; u terms only appearing in the kd_eqs
argument of the KanesMethod constructor.

sahilshekhawat/sympy,sampadsaha5/sympy,Arafatk/sympy,meghana1995/sympy,Vishluck/sympy,abhiii5459/sympy,farhaanbukhsh/sympy,kumarkrishna/sympy,pbrady/sympy,drufat/sympy,iamutkarshtiwari/sympy,abhiii5459/sympy,wanglongqi/sympy,debugger22/sympy,Mitchkoens/sympy,sampadsaha5/sympy,jaimahajan1997/sympy,Vishluck/sympy,pandeyadarsh/sympy,vipulroxx/sympy,hargup/sympy,cswiercz/sympy,jbbskinny/sympy,cswiercz/sympy,kevalds51/sympy,sahilshekhawat/sympy,wyom/sympy,iamutkarshtiwari/sympy,ahhda/sympy,Sumith1896/sympy,saurabhjn76/sympy,jerli/sympy,abloomston/sympy,Designist/sympy,garvitr/sympy,chaffra/sympy,atreyv/sympy,sampadsaha5/sympy,shikil/sympy,Designist/sympy,drufat/sympy,mafiya69/sympy,chaffra/sympy,abloomston/sympy,aktech/sympy,toolforger/sympy,VaibhavAgarwalVA/sympy,ChristinaZografou/sympy,Titan-C/sympy,skidzo/sympy,wanglongqi/sympy,Davidjohnwilson/sympy,pbrady/sympy,asm666/sympy,asm666/sympy,atreyv/sympy,bukzor/sympy,mcdaniel67/sympy,postvakje/sympy,maniteja123/sympy,skidzo/sympy,jerli/sympy,madan96/sympy,Shaswat27/sympy,Curious72/sympy,garvitr/sympy,ahhda/sympy,Sumith1896/sympy,madan96/sympy,liangjiaxing/sympy,ChristinaZografou/sympy,yukoba/sympy,chaffra/sympy,rahuldan/sympy,MechCoder/sympy,Vishluck/sympy,kevalds51/sympy,oliverlee/sympy,sahmed95/sympy,kaichogami/sympy,grevutiu-gabriel/sympy,souravsingh/sympy,mafiya69/sympy,lindsayad/sympy,emon10005/sympy,jaimahajan1997/sympy,MechCoder/sympy,aktech/sympy,diofant/diofant,ga7g08/sympy,VaibhavAgarwalVA/sympy,yukoba/sympy,Sumith1896/sympy,drufat/sympy,MechCoder/sympy,atsao72/sympy,grevutiu-gabriel/sympy,Davidjohnwilson/sympy,wyom/sympy,moble/sympy,debugger22/sympy,atreyv/sympy,saurabhjn76/sympy,VaibhavAgarwalVA/sympy,shikil/sympy,lindsayad/sympy,AkademieOlympia/sympy,Davidjohnwilson/sympy,pandeyadarsh/sympy,asm666/sympy,vipulroxx/sympy,jbbskinny/sympy,Gadal/sympy,Titan-C/sympy,jerli/sympy,maniteja123/sympy,liangjiaxing/sympy,grevutiu-gabriel/sympy,garvitr/sympy,iamutkarshtiwari/sympy,ga7g08/sympy,ChristinaZografou/sympy,souravsingh/sympy,wyom/sympy,bukzor/sympy,Mitchkoens/sympy,kaichogami/sympy,meghana1995/sympy,AkademieOlympia/sympy,maniteja123/sympy,kumarkrishna/sympy,wanglongqi/sympy,shikil/sympy,souravsingh/sympy,yashsharan/sympy,toolforger/sympy,jbbskinny/sympy,kaichogami/sympy,Gadal/sympy,Arafatk/sympy,rahuldan/sympy,hargup/sympy,kaushik94/sympy,sahmed95/sympy,mafiya69/sympy,oliverlee/sympy,kumarkrishna/sympy,oliverlee/sympy,yashsharan/sympy,atsao72/sympy,debugger22/sympy,sahmed95/sympy,saurabhjn76/sympy,AkademieOlympia/sympy,hargup/sympy,ga7g08/sympy,meghana1995/sympy,liangjiaxing/sympy,bukzor/sympy,farhaanbukhsh/sympy,Shaswat27/sympy,moble/sympy,mcdaniel67/sympy,postvakje/sympy,pbrady/sympy,kevalds51/sympy,aktech/sympy,postvakje/sympy,moble/sympy,Mitchkoens/sympy,skidzo/sympy,mcdaniel67/sympy,Gadal/sympy,cswiercz/sympy,madan96/sympy,Arafatk/sympy,pandeyadarsh/sympy,abloomston/sympy,kaushik94/sympy,emon10005/sympy,skirpichev/omg,Curious72/sympy,toolforger/sympy,Shaswat27/sympy,kaushik94/sympy,yashsharan/sympy,abhiii5459/sympy,lindsayad/sympy,jaimahajan1997/sympy,vipulroxx/sympy,rahuldan/sympy,sahilshekhawat/sympy,Curious72/sympy,atsao72/sympy,yukoba/sympy,farhaanbukhsh/sympy,Designist/sympy,Titan-C/sympy,ahhda/sympy,emon10005/sympy