old_contents: # -*- coding: utf-8 -*-
  
  
  """
  This module contains the FloatingRobot data structure. Additionally as a
  temporary measure some other data structures are included in this module
  as well.
  """
  
  
  from sympy import zeros
  from sympy import ShapeError
  
  
  class Screw(object):
      """
      Data structure:
          Represent the screw notation - a 6x1 vector in which the first
          three rows represent the linear term and the last three rows
          represent the angular term.
          This class basically adds a lot of constraints to the Matrix
          class of sympy - atleast tries to :)
      """
      def __init__(self, lin=zeros(3, 1), ang=zeros(3, 1)):
          """
          Constructor period.
  
          Args:
              lin: A 3x1 matrix - linear term set to 0 by default.
              ang: A 3x1 matrix - angular term set to 0 by default.
          """
          self._val = zeros(6, 1)
          if lin.rows != 3 or lin.cols != 1:
              raise ShapeError("Linear term matrix size has to be 3x1.")
          elif ang.rows != 3 or ang.cols != 1:
              raise ShapeError("Angular term matrix size has to be 3x1.")
          self._val[0:3, 0] = lin
          self._val[3:6, 0] = ang
  
  #    def __init__(self, value=zeros(6, 1)):
  #        """
  #        Another Constructor.
  #
  #        Args:
  #            value: A 6x1 Matrix set to 0 by default.
  #        """
  #        if value.rows != 6 or value.cols != 1:
  #            raise ShapeError("Matrix size has to be 6x1.")
  #        self._val = value
  
      @property
      def val(self):
          """
          Get the current value.
  
          Returns:
              A 6x1 Matrix (column vector) with the current value.
          """
          return self._val
  
      @val.setter
      def val(self, value):
          """
          Set the current value.
  
          Args:
              value: A 6x1 Matrix
          """
          if value.rows != 6 or value.cols != 1:
              raise ShapeError("Matrix size has to be 6x1.")
          self._val = value
   
  #    @val.setter
  #    def val(self, lin, ang):
  #        """
  #        Set the linear and angular terms individually.
  #
  #        Args:
  #            lin: A 3x1 Matrix - linear term
  #            ang: A 3X1 Matrix - angular term
  #        """
  #        if lin.rows != 3 or lin.cols != 1:
  #            raise ShapeError("Linear term matrix size has to be 3x1.")
  #        elif ang.rows != 3 or ang.cols != 1:
  #            raise ShapeError("Angular term matrix size has to be 3x1.")
  #        self._val[0:3, 0] = lin
  #        self._val[3:6, 0] = ang
  
      @property
      def lin(self):
          """
          Get the linear term value.
  
          Returns:
              A 3x1 Matrix with the current linear term value.
          """
          return self._val[0:3, 0]
  
      @lin.setter
      def lin(self, value):
          """
          Set the linear term value.
  
          Args:
              value: A 3x1 Matrix - linear term
          """
          if value.rows != 3 or value.cols != 1:
              raise ShapeError("Linear term matrix size has to be 3x1.")
          self._val[0:3, 0] = value
  
      @property
      def ang(self):
          """
          Get the angular term value.
  
          Returns:
              A 3x1 Matrix with the current angular term value.
          """
          return self._val[3:6, 0]
  
      @ang.setter
      def ang(self, value):
          """
          Set the linear term value.
  
          Args:
              value: A 3x1 Matrix - angular term
          """
          if value.rows != 3 or value.cols != 1:
              raise ShapeError("Angular term matrix size has to be 3x1.")
          self._val[3:6, 0] = value
  
  
  
new_contents: # -*- coding: utf-8 -*-
  
  
  """
  This module contains the FloatingRobot data structure. Additionally as a
  temporary measure some other data structures are included in this module
  as well.
  """
  
  
  from sympy import zeros
  from sympy import ShapeError
  
  
  class FloatingRobot(object):
      """
      Represent the FloatingRobot data structure and provide methods that
      act as the gateway for robot modelling.
      """
      def __init__(self, *args, **kwargs):
          pass
  
  
  
subject: Create `FloatingRobot` class