def PartialDynamicSystem(self, ieq, variable):
        """
        returns dynamical system blocks associated to output variable
        """
        if ieq == 0:
            # v=Rw
            if variable == self.physical_nodes[0].variable:
                # W=V/r
                return[Gain(self.physical_nodes[1].variable, variable, 1/self.wheels_radius)]
            elif variable == self.physical_nodes[1].variable:
                # V=rw
                return[Gain(self.physical_nodes[0].variable, variable, self.wheels_radius)]
        elif ieq == 1:
            # C=-FR
            if variable == self.variables[0]:
                # C=-FR
                return[Gain(self.variables[1], variable, -self.wheels_radius)]
            elif variable == self.variables[1]:
                # F=-C/R
                return[Gain(self.variables[0], variable, -1/self.wheels_radius)]
def PartialDynamicSystem ( self , ieq , variable ) : if ieq == 0 : if variable == self . physical_nodes [ 0 ] . variable : return [ Gain ( self . physical_nodes [ 1 ] . variable , variable , 1 / self . wheels_radius ) ] elif variable == self . physical_nodes [ 1 ] . variable : return [ Gain ( self . physical_nodes [ 0 ] . variable , variable , self . wheels_radius ) ] elif ieq == 1 : if variable == self . variables [ 0 ] : return [ Gain ( self . variables [ 1 ] , variable , - self . wheels_radius ) ] elif variable == self . variables [ 1 ] : return [ Gain ( self . variables [ 0 ] , variable , - 1 / self . wheels_radius ) ]
returns dynamical system blocks associated to output variable