Forward kinematics
T = fkine(R,Q)
T = fkine(R,Q)
is the pose (4x4) of the robot end-effector as a homogeneous
transformation for the joint configuration Q (1xN).
If Q is a matrix (KxN) the rows are interpretted as the generalized joint coordinates for a sequence of points along a trajectory. Q(i,j) is the j''th joint parameter for the i''th trajectory point. In this case T is a 3d matrix (4x4xK) where the last subscript is the index along the path.
The robot''s base or tool transform, if present, are incorporated into the result.
Joint offsets, if defined, are added to Q before the forward kinematics are computed.