Link transform matrix
T = linkTransf(L,Q)
Link object
vector of size (1xN) where N is the number of joints of the robot.
T = linkTransf(L,Q)
is the link homogeneous transformation matrix (4x4) corresponding
to the link variable Q which is either the Denavit-Hartenberg parameter THETA (revolute)
or D (prismatic).
For a revolute joint the THETA parameter of the link is ignored, and Q used instead.
For a prismatic joint the D parameter of the link is ignored, and Q used instead.
The link offset parameter is added to Q before computation of the transformation matrix.