Adding Modified Denavit–Hartenberg (DH) Parameterization of Manipulators

[mattking-smith]

Issue Purpose

This toolbox currently only implements standard DH parameterization of multibody manipulator systems.

I have gotten interest/requests from colleagues to incorporate the modified DH convention such that either convention could be specified for a given manipulator system.

Outstanding Goals

• [x] Add flag variable to specify DH convention for manipulator modeling

  Verification In:

• [x] C++
• [x] MATLAB
• [ ] Python

[mattking-smith]

This issue is now resolved with the merging of #19.