Robot and mRobot object initialization

The Robot and mRobot classes provide a default constructor that creates a 1 dof robot. A $n_{dof} \times 5$ matrix containing the kinematic parameters can be supplied upon initialization. A $n_{dof} \times 15$ matrix containing the kinematic and inertial parameters (as for the Robot class) can be supplied along with a $n_{dof} \times 4$ matrix providing the motors inertia, gear ratio and friction coefficients. A $n_{dof} \times 19$ matrix (kinematic, inertial and motor parameters) can also be used. The structure of the initialization matrix is:

Column	Variable	Description
1	$\sigma$	joint type (revolute=0, prismatic=1)
2	$\theta$	Denavit-Hartenberg parameter
3	$d$	Denavit-Hartenberg parameter
4	$a$	Denavit-Hartenberg parameter
5	$\alpha$	Denavit-Hartenberg parameter
6	$m$	mass of the link
7	$c_x$	center of mass along axis $x$
8	$c_y$	center of mass along axis $y$
9	$c_z$	center of mass along axis $z$
10	$I_{xx}$	element $xx$ of the inertia tensor matrix
11	$I_{xy}$	element $xy$ of the inertia tensor matrix
12	$I_{xz}$	element $xz$ of the inertia tensor matrix
13	$I_{yy}$	element $yy$ of the inertia tensor matrix
14	$I_{yz}$	element $yz$ of the inertia tensor matrix
15	$I_{zz}$	element $zz$ of the inertia tensor matrix
16	$I_m$	motor rotor inertia
17	$Gr$	motor gear ratio
18	$B$	motor viscous friction coefficient
19	$C_f$	motor Coulomb friction coefficient