I am trying to get the forward kinematics for a robot model in matlab (rigid body tree). I created a 4 x4 transformation matrix from the base to the end-effector using the gettransform() function. I have 4 different joint angles to control. But how do I multiply the joint angles with the transformation matrix so that I get the correct orientation and position output of the end-effector?
Is there otherwise a better option to get the forward kinematics?