Improved handling of symbolic variables in kinematics and N_link_chain code

Author: Ross Hatton

ProgramFiles/Utilities/kinematics/Adj.m

@@ -8,4 +8,8 @@
 
 Adjoint_action = TgRginv(g)*TeLg(g);%invTgRginv\TeLg;
 
+if isa(Adjoint_action,'sym')
+    Adjoint_action = simplify(Adjoint_action,'steps',50);
+end
+
 end