startup of the default values in a link shoud startup

Author: madhephaestus

src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java

@@ -189,7 +189,9 @@ public Matrix forwardKinematicsMatrix(double[] jointSpaceVector, 	ArrayList<Tran
 		Matrix current = new TransformNR().getMatrixTransform();
 
 		for(int i=0;i<getLinks().size();i++) {
-			LinkConfiguration conf= getFactory().getLinkConfigurations().get(i);
+			LinkFactory factory2 = getFactory();
+			ArrayList<LinkConfiguration> linkConfigurations = factory2.getLinkConfigurations();
+			LinkConfiguration conf= linkConfigurations.get(i);
 			Matrix step;
 			if(conf.isPrismatic())
 				step= getLinks().get(i).DhStep(jointSpaceVector[i]);

src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java

@@ -36,7 +36,7 @@ public class LinkConfiguration implements ITransformNRChangeListener {
 	private int index=0;// = Double.parseDouble(getTagValue("index",eElement));
 
 	/** The totla number of links. */
-	private int totlaNumberOfLinks=0;
+	private int totlaNumberOfLinks=1;
 
 	/** The link index. */
 	private int linkIndex = 0;
@@ -73,7 +73,7 @@ public class LinkConfiguration implements ITransformNRChangeListener {
 	private double velocityLimit = 100000000;
 
 	/** The device scripting name. */
-	private String deviceScriptingName=null;
+	private String deviceScriptingName=name;
 	private double deviceTheoreticalMax =180;
 	private double deviceTheoreticalMin =0;
 	private double mass=0.01;// KG