Doco updates Improved logic for argument checking.
Doco updates
Improved logic for argument checking.


yasha0b1/robotics-toolbox-matlab,yasha0b1/robotics-toolbox-matlab,konradb3/robotics-toolbox-matlab,jaejunlee0538/robotics-toolbox-matlab,jaejunlee0538/robotics-toolbox-matlab,yasha0b1/robotics-toolbox-matlab,jaejunlee0538/robotics-toolbox-matlab,jaejunlee0538/robotics-toolbox-matlab,konradb3/robotics-toolbox-matlab,konradb3/robotics-toolbox-matlab,yasha0b1/robotics-toolbox-matlab,konradb3/robotics-toolbox-matlab,konradb3/robotics-toolbox-matlab,jaejunlee0538/robotics-toolbox-matlab,yasha0b1/robotics-toolbox-matlab