function [MDH] = GenerateMultiDH(DH,MQ,t)
%UNTITLED3 Summary of this function goes here
%   Detailed explanation goes here

if nargin<3
    t=zeros(size(DH,1),1);
end
t=~~t;

MDH=zeros(size(DH,1),4,size(MQ,2));

for n=1:size(MQ,2)
    MDH(:,:,n)= DH;
    
    %MDH(:,1,n)=MDH(:,1,n)+MQ(:,n) %adjust angular points
    
    MDH(:,1,n)=MDH(:,1,n) + MQ(:,n).*(t==0); %para o rotacional
    MDH(:,3,n)=MDH(:,3,n) + MQ(:,n).*(t==1); %para o prismatico
    
end

end

