Advait Chandorkar

ENH: Add STFT function to Function class

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## Pull request type - [x] Code changes (bugfix, features) ## Checklist - [ ] Tests for the changes have been added (if needed) - [ ] Lint (`black rocketpy/...

Support for modified DH

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The library was using classical as default added and had no support for modified Denavit–Hartenberg parameters (DH parameters) made modified dh as default(since its usage has increased nowdays) and also...

The library uses classical DH parameters whose use is in decline, need support for modified DH parameters