The kinematics class takes a nx4 matrix of DH parameters with the rows formatted as [theta, d, alpha, a]. It also takes a 1xn vector of joint types, where 0 is a revolute joint and 1 (or anything else) is a prismatic joint.
It first calculates the homogeneous transform matrices {T01, T12, T23, ... , Tij} (j<=n and i=j-1)
Next it calculates the homogeneous transform matrices {T00, T01, T02, ... , T0i} (i<=n)
Finally it calculate the jacobian using the HTMs.
Any of the HTMs or the jacobian can be displayed or retrieved for other calculations.