%MDL_HYPER3D Create model of a hyper redundant 3D manipulator
%
% MDL_HYPER3D is a script that creates the workspace variable h3d which
% describes the kinematic characteristics of a serial link manipulator with
% 10 joints which at zero angles is a straight line in the XY plane.
%
% MDL_HYPER3D(N) as above but creates a manipulator with N joints.
%
% Also define the workspace vectors:
%   qz  joint angle vector for zero angle configuration
%
% R = MDL_HYPER3D(N) functional form of the above, returns the SerialLink object.
%
% [R,QZ] = MDL_HYPER3D(N) as above but also returns a vector of zero joint angles.
%
% Notes::
% - In the zero configuration joint axes alternate between being parallel
%   to the z- and y-axes.
% - A crude snake or elephant trunk robot.
% - The manipulator in default pose is a straight line 1m long.
% - Unlike most other mdl_xxx scripts this one is actually a function that
%   behaves like a script and writes to the global workspace.
%
% See also mdl_hyper2d, mdl_ball, mdl_coil, SerialLink.

% MODEL: hyper redundant, 10DOF, standard_DH


% Copyright (C) 1993-2017, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
% 
% RTB is free software: you can redistribute it and/or modify
% it under the terms of the GNU Lesser General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% (at your option) any later version.
% 
% RTB is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
% GNU Lesser General Public License for more details.
% 
% You should have received a copy of the GNU Leser General Public License
% along with RTB.  If not, see <http://www.gnu.org/licenses/>.
%
% http://www.petercorke.com

function [r,qq] = mdl_hyper3d(N)
    
    if nargin == 0
        N = 10;
    end
    
    % create the links
    for i=1:N
        links(i) = Link([0 0 1/N, pi/2]);
        q(i) = 0;
    end
    
    % and build a serial link manipulator
    robot = SerialLink(links, 'name', 'hyper3d', ...
        'plotopt', {'nojoints'});
    
    % place the variables into the global workspace
    if nargout == 0
        assignin('caller', 'h3d', robot);
        assignin('caller', 'qz', q);
    elseif nargout == 1
        r = robot;
    elseif nargout == 2
        r = robot;
        qq = q;
    end
    
    
end
