CODEWITHSUNDEEP
c++hapihaptic-feedback
alberto96
alberto96

Reputation: 1

Phantom Omni angular velocities are 0

I'm trying to build my application using the Phantom Omni haptic device and in order to get the angular velocity of the device, I'm using a function from its library (OpenHaptics):

hdGetDoublev(HD_CURRENT_ANGULAR_VELOCITY, ang_vel);

but it returns [0,0,0]. I'm using the same function to get the linear velocity:

hdGetDoublev(HD_CURRENT_VELOCITY, lin_vel);

and it's working fine. (Both lin_vel and ang_vel are defined as hduVector3Dd)

What am I missing?

Upvotes: 0

Views: 130

Answers (1)

alberto96
alberto96

Reputation: 1

I asked directly to Open Haptics support and this was the answer: "This is not a bug, HD_CURRENT_ANGULAR_VELOCITY doesn't apply to Touch/Omni model, because its gimbal encoder wouldn't be sufficient for accurate angular velocity calculation".

I hope it can save you some time.

Upvotes: 0

Related Questions