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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?

alberto96
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1 Answers1

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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.

alberto96
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