OpenHaptics™ Toolkit for Linux® - FAQs
What is the difference between v3.0 and v2.0 of the OpenHaptics toolkit?
New features and functionality in the v3.0 release include:
- New QuickHaptics™ microApi layer on top of HD API and HL API.
- New parameters for setting/getting Joint Torques. Especially useful for 6-DOF devices.
- New parameter for querying the world-space Depth of Penetration from the Surface Contact Point.
What versions of Linux are supported?
Most Linux® distributions are supported. Testing has been done with kernel 2.6.30. The raw1394 kernel module is required.
Does it run in 32 bit or 64 bit mode?
Both 32 bit and 64 bit versions are available. Navigate to the appropriate directory in the ZIP file.
What PHANTOM models are supported?
Omni, Desktop, Premium 1.5/3.0/3.0L (3DOF and 6DOF). High Force devices, PCC and Dual PHANTOM configurations are not supported at this time.
Are there any differences in functionality from the OpenHaptics toolkit for Microsoft® Windows®?
The differences are very small. Specifically:
- The haptic mouse utility is not supported on Linux.
- The Haptic Materials source example, which uses the haptic mouse, is not supported on Linux.
- The Windows MFC based HapticViewer source example is not supported.
- The Windows Control Panel is replaced by a different configuration procedure.
- The PHANTOM Device Driver (PDD) does not ship with the Dice demo.
What development environment is supported?
The OpenHaptics toolkit for Linux is shipped with Makefiles and compiled with gcc 4.4.x. QuickHaptics, the HDAPI and HLAPI are packaged as shared libraries.
Is there a development license?
Yes. The OpenHaptics toolkit for Linux is licensed to a single workstation, in accordance with the Sensable license agreement.
Is there a deployment license?
Yes. In accordance with the Sensable license agreement, a deployment license (which is separate from the development license) is required in order to distribute copies of an application using the OpenHaptics toolkit.
What documentation is provided?
The API is the same as the API for the Windows version of the OpenHaptics toolkit. Consequently, the reference manual is the same. There are small differences in the Programmer’s Guide, such as the installation procedure and the location of installed files; for instance, the Linux installation procedure uses RPM files.
If I already have the OpenHaptics toolkit for Windows, how can I get a copy of the OpenHaptics toolkit for Linux?
Please contact your local Sensable Sales Manager or Reseller to purchase a copy of the OpenHaptics toolkit for Linux, which is licensed separately from the OpenHaptics toolkit for Windows, for an additional fee.