|
SensAble Technologies,
Inc.® offers the
broadest range of software toolkits and haptic devices for haptic
application development, including the 3D Touch™ SDK. This new
SDK supports the SensAble PHANTOM® devices-including the new PHANTOM® Omni™ device-and
enables the integration of haptics with existing, third-party applications.
The SensAble 3D Touch SDK provides a new, extensible architecture
that offers a framework for multiple layers of capabilities. The
foundation layer of this new architecture is the Haptic Device
API (HDAPI). The HDAPI enables haptic programmers to render forces
directly, offers control over configuring the runtime behavior
of the drivers, and provides convenient utility features and debugging
aids.
Download Data Sheet: Hi
Res or Low
Res
View
Diagram of the HDAPI
Key Features and Benefits
Optimized
interface to the SensAble PHANTOM haptic devices, including
the new PHANTOM Omni device
Architected
to be extensible and OS platform-independent
Software
control over:
- User-definable
haptic servo-loop for ideal performance
- Error
handling and safety limits for an optimal user experience
- Scheduling
user-defined callbacks within the haptic thread for maximum
control over synchronization
- Direct
access to encoder values and control over motor DAC values
for advanced programming
Available
with source code examples to speed implementation
Haptic Device API Functionality
Get Device State
Position,
orientation, velocity
3
coordinate spaces: Cartesian, joint, raw data I/O (encoder/DAC)
Buttons
Get Device Characteristics
Model,
version, serial number
Workspace
dimensions, I/O DOF
Max
stiffness, max force, max velocity
Motor
temperature
Calibration
capabilities
Scheduler
Synchronous
and asynchronous user-defined callbacks
Customizable
scheduling of callbacks
Facilitates
synchronization of the haptic and graphics threads
User-defined
haptic servo-loop rate
Enable/Disable
Force:
output, clamping, ramping
Error
reporting
Software
checks: max force, max velocity
Set Device State
Force/torque
in Cartesian space
Motor
DAC values
Error Reporting and Handling
Error
categories, including:
- Function
- Force
- Device
- Haptic rendering
- Scheduler
Error
stack
Device Calibration Interface
Auto
calibration
Manual
calibration
Utilities
C++
haptic device wrapper
Workspace-to-camera
view mapping
Vector
and matrix math
Snap
constraints
|