[Libnifalcon-devel] More info on the H3D/HAPI driver

[Kyle M. (qDot) <ky...@no...>]

Here's what I posted to the H3D Boards concerning the libnifalcon layer 
they have available:

---

Ok, got the falcon class up and running using HAPIDemo, though it took a 
good bit of work.

Our only kinematics implementation is a little /too/ literal at the 
moment, and it uses the FF origin to EE origin distance as the workspace 
center (which is something like [0,0,.15m] instead of [0,0,0]). Also, it 
uses millimeters instead of meters for distance units, which means the 
scaling is completely off. After fiddling with the numbers a bit, I got 
everything under control and feeling pretty good (outside of some of the 
extremities, which we've been having problems with anyways).

So, this does bring up a lot of issues with my documentation (or lack 
thereof) and selection of units in the library, but that's why we're 
still in beta. :) I'll start getting some of this stuff fixed, and I'll 
keep using the HAPI examples while testing all of this. Any advice you 
might have would also be helpful, since I'm quite new to doing haptics 
work, and may be missing some obvious things. :)

---

For anyone interested in following, the thread is at 
http://www.h3dapi.org/modules/newbb/viewtopic.php?topic_id=864&forum=3

So yeah. I've been meaning to fix that "Center isn't center" stuff 
forever, figured I'd do it the same way novint did (workspace transform 
function), but just never got around to it. As for units, changing 
everything to meters shouldn't be too difficult, though I'm not sure how 
many people have already tuned their software to use those units.