Re: Haptics in Orocos

On Thu, 2 Feb 2006, Maurizio de Pascale wrote:

[...]
> So my questions are:
> Does Orocos contains code to use some of these devices without using
> directly their native API (thinking to a sort of a common interface
> wrapped around their APIs)?

No.

> Does Orocos contains code to "build" the high-level access on top of
> low-level access to raw encoders/motors (as your previous reply suggests)?
Of course: encoders and motors are essential parts of any motion control
system, so Orocos has a device-neutral API for both.

The main issue, as ever, remains: having driver implementations that
provide the functionality for these device-neutral APIs. And in the case of
the Phantom (or other such devices), no drivers are available for the
moment in Orocos.

Herman

--
   K.U.Leuven, Mechanical Eng.,  Mechatronics & Robotics Research Group
     <http://people.mech.kuleuven.be/~bruyninc> Tel: +32 16 322480

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