//==============================================================================
bool cMyCustomDevice::getRotation(cMatrix3d& a_rotation)
{
////////////////////////////////////////////////////////////////////////////
/*
STEP 8:
Here you shall implement code which reads the orientation frame from
your haptic device. The orientation frame is expressed by a 3x3
rotation matrix. The 1st column of this matrix corresponds to the
x-axis, the 2nd column to the y-axis and the 3rd column to the z-axis.
The length of each column vector should be of length 1 and vectors need
to be orthogonal to each other.
Note:
If your device is located in front of you, the x-axis is pointing
towards you (the operator). The y-axis points towards your right
hand side and the z-axis points up towards the sky.
If your device has a stylus, make sure that you set the reference frame
so that the x-axis corresponds to the axis of the stylus.
*/
////////////////////////////////////////////////////////////////////////////
bool result = C_SUCCESS;
// variables that describe the rotation matrix
double r00, r01, r02, r10, r11, r12, r20, r21, r22;
cMatrix3d frame;
frame.identity();
// *** INSERT YOUR CODE HERE, MODIFY CODE BELLOW ACCORDINGLY ***
// if the device does not provide any rotation capabilities
// set the rotation matrix equal to the identity matrix.
r00 = 1.0; r01 = 0.0; r02 = 0.0;
r10 = 0.0; r11 = 1.0; r12 = 0.0;
r20 = 0.0; r21 = 0.0; r22 = 1.0;
frame.set(r00, r01, r02, r10, r11, r12, r20, r21, r22);
// store new rotation matrix
a_rotation = frame;
// estimate angular velocity
estimateAngularVelocity(a_rotation);
// exit
return (result);
}
//===========================================================================
int cMyCustomDevice::getRotation(cMatrix3d& a_rotation)
{
// temp variables
int error = -1;
double r00, r01, r02, r10, r11, r12, r20, r21, r22;
cMatrix3d frame;
frame.identity();
/************************************************************************
STEP 7:
Here you may implement code which reads the orientation frame from
your haptic device. The orientation frame is expressed by a 3x3
rotation matrix. The 1st column of this matrix corresponds to the
x-axis, the 2nd column to the y-axis and the 3rd column to the z-axis.
The length of each column vector should be of length 1 and vectors need
to be perpendicular to each other.
If the operation fails return an error code.
Note:
If your device is located in front of you, the x-axis is pointing
towards you (the operator). The y-axis points towards your right
hand side and the z-axis points up towards the sky.
If your device has a stylus, make sure that you set the reference frame
so that the x-axis corresponds to the axis of the stylus.
*************************************************************************/
// *** INSERT YOUR CODE HERE, MODIFY CODE BELLOW ACCORDINGLY ***
// by default we set the rotation matrix equal to the identiy matrix.
r00 = 1.0; r01 = 0.0; r02 = 0.0;
r10 = 0.0; r11 = 1.0; r12 = 0.0;
r20 = 0.0; r21 = 0.0; r22 = 1.0;
frame.set(r00, r01, r02, r10, r11, r12, r20, r21, r22);
// store new rotation matrix
a_rotation = frame;
// estimate angular velocity
estimateAngularVelocity(a_rotation);
// exit
return (error);
}
//===========================================================================
int cPhantomDevice::getRotation(cMatrix3d& a_rotation)
{
// check if drivers are installed
if (!m_driverInstalled) return (-1);
double rot[3][3];
int error = hdPhantomGetRotation(m_deviceID,
&rot[0][0],
&rot[0][1],
&rot[0][2],
&rot[1][0],
&rot[1][1],
&rot[1][2],
&rot[2][0],
&rot[2][1],
&rot[2][2]);
a_rotation.set(rot[0][0], rot[0][1], rot[0][2],
rot[1][0], rot[1][1], rot[1][2],
rot[2][0], rot[2][1], rot[2][2]);
estimateAngularVelocity(a_rotation);
return (error);
}
//===========================================================================
int cHydraDevice::getRotation(cMatrix3d& a_rotation)
{
/************************************************************************
STEP 7:
Here you may implement code which reads the orientation frame from
your haptic device. The orientation frame is expressed by a 3x3
rotation matrix. The 1st column of this matrix corresponds to the
x-axis, the 2nd column to the y-axis and the 3rd column to the z-axis.
The length of each column vector should be of length 1 and vectors need
to be perpendicular to each other.
If the operation fails return an error code such as -1 for instance.
Note:
If your device is located in front of you, the x-axis is pointing
towards you (the operator). The y-axis points towards your right
hand side and the z-axis points up towards the sky.
If your device has a stylus, make sure that you set the reference frame
so that the x-axis corresponds to the axis of the stylus.
*************************************************************************/
int error = 0;
double r00, r01, r02, r10, r11, r12, r20, r21, r22;
cMatrix3d frame;
frame.identity();
// *** INSERT YOUR CODE HERE, MODIFY CODE BELLOW ACCORDINGLY ***
// if the device does not provide any rotation capabilities
// we set the rotation matrix equal to the identiy matrix.
sixenseAllControllerData acd;
sixenseGetAllNewestData( &acd );
// sixense is COLUMN MAJOR!
r00 = acd.controllers[a_deviceNumber].rot_mat[0][0];
r01 = acd.controllers[a_deviceNumber].rot_mat[1][0];
r02 = acd.controllers[a_deviceNumber].rot_mat[2][0];
r10 = acd.controllers[a_deviceNumber].rot_mat[0][1];
r11 = acd.controllers[a_deviceNumber].rot_mat[1][1];
r12 = acd.controllers[a_deviceNumber].rot_mat[2][1];
r20 = acd.controllers[a_deviceNumber].rot_mat[0][2];
r21 = acd.controllers[a_deviceNumber].rot_mat[1][2];
r22 = acd.controllers[a_deviceNumber].rot_mat[2][2];
frame.set(r00, r01, r02,
r10, r11, r12,
r20, r21, r22);
cMatrix3d permute_rows(0, 0, 1,
1, 0, 0,
0, 1, 0);
cMatrix3d permute_columns(0, 1, 0,
0, 0, 1,
1, 0, 0);
a_rotation = permute_rows*frame*permute_columns;
// estimate angular velocity
estimateAngularVelocity(a_rotation);
// exit
return (error);
}
