[SOLVED] Geomagic Plugin: Printing haptic force in Console

[yupeng]

I didn’t feel any haptic force using scenes in Geomagic plugin. Thus, I tried to print the haptic force, but it didn’t work.

1. I add a Data<Vec3d> d_foce in GeomagicDriver.h. d_force is used to store haptic force.
2. In GeomagicDriver.cpp:HDCallbackCode HDCALLBACK stateCallback(void * userData), the haptic force d_force is assigned as: driver->d_force.setValue(Vec3(omni_force[0], omni_force[0], omni_force[0]));
3. The d_force could be printed in consle using msg_info() in Draw method in GeomagicDriver.cpp.
msg_info() << "haptic force: [" << force[0] << "," << force[1] << "," << force[2] << "\n";

Eventhough the printlog option of Geomagic plugin is checked, there still isn’t any messages.

By the way, using the same procedure as above, the haptic frequency could be printed out when the printlog option of LCPForceFeedback is checked.

[yupeng]

Oh, I make a stupid mistake: choosing the wrong component when clicking printlog. The precedure above is right. I could print out the haptic force.

What’s more, how can I store the haptic force into a file?

[Hugo]

Hey @yupeng,

You can use either your own way of exporting in a file in C++ (since you started to implement things on your own).
Otherwise, take a look at the VTKExporter for instance which allows to export positions, or any other nodal/element information.

Best

Hugo

[yupeng]

Hey @Hugo,
Thanks for your kind instructions. I could export the haptic force right now.

The solution is here

[Author]

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