OpenHaptics™ Toolkit for Linux® - FAQs

• What versions of Linux are supported?
• Does it run in 32 bit or 64 bit mode?
• What PHANTOM models are supported?
• Are there any differences in functionality from the OpenHaptics toolkit for Windows®?
• What development environment is supported?
• Is there a development license?
• Is there a deployment license?
• What documentation is provided?
• If I already have the OpenHaptics toolkit for Windows, how can I get a copy of the OpenHaptics toolkit for Linux?

What versions of Linux are supported?
SuSE 9 and 9.1, Red Hat® Fedora™ Core 1 and Core 2.

Does it run in 32 bit or 64 bit mode?
Currently, the OpenHaptics toolkit for Linux runs in 32 bit mode. Additional platforms may be available on a custom basis.

What PHANTOM models are supported?
Omni, Desktop, Premium 1.5/3.0/3.0L (3DOF and 6DOF), Premium A 1.0/1.5 PCI & EPP. *** PCI devices are currently only compatible with 2.4 kernels.

Are there any differences in functionality from the OpenHaptics toolkit for Microsoft® Windows®?
The differences are very small. Specifically:

• The haptic mouse utility is not supported on Linux.
• The Haptic Materials source example, which uses the haptic mouse, is not supported on Linux.
• The Windows MFC based HapticViewer source example is not supported.
• The Windows Control Panel is replaced by a different configuration procedure.
• The PHANTOM Device Driver (PDD) does not ship with the Dice demo.

What development environment is supported?
The OpenHaptics toolkit for Linux is shipped with makefiles and compiled with gcc 3.2.x. The HDAPI and HLAPI are packaged as shared libraries.

Is there a development license?
Yes. The OpenHaptics toolkit for Linux is licensed to a single workstation, in accordance with the SensAble license agreement.

Is there a deployment license?
Yes. In accordance with the SensAble license agreement, a deployment license (which is separate from the development license) is required in order to distribute copies of an application using the OpenHaptics toolkit.

What documentation is provided?
The API is the same as the API for the Windows version of the OpenHaptics toolkit. Consequently, the reference manual is the same. There are small differences in the Programmer's Guide, such as the installation procedure and the location of installed files; for instance, the Linux installation procedure uses RPM files.

If I already have the OpenHaptics toolkit for Windows, how can I get a copy of the OpenHaptics toolkit for Linux?
Please contact your local SensAble Sales Manager or Reseller to purchase a copy of the OpenHaptics toolkit for Linux, which is licensed separately from the OpenHaptics toolkit for Windows, for an additional fee.

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