libglove - A free and open data glove library

0.6.2

Objectives

Provide a free and open implementation

Portability across various OSs and platforms

Project overview

Figure 1 shows the three components the project consist out of:

the libglove library as such
gloved, the daemon/ server for handling remote objects, and
the open set of user applications build on top of the previously mentioned parts. This also includes the calibration utility (glove-calib) that comes with the project.

Fig. 1 Project structure

Furthermore a number of demo applications is available for the different levels the library may be used.

What it looks like

Basically one can choose between four ways of accessing a data glove, whereas three are outlined below using the example of a CyberGlove(R):

Local:

 CyberGlove* glove = new LocalCyberGlove("/dev/ttyS0");

(do not forget to delete the object afterwards)

Local (managed):

 LocalDeviceManager devMgr("devices.conf");
 CyberGlove* glove = &devMgr.getDevice<CyberGlove>(0, CyberGlove::DEVICE_ID);

Such a configuration file might look like the following:

 [CyberGlove II]
 type = cyberglove
 device = /dev/ttyS0

(c.f. glove::devices::local::LocalDeviceManager for details)

Remote (managed):

 RemoteDeviceManager devMgr("127.0.0.1", "12345");
 CyberGlove* glove = &devMgr.getDevice<CyberGlove>(0, CyberGlove::DEVICE_ID);

Either way accessing the sensor values doesn't differ at all:

 if (glove->connect()) {
 glove->setCalibration(new CyberGloveLinearCalibration("glove.calib"));

   for (int i = 0; i < 100; i++) {
     ... = glove->getAngles();
     ... = glove->getAngle(CyberGlove::INDEX, CyberGlove::DISTAL);
   }

   glove->disconnect();
 }

The forth option to operate a data glove is to directly use it's low level implementation. In the case of the CyberGlove(R) this refers to the glove::devices::impl::CGIU class.

There are several demo applications (c.f. http://libglove.svn.sourceforge.net/viewvc/libglove/trunk/demo/) available to explain those different modes of operation. Furthermore the calibration tool glove-calib (which itself is a remote application) gives a good inside as well.

Supported devices

CyberGlove(R) by CyberGlove Systems LLC (Immersion/ VTi)
CyberGlove(R) II by CyberGlove Systems LLC (Immersion/ VTi)

Dependencies

Boost C++ Libraries (≥1.39)
http://www.boost.org

CMake as a build system (≥2.6.3)
http://www.cmake.org

License (3-clause BSD)

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
The names of its contributors may not be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Acknowledgment

Big thanks to ISR Lisbon and Vislab where I had the chance to work on and experiment with data gloves.

Author:: Christian Wressnegger

Date:: 2009-2010