JOVR – Java bindings for Oculus Rift SDK 0.4.2.0

Oculus Rift Development Kit 2
Oculus Rift Development Kit 2

A software developer with the alias jericho has released JNA based Java bindings for the newly released Oculus Rift 0.4.2.0 SDK.

It is available from his github page.

Prebuilt jars are available from the maven repository (.dlls are embedded)

Here is a simple  WebSocket server  I’ve wrote that provides clients with the tracking info:

Now go code some awsome Oculus demoes 😉

Numerically determinate the manipulator Jacobian

In classic kinematics, the Jacobian is used to solve the inverse velocity kinematics.

The forward kinematics equation is given by \( \quad x = f(\theta) \)and the Jacobian matrix is a linear approximation to \(f\).

$$J(\theta) = \begin{bmatrix} \frac{\partial p_x}{\partial \theta_1} & \frac{\partial p_x}{\partial \theta_2} & … & \frac{\partial p_x}{\partial \theta_n} \\[0.3em] \frac{\partial p_y}{\partial \theta_1} & \frac{\partial p_y}{\partial \theta_2} & … & \frac{\partial p_y}{\partial \theta_n} \\[0.3em] … & … & … & … \\[0.3em] \frac{\partial a_z}{\partial \theta_1} & \frac{\partial a_z}{\partial \theta_2} & … & \frac{\partial a_z}{\partial \theta_n} \end{bmatrix}$$

Continue reading Numerically determinate the manipulator Jacobian