ENH: Get rid of offset on VRPN Client side

The offset should only be defined at the
controller level

Also remove useless include in VRPNDeviceServer

Base/Devices/imstkVRPNDeviceClient.cpp

@@ -31,8 +31,6 @@ VRPNDeviceClient::initModule()
 {
     auto fullDeviceIp = this->getName().c_str();
 
-    m_offsetSet = false;
-
     m_vrpnTracker = std::make_shared<vrpn_Tracker_Remote>(fullDeviceIp);
     m_vrpnAnalog = std::make_shared<vrpn_Analog_Remote>(fullDeviceIp);
     m_vrpnButton = std::make_shared<vrpn_Button_Remote>(fullDeviceIp);
@@ -100,14 +98,7 @@ VRPNDeviceClient::trackerChangeHandler(void *userData, const _vrpn_TRACKERCB t)
     quat.y() = t.quat[1];
     quat.z() = t.quat[2];
     quat.w() = t.quat[3];
-
-    if(!deviceClient->m_offsetSet)
-    {
-        deviceClient->m_rotOffset = quat.inverse();
-        deviceClient->m_offsetSet = true;
-        return;
-    }
-    deviceClient->m_orientation = deviceClient->m_rotOffset * quat;
+    deviceClient->m_orientation = quat;
 
     //LOG(DEBUG) << "tracker: position = " << t.pos[0] << " " << t.pos[1] << " " << t.pos[2];
     //LOG(DEBUG) << "tracker: orientation = " << deviceClient->m_orientation.matrix();

Base/Devices/imstkVRPNDeviceClient.h

@@ -125,9 +125,6 @@ private:
     std::shared_ptr<vrpn_Analog_Remote> m_vrpnAnalog;           //!< VRPN position/orientation interface
     std::shared_ptr<vrpn_Button_Remote> m_vrpnButton;           //!< VRPN button interface
     std::shared_ptr<vrpn_ForceDevice_Remote> m_vrpnForceDevice; //!< VRPN force interface
-
-    bool m_offsetSet = false;
-    Quatd m_rotOffset = Quatd::Identity();
 };
 }
 

Base/Devices/imstkVRPNDeviceServer.h

@@ -32,7 +32,6 @@
 
 // imstk
 #include "imstkModule.h"
-#include "imstkVRPNDeviceClient.h"
 
 namespace imstk
 {