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Created by Ricardo Ortiz@ricardo-ortizContributor

Refactor Haptic Interfaces

Refactor the haptic interface by creating a hierarchy can can be reused by other devices.

Device->OmniDevice

The implementation of the omni device will use a pimpl idiom to contain the actual implementation of the communication layer. All implementations go in the cpp file.

class PhantomDevice : public Device
{
public:
    // Constructor
    OmniDevice();

    // Destructor
    ~OmniDevice();

    // Initialize device
    void init();

    // Shutdown device
    void shutdown();

... 

private:
    class PhantomOmni;
    std::unique_ptr<PhantomOmni> phantomOmni;
};

The Device base class will be inherited by all devices and will manage the actual input/output data coming in and out of the device, something like this:

class Device 
{
public:
    // Constructor
    Device(const std::string &deviceName);

    // Destructor
    ~Device();

private:

    // Vectors
    std::vector<smVec3d> vectors;
...

};