[Kar]

Hello people,
My name is Karthik. I am using SensAble – PHANTOM Omni device for my project. This requires Sensable Plugin and therefore I followed the Documentation “Installing the Sensable Plugin”. I had downloaded Phantom Drivers and the OpenHaptics libraries, tested my Omni and calibrated it as well. I had difficulty with the next step.
1. In Cmake configuration, I selected SOFA-PLUGIN_SENSABLE and CMake found all libraries and directories automatically. After Configuration step, the screen below showed

Install prefix: C:/Users/Robotics/Desktop/Eye_Surgery_Haptics_SOFA/SOFA/v16.08/build/install
Boost version: 1.59.0
Boost version: 1.59.0
<strong>SofaSparseSolver: metis was not found, SparseLDLSolver won't be built
SofaSparseSolver: csparse was found, SparseLUSolver and SparseCholeskySolver will be built</strong>
QGLViewer: Using Qt5
SofaGUIQt: Using Qt5
<strong>SofaTest: optional dependency SofaPython NOT found, Python_test won't be built</strong>
Adding Plugin Sensable
Adding Application Modeler
Modeler executable: Using Qt5
Modeler library: Using Qt5
Adding Application runSofa
Configuring done.

Is there something wrong with the portion highlighted above? I am pointing to them because I could not run the Sensable Plugin successfully at the end.
2. Next step is to build them on VS 2015. I built the solution and the following 130 errors occurred:

Severity	Code	Description	Project	File	Line	Suppression State
Error	C2143	syntax error: missing ';' before '<' (compiling source file C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\OmniDriver.cpp)	Sensable	c:\users\robotics\desktop\eye_surgery_haptics_sofa\sofa\v16.08\src\sofa-16.08\applications\plugins\sensable\OmniDriver.h	72	
Error	C4430	missing type specifier - int assumed. Note: C++ does not support default-int (compiling source file C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\OmniDriver.cpp)	Sensable	c:\users\robotics\desktop\eye_surgery_haptics_sofa\sofa\v16.08\src\sofa-16.08\applications\plugins\sensable\OmniDriver.h	72	
Error	C2238	unexpected token(s) preceding ';' (compiling source file C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\OmniDriver.cpp)	Sensable	c:\users\robotics\desktop\eye_surgery_haptics_sofa\sofa\v16.08\src\sofa-16.08\applications\plugins\sensable\OmniDriver.h	72	
Error	C2061	syntax error: identifier 'vector' (compiling source file C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\OmniDriver.cpp)	Sensable	c:\users\robotics\desktop\eye_surgery_haptics_sofa\sofa\v16.08\src\sofa-16.08\applications\plugins\sensable\OmniDriver.h	124	
Error	C2143	syntax error: missing ';' before '<' (compiling source file C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp)	Sensable	c:\users\robotics\desktop\eye_surgery_haptics_sofa\sofa\v16.08\src\sofa-16.08\applications\plugins\sensable\NewOmniDriver.h	114	
Error	C4430	missing type specifier - int assumed. Note: C++ does not support default-int (compiling source file C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp)	Sensable	c:\users\robotics\desktop\eye_surgery_haptics_sofa\sofa\v16.08\src\sofa-16.08\applications\plugins\sensable\NewOmniDriver.h	114	
Error	C2238	unexpected token(s) preceding ';' (compiling source file C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp)	Sensable	c:\users\robotics\desktop\eye_surgery_haptics_sofa\sofa\v16.08\src\sofa-16.08\applications\plugins\sensable\NewOmniDriver.h	114	
Error	C2039	'forceFeedbacks': is not a member of 'sofa::component::controller::OmniData'	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\OmniDriver.cpp	190	
Error	C2228	left of '.size' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\OmniDriver.cpp	190	
Error	C2039	'forceFeedbacks': is not a member of 'sofa::component::controller::OmniData'	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\OmniDriver.cpp	191	
Error	C2227	left of '->indice' must point to class/struct/union/generic type	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\OmniDriver.cpp	191	
Error	C2039	'forceFeedbacks': is not a member of 'sofa::component::controller::OmniData'	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\OmniDriver.cpp	192	
Error	C2065	'vector': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\OmniDriver.cpp	370	
Error	C2059	syntax error: '>'	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\OmniDriver.cpp	370	
Error	C2143	syntax error: missing ';' before '{'	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\OmniDriver.cpp	371	
Error	C2447	'{': missing function header (old-style formal list?)	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\OmniDriver.cpp	371	
Error	C2065	'vector': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\OmniDriver.cpp	397	
Error	C2059	syntax error: '>'	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\OmniDriver.cpp	397	
Error	C2065	'ffs': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\OmniDriver.cpp	398	
Error	C2065	'ffs': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\OmniDriver.cpp	399	
Error	C2228	left of '.size' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\OmniDriver.cpp	399	
Error	C2065	'ffs': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\OmniDriver.cpp	400	
Error	C2039	'forceFeedbacks': is not a member of 'sofa::component::controller::OmniData'	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\OmniDriver.cpp	518	
Error	C2228	left of '.size' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\OmniDriver.cpp	518	
Error	C2039	'forceFeedbacks': is not a member of 'sofa::component::controller::OmniData'	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\OmniDriver.cpp	519	
Error	C2227	left of '->indice' must point to class/struct/union/generic type	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\OmniDriver.cpp	519	
Error	C2039	'forceFeedbacks': is not a member of 'sofa::component::controller::OmniData'	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\OmniDriver.cpp	520	
Error	C2227	left of '->setReferencePosition' must point to class/struct/union/generic type	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\OmniDriver.cpp	520	
Error	C2143	syntax error: missing ';' before '<'	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	89	
Error	C4430	missing type specifier - int assumed. Note: C++ does not support default-int	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	89	
Error	C2143	syntax error: missing ';' before '<'	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	90	
Error	C4430	missing type specifier - int assumed. Note: C++ does not support default-int	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	90	
Error	C2086	'int sofa::component::controller::vector': redefinition	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	90	
Error	C2065	'autreOmniDriver': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	132	
Error	C2228	left of '.size' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	132	
Error	C2065	'autreOmniDriver': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	133	
Error	C2228	left of '.size' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	133	
Error	C2065	'autreOmniDriver': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	135	
Error	C2228	left of '.size' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	135	
Error	C2065	'autreOmniDriver': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	137	
Error	C2227	left of '->data' must point to class/struct/union/generic type	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	137	
Error	C2228	left of '.servoDeviceData' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	137	
Error	C2228	left of '.stop' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	137	
Error	C2065	'autreOmniDriver': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	141	
Error	C2227	left of '->data' must point to class/struct/union/generic type	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	141	
Error	C2228	left of '.servoDeviceData' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	141	
Error	C2228	left of '.ready' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	141	
Error	C2065	'hHDVector': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	145	
Error	C2065	'autreOmniDriver': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	151	
Error	C2227	left of '->stateButton1' must point to class/struct/union/generic type	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	151	
Error	C2227	left of '->data' must point to class/struct/union/generic type	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	151	
Error	C2228	left of '.servoDeviceData' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	151	
Error	C2228	left of '.m_buttonState' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	151	
Error	C2065	'autreOmniDriver': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	152	
Error	C2227	left of '->stateButton2' must point to class/struct/union/generic type	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	152	
Error	C2227	left of '->data' must point to class/struct/union/generic type	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	152	
Error	C2228	left of '.servoDeviceData' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	152	
Error	C2228	left of '.m_buttonState' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	152	
Error	C2065	'autreOmniDriver': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	154	
Error	C2227	left of '->data' must point to class/struct/union/generic type	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	154	
Error	C2228	left of '.servoDeviceData' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	154	
Error	C2228	left of '.m_buttonState' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	154	
Error	C2228	left of '.permanent_feedback' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	154	
Error	C2065	'autreOmniDriver': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	155	
Error	C2227	left of '->data' must point to class/struct/union/generic type	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	155	
Error	C2228	left of '.currentForce' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	155	
Error	C2660	'hdSetDoublev': function does not take 1 arguments	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	155	
Error	C2065	'autreOmniDriver': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	157	
Error	C2227	left of '->data' must point to class/struct/union/generic type	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	157	
Error	C2228	left of '.servoDeviceData' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	157	
Error	C2228	left of '.id' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	157	
Error	C2065	'autreOmniDriver': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	160	
Error	C2227	left of '->data' must point to class/struct/union/generic type	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	160	
Error	C2228	left of '.servoDeviceData' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	160	
Error	C2228	left of '.m_buttonState' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	160	
Error	C2660	'hdGetIntegerv': function does not take 1 arguments	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	160	
Error	C2065	'autreOmniDriver': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	163	
Error	C2227	left of '->data' must point to class/struct/union/generic type	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	163	
Error	C2228	left of '.servoDeviceData' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	163	
Error	C2228	left of '.m_devicePosition' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	163	
Error	C2660	'hdGetDoublev': function does not take 1 arguments	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	163	
Error	C2065	'autreOmniDriver': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	181	
Error	C2227	left of '->data' must point to class/struct/union/generic type	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	181	
Error	C2228	left of '.servoDeviceData' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	181	
Error	C2228	left of '.pos' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	181	
Error	C2065	'autreOmniDriver': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	185	
Error	C2227	left of '->data' must point to class/struct/union/generic type	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	185	
Error	C2228	left of '.servoDeviceData' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	185	
Error	C2228	left of '.quat' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	185	
Error	C2065	'autreOmniDriver': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	186	
Error	C2227	left of '->data' must point to class/struct/union/generic type	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	186	
Error	C2228	left of '.servoDeviceData' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	186	
Error	C2228	left of '.quat' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	186	
Error	C2065	'autreOmniDriver': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	187	
Error	C2227	left of '->data' must point to class/struct/union/generic type	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	187	
Error	C2228	left of '.servoDeviceData' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	187	
Error	C2228	left of '.quat' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	187	
Error	C2065	'autreOmniDriver': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	188	
Error	C2227	left of '->data' must point to class/struct/union/generic type	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	188	
Error	C2228	left of '.servoDeviceData' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	188	
Error	C2228	left of '.quat' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	188	
Error	C2065	'autreOmniDriver': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	193	
Error	C2227	left of '->data' must point to class/struct/union/generic type	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	193	
Error	C2228	left of '.servoDeviceData' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	193	
Error	C2228	left of '.quat' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	193	
Error	C2065	'autreOmniDriver': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	196	
Error	C2227	left of '->data' must point to class/struct/union/generic type	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	196	
Error	C2228	left of '.scale' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	196	
Error	C2664	'sofa::defaulttype::SolidTypes<double>::Transform::Transform(sofa::defaulttype::SolidTypes<double>::Transform &&)': cannot convert argument 1 from 'sofa::defaulttype::Quat' to 'const sofa::defaulttype::SolidTypes<double>::SpatialVector &'	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	196	
Error	C2065	'autreOmniDriver': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	197	
Error	C2227	left of '->data' must point to class/struct/union/generic type	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	197	
Error	C2228	left of '.world_H_baseOmni' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	197	
Error	C2228	left of '.endOmni_H_virtualTool' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	197	
Error	C2065	'autreOmniDriver': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	206	
Error	C2227	left of '->angle1' must point to class/struct/union/generic type	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	206	
Error	C2660	'hdGetFloatv': function does not take 1 arguments	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	206	
Error	C2065	'autreOmniDriver': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	207	
Error	C2227	left of '->angle2' must point to class/struct/union/generic type	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	207	
Error	C2660	'hdGetFloatv': function does not take 1 arguments	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	207	
Error	C2065	'autreOmniDriver': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	213	
Error	C2228	left of '.size' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	213	
Error	C2065	'autreOmniDriver': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	219	
Error	C2227	left of '->data' must point to class/struct/union/generic type	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	219	
Error	C2228	left of '.forceFeedback' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	219	
Error	C2227	left of '->computeForce' must point to class/struct/union/generic type	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	219	
Error	C2065	'autreOmniDriver': undeclared identifier	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	224	
Error	C2227	left of '->data' must point to class/struct/union/generic type	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	224	
Error	C2228	left of '.servoDeviceData' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	224	
Error	C2228	left of '.pos' must have class/struct/union	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	224	
Error	C1003	error count exceeds 100; stopping compilation	Sensable	C:\Users\Robotics\Desktop\Eye_Surgery_Haptics_SOFA\SOFA\v16.08\src\sofa-16.08\applications\plugins\Sensable\NewOmniDriver.cpp	224	

I am not sure what could have possibly gone wrong? I am not even sure what those errors mean and how to rectify them.

3. Also, I tried to use the latest source version(and compiled SOFA with Sensable) and also the binaries of SOFA(and compile the plugin separately). But, both of them showed those 130 errors.
It would be of great help if someone could help me with this issue. Thanks in Advance.

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