Public Member Functions
def	__init__
def	calculatePath
def	point
def	step
Public Attributes
	dl
	dt
	fids
	h00
	h01
	h10
	h11
	m
	n
	p
	path

Detailed Description

Compute path given a list of fiducials. 
A Hermite spline interpolation is used. See http://en.wikipedia.org/wiki/Cubic_Hermite_spline

Example:
  result = EndoscopyComputePath(fiducialListNode)
  print "computer path has %d elements" % len(result.path)

Definition at line 266 of file Endoscopy.py.

Constructor & Destructor Documentation

def Endoscopy::EndoscopyComputePath::__init__	(	self,
		fiducialListNode,
		dl = `0.5`
	)

Definition at line 276 of file Endoscopy.py.

Member Function Documentation

def Endoscopy::EndoscopyComputePath::calculatePath ( self )

Generate a flight path for of steps of length dl

Definition at line 333 of file Endoscopy.py.

def Endoscopy::EndoscopyComputePath::point	(	self,
		segment,
		t
	)

Definition at line 354 of file Endoscopy.py.

def Endoscopy::EndoscopyComputePath::step	(	self,
		segment,
		t,
		dl
	)

Take a step of dl and return the path point and new t
  return:
  t = new parametric coordinate after step 
  p = point after step
  remainder = if step results in parametic coordinate > 1.0, then
this is the amount of world space not covered by step

Definition at line 360 of file Endoscopy.py.