###############################################################################
## compute number of points per walkable surface, depending on the distance to
## the next connector segment
M_w = []
N_c = len(connector)
dI = distancePointWalkableSurface(start, connector[0])
NdI = distanceInMetersToNumberOfPoints(dI)
pathPlanes = []
W=Wsurfaces_decomposed[path[0]]
Xmiddle = getMiddlePathStart(start,connector[0],startNormal,connectorNormal[0],W,NdI)
pathPlanesStart = middlePathToHyperplane(Xmiddle)
xx = (start.T+np.array((0,0,0.1))).T
plot.point(xx,color=(0,0,0,1))
for i in range(0,len(Xmiddle)):
pathPlanes.append(pathPlanesStart[i])
M_w.append(NdI)
pathPlanesConnector = []
for i in range(0,N_c-1):
C = connector[i]
Cnext = connector[i+1]
dcc = distanceWalkableSurfaceWalkableSurface(C,Cnext)
Ndcc = distanceInMetersToNumberOfPoints(dcc)
M_w.append(Ndcc)
W=Wsurfaces_decomposed[path[i+1]]
Xmiddle = getMiddlePath(C,Cnext,connectorNormal[i],connectorNormal[i+1],W,Ndcc)
