Modified cannula code to work with a single tube.
Not perfect, old cannula render and other things aren't working. The problem is with the tU matrix in OneTubeCannula.cpp calculateShape function, but I don't know what it is currently.
Hacked in other collision detection, treating the cannula as a large set of "needle segments" internal to offline-planning.cpp
I also added the functionality to maximize the radius of curvature as a cost metric.
The input to online-needle needs to be transformed into tracker frame
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