[InterventionalRadiologyController] Revert sampling change of behaviour (sofa-framework#88)

* [InterventionalRadiologyController] Revert sampling change of behaviour

* [RadiologyInterventionalController] Remove unused line

With the precedent correction, the end point of each interval is added
in the sampling as the begin point of the next interval. The last end
point is treated separately

---------

Co-authored-by: Camille Krewcun <[email protected]>

Author: Camille-K

src/BeamAdapter/component/controller/InterventionalRadiologyController.inl

@@ -536,6 +536,10 @@ void InterventionalRadiologyController<DataTypes>::interventionalRadiologyComput
             //compute the corresponding abs curv of this "noticeable point" on the combined intrument
             const Real curvAbs_xP = xBegin[i] + xP;
             const Real curvAbs_nxP = xBegin[i] + nxP;
+
+            // In any case, the key points are added as soon as they are deployed
+            if (curvAbs_xP > 0)
+                newCurvAbs.push_back(curvAbs_xP);
 
             // compute interval between next point and previous one (0 for the first iter)
             const Real curvAbs_interval = (curvAbs_nxP - xSampling);
@@ -553,11 +557,16 @@ void InterventionalRadiologyController<DataTypes>::interventionalRadiologyComput
                     newCurvAbs.push_back(value);
                 }
 
-                // Add j+1 bound point
-                newCurvAbs.push_back(curvAbs_nxP);
                 xSampling = curvAbs_nxP;
             }
         }
+
+        // After the end of the for loop above, we just have to process the
+        // instrument last key point
+        const Real lastxP = xP_noticeable_I[xP_noticeable_I.size()-1];
+        const Real curvAbs_lastxP = xBegin[i] + lastxP;
+        if (curvAbs_lastxP > 0)
+            newCurvAbs.push_back(curvAbs_lastxP);
     }