--- a/python/prediction.py	Tue Nov 25 22:49:47 2014 -0500
+++ b/python/prediction.py	Wed Dec 03 22:57:08 2014 -0500
@@ -5,6 +5,7 @@
 import math
 import random
 import numpy as np
+import trajLearning
 
 class PredictedTrajectory:
     '''Class for predicted trajectories with lazy evaluation
@@ -166,14 +167,25 @@
     savefig('predicted-trajectories-t-{0}.png'.format(currentInstant))
     close()
 
-def computeCrossingsCollisionsAtInstant(predictionParams,currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False,prototypeTrajectories1=None,prototypeTrajectories2=None):  
+def getPrototypeTrajectory(obj,route,currentInstant,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity=0.1,mostMatched=None,useDestination=True,useSpeedPrototype=True):
+    partialInterval=moving.Interval(obj.getFirstInstant(),currentInstant)
+    partialObjPositions= obj.getObjectInTimeInterval(partialInterval).positions	
+    if useSpeedPrototype:
+        prototypeTrajectories=trajLearning.findPrototypesSpeed(prototypes,secondStepPrototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination)
+    else:
+        prototypeTrajectories=trajLearning.findPrototypes(prototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched)
+    return 	prototypeTrajectories
+
+def computeCrossingsCollisionsAtInstant(predictionParams,currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False,usePrototypes=True,route1= (-1,-1),route2=(-1,-1),prototypes={},secondStepPrototypes={},nMatching={},objects=[],noiseEntryNums=[],noiseExitNums=[],minSimilarity=0.1,mostMatched=None,useDestination=True,useSpeedPrototype=True):  
     '''returns the lists of collision points and crossing zones'''
-    if prototypeTrajectories1==None: 
+    if usePrototypes:
+		prototypeTrajectories1=getPrototypeTrajectory(obj1,route1,currentInstant,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype)
+		prototypeTrajectories2= getPrototypeTrajectory(obj2,route2,currentInstant,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype)
+		predictedTrajectories1 = predictionParams.generatePredictedTrajectories(obj1, currentInstant,prototypeTrajectories1)
+		predictedTrajectories2 = predictionParams.generatePredictedTrajectories(obj2, currentInstant,prototypeTrajectories2) 		
+    else:
         predictedTrajectories1 = predictionParams.generatePredictedTrajectories(obj1, currentInstant)
         predictedTrajectories2 = predictionParams.generatePredictedTrajectories(obj2, currentInstant)		
-    else:
-        predictedTrajectories1 = predictionParams.generatePredictedTrajectories(obj1, currentInstant,prototypeTrajectories1)
-        predictedTrajectories2 = predictionParams.generatePredictedTrajectories(obj2, currentInstant,prototypeTrajectories2)
 
     collisionPoints = []
     crossingZones = []
@@ -205,7 +217,7 @@
         savePredictedTrajectoriesFigure(currentInstant, obj1, obj2, predictedTrajectories1, predictedTrajectories2, timeHorizon)
     return currentInstant,collisionPoints, crossingZones
 
-def computeCrossingsCollisions(predictionParams, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None,nProcesses = 1,prototypeTrajectories1=None,prototypeTrajectories2=None):
+def computeCrossingsCollisions(predictionParams, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None,nProcesses = 1,usePrototypes=True,route1= (-1,-1),route2=(-1,-1),prototypes={},secondStepPrototypes={},nMatching={},objects=[],noiseEntryNums=[],noiseExitNums=[],minSimilarity=0.1,mostMatched=None,useDestination=True,useSpeedPrototype=True,acceptPartialLength=30, step=1):
     '''Computes all crossing and collision points at each common instant for two road users. '''
     collisionPoints={}
     crossingZones={}
@@ -214,8 +226,27 @@
     else:
         commonTimeInterval = obj1.commonTimeInterval(obj2)
     if nProcesses == 1:
+        if usePrototypes:
+            firstInstant= next( (x for x in xrange(commonTimeInterval.first,commonTimeInterval.last) if x-obj1.getFirstInstant() >= acceptPartialLength and x-obj2.getFirstInstant() >= acceptPartialLength), commonTimeInterval.last)
+            commonTimeIntervalList1= list(xrange(firstInstant,commonTimeInterval.last))
+            commonTimeIntervalList2= list(xrange(firstInstant,commonTimeInterval.last,step))
+            for i in commonTimeIntervalList2[:-1]: # do not look at the 1 last position/velocities, often with errors
+                i, cp, cz = computeCrossingsCollisionsAtInstant(predictionParams, i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype)
+                if len(cp) != 0:
+                    collisionPoints[i] = cp
+                if len(cz) != 0:
+                    crossingZones[i] = cz
+            if collisionPoints!={} or crossingZones!={}:
+                for i in commonTimeIntervalList1[:-1]:
+                    if i not in commonTimeIntervalList2:
+                        i, cp, cz = computeCrossingsCollisionsAtInstant(predictionParams, i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype)
+                        if len(cp) != 0:
+                            collisionPoints[i] = cp
+                        if len(cz) != 0:
+                            crossingZones[i] = cz						
+	
         for i in list(commonTimeInterval)[:-1]: # do not look at the 1 last position/velocities, often with errors
-            i, cp, cz = computeCrossingsCollisionsAtInstant(predictionParams, i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,prototypeTrajectories1,prototypeTrajectories2)
+            i, cp, cz = computeCrossingsCollisionsAtInstant(predictionParams, i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype)
             if len(cp) != 0:
                 collisionPoints[i] = cp
             if len(cz) != 0:
@@ -223,7 +254,7 @@
     else:
         from multiprocessing import Pool
         pool = Pool(processes = nProcesses)
-        jobs = [pool.apply_async(computeCrossingsCollisionsAtInstant, args = (predictionParams, i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,prototypeTrajectories1,prototypeTrajectories2)) for i in list(commonTimeInterval)[:-1]]
+        jobs = [pool.apply_async(computeCrossingsCollisionsAtInstant, args = (predictionParams, i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype)) for i in list(commonTimeInterval)[:-1]]
         #results = [j.get() for j in jobs]
         #results.sort()
         for j in jobs:
@@ -247,11 +278,11 @@
     def generatePredictedTrajectories(self, obj, instant):
         return []
 
-    def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False,prototypeTrajectories1=None,prototypeTrajectories2=None):
-        return computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,prototypeTrajectories1,prototypeTrajectories2)
+    def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False,usePrototypes=True,route1= (-1,-1),route2=(-1,-1),prototypes={},secondStepPrototypes={},nMatching={},objects=[],noiseEntryNums=[],noiseExitNums=[],minSimilarity=0.1,mostMatched=None,useDestination=True,useSpeedPrototype=True):
+        return computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype)
 
-    def computeCrossingsCollisions(self, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None, nProcesses = 1,prototypeTrajectories1=None,prototypeTrajectories2=None):
-        return computeCrossingsCollisions(self, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug, timeInterval, nProcesses,prototypeTrajectories1,prototypeTrajectories2)
+    def computeCrossingsCollisions(self, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None, nProcesses = 1,usePrototypes=True,route1= (-1,-1),route2=(-1,-1),prototypes={},secondStepPrototypes={},nMatching={},objects=[],noiseEntryNums=[],noiseExitNums=[],minSimilarity=0.1,mostMatched=None,useDestination=True,useSpeedPrototype=True,acceptPartialLength=30, step=1):
+        return computeCrossingsCollisions(self, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug, timeInterval, nProcesses,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype,acceptPartialLength, step)
 
     def computeCollisionProbability(self, obj1, obj2, collisionDistanceThreshold, timeHorizon, debug = False, timeInterval = None):
         '''Computes only collision probabilities