# HG changeset patch
# User Nicolas Saunier <nicolas.saunier@polymtl.ca>
# Date 1437170400 14400
# Node ID 4cc56ff82c3c793cd3dd9b896a0ef0a3b4bd8901
# Parent  0f1b6907643a4ab9041f1f0a003b7c15c4d41fd6
corrected bug for prediction at constant velocity, exact computation

diff -r 0f1b6907643a -r 4cc56ff82c3c python/prediction.py
--- a/python/prediction.py	Fri Jul 17 14:33:01 2015 -0400
+++ b/python/prediction.py	Fri Jul 17 18:00:00 2015 -0400
@@ -555,7 +555,7 @@
     def __init__(self):
         PredictionParameters.__init__(self, 'constant velocity (direct exact computation)', None)
 
-    def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False):
+    def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, *kwargs):
         'TODO add collision point coordinates, compute pPET'
         #collisionPoints = []
         #crossingZones = []
@@ -569,9 +569,9 @@
         if intersection is not None:
             ttc = moving.Point.timeToCollision(p1, p2, v1, v2, collisionDistanceThreshold)
             if ttc:
-                return [SafetyPoint(intersection, 1., ttc)], [] # (p1+v1.multiply(ttc)+p2+v2.multiply(ttc)).multiply(0.5)
+                return currentInstant, [SafetyPoint(intersection, 1., ttc)], [] # (p1+v1.multiply(ttc)+p2+v2.multiply(ttc)).multiply(0.5)
             else:
-                return [],[]
+                return currentInstant, [],[]
 
 ####
 # Other Methods