# HG changeset patch
# User Nicolas Saunier <nicolas.saunier@polymtl.ca>
# Date 1394136093 18000
# Node ID 7d2310f6451126715bb60a6e9cd3d745f6218914
# Parent  5304299e53a521781d018069cfe875559ec7a937# Parent  08b67c9baca2c66fe5f03e5c515a22a156e453ab
merge done

diff -r 5304299e53a5 -r 7d2310f64511 python/prediction.py
--- a/python/prediction.py	Thu Mar 06 15:01:19 2014 -0500
+++ b/python/prediction.py	Thu Mar 06 15:01:33 2014 -0500
@@ -54,9 +54,17 @@
     2. a generic polyline (eg the road centerline) that a vehicle is supposed to follow
 
     Prediction can be done
-    1. at constant speed (the instant speed of the user'''
+    1. at constant speed (the instantaneous user speed)
+    2. following the trajectory path, at the speed of the user
+    (applying a constant ratio equal 
+    to the ratio of the user instantaneous speed and the trajectory closest speed)'''
 
-    def __init__(self)
+    def __init__(self, initialPosition, initialVelocity, prototypeTrajectory, constantSpeed = True, probability = 1.):
+        self.prototypeTrajectory = prototypeTrajectory
+        self.constantSpeed = constantSpeed
+        self.probability = probability
+        self.predictedPositions = {0: initialPosition}
+        self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
 
 class PredictedTrajectoryRandomControl(PredictedTrajectory):
     '''Random vehicle control: suitable for normal adaptation'''