# HG changeset patch
# User Nicolas Saunier <nicolas.saunier@polymtl.ca>
# Date 1394645814 14400
# Node ID a8f95bbd79bcf80c1a80f7dfa3d93e68440efb40
# Parent  a84b9ba9631fbe0d99f9c0ae4a1229be2ff92df6# Parent  7d2310f6451126715bb60a6e9cd3d745f6218914
merge done

diff -r 7d2310f64511 -r a8f95bbd79bc python/prediction.py
--- a/python/prediction.py	Thu Mar 06 15:01:33 2014 -0500
+++ b/python/prediction.py	Wed Mar 12 13:36:54 2014 -0400
@@ -66,6 +66,15 @@
         self.predictedPositions = {0: initialPosition}
         self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
 
+    def predictPosition(self, nTimeSteps):
+        if nTimeSteps > 0 and not nTimeSteps in self.predictedPositions.keys():
+            if constantSpeed:
+                # calculate cumulative distance
+                pass
+            else: # see c++ code, calculate ratio
+                pass
+        return self.predictedPositions[nTimeSteps]
+
 class PredictedTrajectoryRandomControl(PredictedTrajectory):
     '''Random vehicle control: suitable for normal adaptation'''
     def __init__(self, initialPosition, initialVelocity, accelerationDistribution, steeringDistribution, probability = 1., maxSpeed = None):