# HG changeset patch
# User Nicolas Saunier <nicolas.saunier@polymtl.ca>
# Date 1394596215 14400
# Node ID a84b9ba9631fbe0d99f9c0ae4a1229be2ff92df6
# Parent  08b67c9baca2c66fe5f03e5c515a22a156e453ab
small progress

diff -r 08b67c9baca2 -r a84b9ba9631f python/prediction.py
--- a/python/prediction.py	Wed Mar 05 23:01:00 2014 -0500
+++ b/python/prediction.py	Tue Mar 11 23:50:15 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):