# HG changeset patch
# User Nicolas Saunier <nicolas.saunier@polymtl.ca>
# Date 1360616355 18000
# Node ID ba29bd82bd04d54a811bb987940b0e28aeccc04a
# Parent  1f253f218b9f67b6293d1d5475dbf110e9628aa0
added option to disable computation of crossing zones

diff -r 1f253f218b9f -r ba29bd82bd04 python/prediction.py
--- a/python/prediction.py	Fri Feb 08 18:35:24 2013 -0500
+++ b/python/prediction.py	Mon Feb 11 15:59:15 2013 -0500
@@ -190,7 +190,7 @@
         t += 1
     return t, p1, p2
 
-def computeCrossingsCollisionsAtInstant(currentInstant, obj1, obj2, predictionParameters, collisionDistanceThreshold, timeHorizon, debug = False):
+def computeCrossingsCollisionsAtInstant(currentInstant, obj1, obj2, predictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False):
     '''returns the lists of collision points and crossing zones
     
     Check: Predicting all the points together, as if they represent the whole vehicle'''
@@ -205,7 +205,7 @@
             
             if t <= timeHorizon:
                 collisionPoints.append(SafetyPoint((p1+p2).multiply(0.5), et1.probability*et2.probability, t))
-            else: # check if there is a crossing zone
+            elif computeCZ: # check if there is a crossing zone
                 # TODO? zone should be around the points at which the traj are the closest
                 # look for CZ at different times, otherwise it would be a collision
                 # an approximation would be to look for close points at different times, ie the complementary of collision points