--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/trafficintelligence/tests/prediction.txt	Fri Jun 15 11:19:10 2018 -0400
@@ -0,0 +1,71 @@
+>>> from prediction import *
+>>> import moving, storage, utils
+>>> from numpy import absolute, array
+
+>>> et = PredictedTrajectoryConstant(moving.Point(0,0), moving.Point(1,0))
+>>> et.predictPosition(4) # doctest:+ELLIPSIS
+(4.0...,0.0...)
+>>> et.predictPosition(1) # doctest:+ELLIPSIS
+(1.0...,0.0...)
+
+>>> et = PredictedTrajectoryConstant(moving.Point(0,0), moving.Point(1,0), moving.NormAngle(0.1,0), maxSpeed = 2)
+>>> et.predictPosition(10) # doctest:+ELLIPSIS
+(15.5...,0.0...)
+>>> et.predictPosition(11) # doctest:+ELLIPSIS
+(17.5...,0.0...)
+>>> et.predictPosition(12) # doctest:+ELLIPSIS
+(19.5...,0.0...)
+
+>>> import random
+>>> acceleration = lambda: random.uniform(-0.5,0.5)
+>>> steering = lambda: random.uniform(-0.1,0.1)
+>>> et = PredictedTrajectoryRandomControl(moving.Point(0,0),moving.Point(1,1), acceleration, steering, maxSpeed = 2)
+>>> p = et.predictPosition(500)
+>>> from numpy import max
+>>> max(et.getPredictedSpeeds()) <= 2.
+True
+
+>>> p = moving.Point(3,4)
+>>> sp = SafetyPoint(p, 0.1, 0)
+>>> print(sp)
+3 4 0.1 0
+
+>>> et1 = PredictedTrajectoryConstant(moving.Point(-5.,0.), moving.Point(1.,0.))
+>>> et2 = PredictedTrajectoryConstant(moving.Point(0.,-5.), moving.Point(0.,1.))
+>>> collision, t, cp1, cp2 = computeCollisionTime(et1, et2, 0.1, 10)
+>>> collision
+True
+>>> t
+5
+>>> collision, t, cp1, cp2 = computeCollisionTime(et1, et2, 0.1, 5)
+>>> collision
+True
+>>> t
+5
+>>> collision, t, cp1, cp2 = computeCollisionTime(et1, et2, 0.1, 4)
+>>> collision
+False
+
+>>> proto = storage.loadTrajectoriesFromSqlite('../samples/laurier.sqlite', 'feature', [1204])[0]
+>>> proto.getPositions().computeCumulativeDistances()
+>>> et = PredictedTrajectoryPrototype(proto.getPositionAt(10)+moving.Point(0.5, 0.5), proto.getVelocityAt(10)*0.9, proto, True)
+>>> absolute(et.initialSpeed - proto.getVelocityAt(10).norm2()*0.9) < 1e-5
+True
+>>> for t in range(int(proto.length())): x=et.predictPosition(t)
+>>> traj = et.getPredictedTrajectory()
+>>> traj.computeCumulativeDistances()
+>>> absolute(array(traj.distances).mean() - et.initialSpeed < 1e-3)
+True
+
+>>> et = PredictedTrajectoryPrototype(proto.getPositionAt(10)+moving.Point(0.6, 0.6), proto.getVelocityAt(10)*0.7, proto, False)
+>>> absolute(et.initialSpeed - proto.getVelocityAt(10).norm2()*0.7) < 1e-5
+True
+>>> proto = moving.MovingObject.generate(1, moving.Point(-5.,0.), moving.Point(1.,0.), moving.TimeInterval(0,10))
+>>> et = PredictedTrajectoryPrototype(proto.getPositionAt(0)+moving.Point(0., 1.), proto.getVelocityAt(0)*0.5, proto, False)
+>>> for t in range(int(proto.length()/0.5)): x=et.predictPosition(t)
+>>> et.predictPosition(10) # doctest:+ELLIPSIS
+(0.0...,1.0...)
+>>> et.predictPosition(12) # doctest:+ELLIPSIS
+(1.0...,1.0...)
+
+