--- a/python/prediction.py	Sun Feb 23 22:56:54 2014 -0500
+++ b/python/prediction.py	Sun Feb 23 23:18:08 2014 -0500
@@ -356,8 +356,28 @@
 
         return collisionPoints, crossingZones
 
+class CVExactPredictionParameters(PredictionParameters):
+    '''Prediction parameters of prediction at constant velocity
+    using direct computation of the intersecting point (solving for the equation'''
+    
+    def __init__(self):
+        PredictionParameters.__init__(self, 'constant velocity (direct exact computation)', None)
 
+    def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False):
+        'TODO add collision point coordinates, compute pPET'
+        #collisionPoints = []
+        #crossingZones = []
 
+        p1 = obj1.getPositionAtInstant(currentInstant)
+        p2 = obj2.getPositionAtInstant(currentInstant)
+        v1 = obj1.getVelocityAtInstant(currentInstant)
+        v2 = obj2.getVelocityAtInstant(currentInstant)
+        
+        ttc = moving.Point.timeToCollision(p1, p2, v1, v2, collisionDistanceThreshold)
+        if ttc:
+            return [SafetyPoint(moving.Point(), 1., ttc)], []
+        else:
+            return [],[]
 
 ####
 # Other Methods