--- a/scripts/safety-analysis.py	Thu Jul 20 14:29:46 2017 -0400
+++ b/scripts/safety-analysis.py	Fri Jul 21 11:25:20 2017 -0400
@@ -16,6 +16,7 @@
 # TODO analyze only 
 parser.add_argument('--prediction-method', dest = 'predictionMethod', help = 'prediction method (constant velocity (cvd: vector computation (approximate); cve: equation solving; cv: discrete time (approximate)), normal adaptation, point set prediction)', choices = ['cvd', 'cve', 'cv', 'na', 'ps', 'mp'])
 parser.add_argument('--prototypeDatabaseFilename', dest = 'prototypeDatabaseFilename', help = 'name of the database containing the prototypes')
+parser.add_argument('--no-motion-prediction', dest = 'noMotionPrediction', help = 'does not compute indicators like TTC depending on motion prediction', action = 'store_true')
 parser.add_argument('--pet', dest = 'computePET', help = 'computes PET', action = 'store_true')
 parser.add_argument('--display-cp', dest = 'displayCollisionPoints', help = 'display collision points', action = 'store_true')
 parser.add_argument('--nthreads', dest = 'nProcesses', help = 'number of processes to run in parallel', type = int, default = 1)
@@ -75,7 +76,8 @@
 interactions = events.createInteractions(objects)
 for inter in interactions:
     inter.computeIndicators()
-#    inter.computeCrossingsCollisions(predictionParameters, params.collisionDistance, params.predictionTimeHorizon, params.crossingZones, nProcesses = args.nProcesses, debug = True)
+    if not args.noMotionPrediction:
+        inter.computeCrossingsCollisions(predictionParameters, params.collisionDistance, params.predictionTimeHorizon, params.crossingZones, nProcesses = args.nProcesses, debug = True)
 
 if args.computePET:
     for inter in interactions: