--- a/scripts/safety-analysis.py	Wed Jul 10 18:22:45 2013 -0400
+++ b/scripts/safety-analysis.py	Thu Jul 11 00:07:47 2013 -0400
@@ -1,15 +1,19 @@
 #! /usr/bin/env python
 
-import utils, storage, prediction, events
+import utils, storage, prediction, events, moving
 
 import sys, argparse
 
 import matplotlib.pyplot as plt
 import numpy as np
 
+# todo: very slow if too many predicted trajectories
+# add computation of probality of unsucessful evasive action
+
 parser = argparse.ArgumentParser(description='The program processes indicators for all pairs of road users in the scene')
 parser.add_argument('--cfg', dest = 'configFilename', help = 'name of the configuration file')
 parser.add_argument('--prediction-method', dest = 'predictionMethod', help = 'prediction method (constant velocity, normal adaptation, point set prediction)', choices = ['cv', 'na', 'ps'])
+parser.add_argument('--display-cp', dest = 'displayCollisionPoints', help = 'display collision points')
 args = parser.parse_args()
 
 params = utils.TrackingParameters()
@@ -50,17 +54,18 @@
         obj.setFeatures(features)
 
 interactions = events.createInteractions(objects)
-for inter in interactions[:1]:
+for inter in interactions:
     inter.computeIndicators()
     inter.computeCrossingsCollisions(predictionParameters, params.collisionDistance, params.predictionTimeHorizon, params.crossingZones)
 
 storage.saveIndicators(params.databaseFilename, interactions)
 
-if False:
+if args.displayCollisionPoints:
     plt.figure()
-    plt.axis('equal')
+    allCollisionPoints = []
     for inter in interactions:
         for collisionPoints in inter.collisionPoints.values():
-            for cp in collisionPoints:
-                plt.plot([cp.x], [cp.y], 'x')
+            allCollisionPoints += collisionPoints
+    moving.Point.plotAll(allCollisionPoints)
+    plt.axis('equal')