>>> from prediction import *
>>> import moving

>>> 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