--- a/python/prediction.py	Wed Dec 03 22:57:08 2014 -0500
+++ b/python/prediction.py	Thu Dec 04 13:37:55 2014 -0500
@@ -182,7 +182,7 @@
 		prototypeTrajectories1=getPrototypeTrajectory(obj1,route1,currentInstant,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype)
 		prototypeTrajectories2= getPrototypeTrajectory(obj2,route2,currentInstant,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype)
 		predictedTrajectories1 = predictionParams.generatePredictedTrajectories(obj1, currentInstant,prototypeTrajectories1)
-		predictedTrajectories2 = predictionParams.generatePredictedTrajectories(obj2, currentInstant,prototypeTrajectories2) 		
+		predictedTrajectories2 = predictionParams.generatePredictedTrajectories(obj2, currentInstant,prototypeTrajectories2) 	
     else:
         predictedTrajectories1 = predictionParams.generatePredictedTrajectories(obj1, currentInstant)
         predictedTrajectories2 = predictionParams.generatePredictedTrajectories(obj2, currentInstant)		
@@ -228,29 +228,29 @@
     if nProcesses == 1:
         if usePrototypes:
             firstInstant= next( (x for x in xrange(commonTimeInterval.first,commonTimeInterval.last) if x-obj1.getFirstInstant() >= acceptPartialLength and x-obj2.getFirstInstant() >= acceptPartialLength), commonTimeInterval.last)
-            commonTimeIntervalList1= list(xrange(firstInstant,commonTimeInterval.last))
-            commonTimeIntervalList2= list(xrange(firstInstant,commonTimeInterval.last,step))
-            for i in commonTimeIntervalList2[:-1]: # do not look at the 1 last position/velocities, often with errors
+            commonTimeIntervalList1= list(xrange(firstInstant,commonTimeInterval.last-1)) # do not look at the 1 last position/velocities, often with errors
+            commonTimeIntervalList2= list(xrange(firstInstant,commonTimeInterval.last-1,step)) # do not look at the 1 last position/velocities, often with errors
+            for i in commonTimeIntervalList2: 
                 i, cp, cz = computeCrossingsCollisionsAtInstant(predictionParams, i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype)
                 if len(cp) != 0:
                     collisionPoints[i] = cp
                 if len(cz) != 0:
                     crossingZones[i] = cz
             if collisionPoints!={} or crossingZones!={}:
-                for i in commonTimeIntervalList1[:-1]:
+                for i in commonTimeIntervalList1:
                     if i not in commonTimeIntervalList2:
                         i, cp, cz = computeCrossingsCollisionsAtInstant(predictionParams, i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype)
                         if len(cp) != 0:
                             collisionPoints[i] = cp
                         if len(cz) != 0:
                             crossingZones[i] = cz						
-	
-        for i in list(commonTimeInterval)[:-1]: # do not look at the 1 last position/velocities, often with errors
-            i, cp, cz = computeCrossingsCollisionsAtInstant(predictionParams, i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype)
-            if len(cp) != 0:
-                collisionPoints[i] = cp
-            if len(cz) != 0:
-                 crossingZones[i] = cz
+        else:
+            for i in list(commonTimeInterval)[:-1]: # do not look at the 1 last position/velocities, often with errors
+                i, cp, cz = computeCrossingsCollisionsAtInstant(predictionParams, i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype)
+                if len(cp) != 0:
+                    collisionPoints[i] = cp
+                if len(cz) != 0:
+                    crossingZones[i] = cz
     else:
         from multiprocessing import Pool
         pool = Pool(processes = nProcesses)