Notations

We denote :

An input stream is a sequence of raw inputs i = ( ν , t , x , y ) i = (\nu,t,x,y)

We addition define

With the vector shorthand v = ( v x , v y ) 2 v = \left( v_{x},v_{y} \right) \in {\mathbb{R}}^{2} and a = ( a x , a y ) 2 a = \left( a_{x},a_{y} \right) \in {\mathbb{R}}^{2}