code: def radiusForSpeed(self, speed):
      
      overlap = 1.5
      coordinatesPerTimestep = speed * self.timestep / self.scale
      radius = int(round(float(coordinatesPerTimestep) / 2 * overlap))
      minRadius = int(math.ceil((math.sqrt(self.w) - 1) / 2))
      return max(radius, minRadius)
docs: Returns radius for given speed.
  
      Tries to get the encodings of consecutive readings to be
      adjacent with some overlap.
  
      :param: speed (float) Speed (in meters per second)
      :returns: (int) Radius for given speed