(**********)
Definition init_tr (h : TypeSpeed) : Trajectory :=
  mkTrajectory
    (mkDifferential (fun t : R => (h * t)%R) (init_tr_derivable_x h))
    (mkDifferential (fun t : R => 0%R) (init_tr_derivable_y h))
    (mkDifferential (fun t : R => 0%R) (init_tr_derivable_y h))
    (mkDifferential (fun t : R => 0%R) (init_tr_derivable_y h)) h
    (init_tr_cond_x h) (init_tr_cond_y h) init_tr_cond_phi
    (init_tr_cond_theta h).

Lemma MaxBank_encadr : (0 < MaxBank < PI / 4)%R.