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(* modify it under the terms of the GNU Lesser General Public License *)
(* as published by the Free Software Foundation; either version 2.1   *)
(* of the License, or (at your option) any later version.             *)
(*                                                                    *)
(* This program is distributed in the hope that it will be useful,    *)
(* but WITHOUT ANY WARRANTY; without even the implied warranty of     *)
(* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the      *)
(* GNU General Public License for more details.                       *)
(*                                                                    *)
(* You should have received a copy of the GNU Lesser General Public   *)
(* License along with this program; if not, write to the Free         *)
(* Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA *)
(* 02110-1301 USA                                                     *)
(* Verifiable in MuPAD *)
Axiom
Math_prop_alarm_1 :
forall (a l : R) (T : TimeT),
(MinDistance T <= l)%R ->
(l <= MaxDistance T)%R ->
(0 <= a)%R ->
(a <= MinBeta)%R ->
(Rsqr (l * cos a - v V * T) + Rsqr (l * sin a) <= Rsqr AlertRange)%R.
(* Verifiable in MuPAD *)
Axiom
Math_prop_no_conflict_1 :
forall (a l x y : R) (T : TimeT),
(MinDistance T <= l)%R ->
(l <= MaxDistance T)%R ->
(MinBeta <= a)%R ->
(a <= PI / 2)%R ->
(l * sin a + r_V * (cos (rho_V * T) - 1) <= y)%R ->
(r_V * sin (rho_V * T) - l * cos a <= x)%R ->
(Rsqr ConflictRange < Rsqr x + Rsqr y)%R.
unfold MinBeta in |- *; unfold Rdiv in |- *.
apply Rmult_lt_0_compat; [ prove_sup | apply Rinv_0_lt_compat; prove_sup ].
Qed.
intros; apply Rplus_le_compat_r; apply Rmult_le_compat_l;
[ assumption
| apply sin_incr_1;
[ left; apply Rlt_trans with 0%R;
[ apply _PI2_RLT_0 | apply MinBeta_pos ]
| apply Rle_trans with a; assumption
| left; apply Rlt_trans with 0%R;
[ apply _PI2_RLT_0
| apply Rlt_le_trans with MinBeta; [ apply MinBeta_pos | assumption ] ]
| assumption
| assumption ] ].
Qed.
intros; apply Rplus_le_compat.
apply Rle_trans with (l1 * sin a)%R.
apply Rmult_le_compat_l.
assumption.
generalize (SIN a H (Rlt_le a PI (Rle_lt_trans a (PI / 2) PI H0 PI2_Rlt_PI)));
intro; elim H3; intros; assumption.
apply Rmult_le_compat_r.
apply (sin_ge_0 a H (Rlt_le a PI (Rle_lt_trans a (PI / 2) PI H0 PI2_Rlt_PI))).
assumption.
rewrite <- (Ropp_involutive (r_ub V * (cos_lb (rho_ub V * MaxT) - 1)));
rewrite <- (Ropp_involutive (r_V * (cos (rho_V * T) - 1)));
apply Ropp_ge_le_contravar; apply Rle_ge;
replace (- (r_V * (cos (rho_V * T) - 1)))%R with
(r_V * (1 - cos (rho_V * T)))%R.
replace (- (r_ub V * (cos_lb (rho_ub V * MaxT) - 1)))%R with
(r_ub V * (1 - cos_lb (rho_ub V * MaxT)))%R.
apply Rmult_le_compat.
left; apply r_V_is_pos.
apply Rplus_le_reg_l with (cos (rho_V * T)); rewrite Rplus_0_r;
rewrite Rplus_comm; unfold Rminus in |- *; repeat rewrite Rplus_assoc;
rewrite Rplus_opp_l; rewrite Rplus_0_r; generalize (COS_bound (rho_V * T));
intro; elim H3; intros; assumption.
unfold r_V in |- *; left; apply r_ub_0.
apply Rplus_le_reg_l with (Ropp 1); unfold Rminus in |- *;
repeat rewrite <- Rplus_assoc; repeat rewrite Rplus_opp_l;
repeat rewrite Rplus_0_l; apply Ropp_ge_le_contravar;
apply Rle_ge; apply Rle_trans with (cos (rho_ub V * MaxT)).
cut (- PI / 2 <= rho_ub V * MaxT <= PI / 2)%R.
intro; elim H3; intros; generalize (COS (rho_ub V * MaxT) H4 H5); intro;
elim H6; intros; assumption.
split.
left; apply Rlt_le_trans with 0%R.
replace (- PI / 2)%R with (- (PI / 2))%R.
apply _PI2_RLT_0.
unfold Rdiv in |- *; symmetry  in |- *; apply Ropp_mult_distr_l_reverse.
apply Rmult_le_pos.
left; apply rho_ub_pos.
left; unfold MaxT in |- *.
prove_sup.
cut (MaxT <= MaxT)%R.
intro; left; apply (rho_ub_t_PI2 V (mkTimeT MaxT MinT_MaxT H3)).
right; reflexivity.
apply cos_decr_1.
left; apply Rmult_lt_0_compat.
apply rho_V_is_pos.
apply Rlt_le_trans with MinT.
apply MinT_is_pos.
apply (cond_1 T).
left; apply Rlt_trans with (PI / 2)%R.
apply (rho_t_PI2 T).
apply PI2_Rlt_PI.
left; apply Rmult_lt_0_compat.
apply rho_ub_pos.
unfold MaxT in |- *; prove_sup.
left; apply Rlt_trans with (PI / 2)%R.
cut (MaxT <= MaxT)%R.
intro; apply (rho_ub_t_PI2 V (mkTimeT MaxT MinT_MaxT H3)).
right; reflexivity.
apply PI2_Rlt_PI.
apply Rmult_le_compat.
left; apply rho_V_is_pos.
left; apply Rlt_le_trans with MinT; [ apply MinT_is_pos | apply (cond_1 T) ].
left; unfold rho_V in |- *; apply rho_ub_0.
apply (cond_2 T).
ring.
ring.
Qed.
intros; unfold Rminus in |- *; apply Rplus_le_compat_l;
apply Ropp_ge_le_contravar; apply Rle_ge; apply Rmult_le_compat_l;
[ assumption
| apply cos_decr_1;
[ left; apply MinBeta_pos
| apply Rle_trans with a;
[ assumption
| left; apply Rle_lt_trans with (PI / 2)%R;
[ assumption | apply PI2_Rlt_PI ] ]
| left; apply Rlt_le_trans with MinBeta;
[ apply MinBeta_pos | assumption ]
| left; apply Rle_lt_trans with (PI / 2)%R;
[ assumption | apply PI2_Rlt_PI ]
| assumption ] ].
Qed.
intros; unfold Rminus in |- *; apply Rplus_le_compat.
apply Rmult_le_compat.
left; unfold r_lb in |- *; unfold Rdiv in |- *; apply Rmult_lt_0_compat;
[ apply TypeSpeed_pos | apply Rinv_0_lt_compat; apply rho_ub_pos ].
apply sin_lb_ge_0.
left; apply Rmult_lt_0_compat; [ apply rho_lb_pos | apply MinT_is_pos ].
apply Rle_trans with (rho_V * MinT)%R.
apply Rmult_le_compat_r.
left; apply MinT_is_pos.
unfold rho_V in |- *; left; apply rho_lb_0.
cut (MinT <= MinT)%R.
intro; left; apply (rho_t_PI2 (mkTimeT MinT H3 MinT_MaxT)).
right; reflexivity.
unfold r_V in |- *; left; apply r_lb_0.
apply Rle_trans with (sin (rho_lb V * MinT)).
cut (0 <= rho_lb V * MinT <= PI)%R.
intro; elim H3; intros.
generalize (SIN (rho_lb V * MinT) H4 H5); intro; elim H6; intros; assumption.
split.
left; apply Rmult_lt_0_compat.
apply rho_lb_pos.
apply MinT_is_pos.
left; apply Rle_lt_trans with (PI / 2)%R.
apply Rle_trans with (rho_V * MinT)%R.
apply Rmult_le_compat_r.
left; apply MinT_is_pos.
unfold rho_V in |- *; left; apply rho_lb_0.
cut (MinT <= MinT)%R.
intro; left; apply (rho_t_PI2 (mkTimeT MinT H3 MinT_MaxT)).
right; reflexivity.
apply PI2_Rlt_PI.
apply sin_incr_1.
left; apply Rlt_trans with 0%R.
apply _PI2_RLT_0.
apply Rmult_lt_0_compat.
apply rho_lb_pos.
apply MinT_is_pos.
apply Rle_trans with (rho_V * MinT)%R.
apply Rmult_le_compat_r.
left; apply MinT_is_pos.
unfold rho_V in |- *; left; apply rho_lb_0.
cut (MinT <= MinT)%R.
intro; left; apply (rho_t_PI2 (mkTimeT MinT H3 MinT_MaxT)).
right; reflexivity.
left; apply Rlt_trans with 0%R.
apply _PI2_RLT_0.
apply Rmult_lt_0_compat.
apply rho_V_is_pos.
apply Rlt_le_trans with MinT.
apply MinT_is_pos.
apply (cond_1 T).
left; apply (rho_t_PI2 T).
apply Rmult_le_compat.
left; apply rho_lb_pos.
left; apply MinT_is_pos.
left; unfold rho_V in |- *; apply rho_lb_0.
apply (cond_1 T).
apply Ropp_ge_le_contravar; apply Rle_ge.
apply Rmult_le_compat.
assumption.
apply cos_ge_0.
left; apply Rlt_le_trans with 0%R.
apply _PI2_RLT_0.
assumption.
assumption.
assumption.
cut (- PI / 2 <= a)%R.
intro; generalize (COS a H3 H0); intro; elim H4; intros; assumption.
left; apply Rlt_le_trans with 0%R.
replace (- PI / 2)%R with (- (PI / 2))%R.
apply _PI2_RLT_0.
unfold Rdiv in |- *; symmetry  in |- *; apply Ropp_mult_distr_l_reverse.
assumption.
Qed.

(**********)
Lemma Math_prop_no_conflict_2 :
forall (a l x y : R) (T : TimeT),
(MinDistance T <= l)%R ->
(l <= MaxDistance T)%R ->
(3 * (PI / 2) <= a)%R ->
(a <= 2 * PI - MinBeta)%R ->
(y <= l * sin a - r_V * (cos (rho_V * T) - 1))%R ->
(r_V * sin (rho_V * T) - l * cos a <= x)%R ->
(Rsqr ConflictRange < Rsqr x + Rsqr y)%R.