(* This program is free software; you can redistribute it and/or      *)
(* 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.

(**********)
Lemma MinBeta_pos : (0 < MinBeta)%R.