(* 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                                                     *)
Unset Standard Proposition Elimination Names.
unfold AlertRange in |- *; prove_sup.
Qed.
Proof with trivial.
intros intr evad T hyp_intr; intros; set (beta_p := beta intr evad T) in H1;
set (thetat_p := thetat intr) in H1; set (l_p := l intr evad T) in H, H0;
set (conflict_p := conflict intr evad) in H2;
assert (hyp1 : r_V = r_vi intr)...
unfold r_V, r_vi in |- *; unfold vi in |- *; rewrite hyp_intr...
assert (hyp2 : rho_V = rho_vi intr)...
unfold rho_V, rho_vi in |- *; unfold vi in |- *; rewrite hyp_intr...
case (Rtotal_order (beta_p + thetat_p 0%R) MinBeta); intro...
left; left...
elim H3; intro...
left; right...
case (Rlt_le_dec (2 * PI - MinBeta) (beta_p + thetat_p 0%R)); intro...
right...
assert (H5 := conflict_T_e_0 intr evad T H2)...
cut (0 <= e intr evad T T)%R...
cut (0 <= ConflictRange)%R...
intros; assert (H8 := Rsqr_incr_1 (e intr evad T T) ConflictRange H5 H7 H6);
unfold e in H8; rewrite isometric_evader in H8; rewrite Rsqr_sqrt in H8...
change (MinBeta < beta_p + thetat_p 0)%R in H4;
cut
((beta_p + thetat_p 0 < PI / 2)%R \/ (3 * (PI / 2) < beta_p + thetat_p 0)%R)...
intro; elim H9; intro...
cut
(l_p * sin (beta_p + thetat_p 0) + r_V * (cos (rho_V * T) - 1) <=
yp intr evad T T)%R...
cut
(r_V * sin (rho_V * T) - l_p * cos (beta_p + thetat_p 0) <= xp intr evad T T)%R...
intros;
generalize
(Math_prop_no_conflict_1 (beta_p + thetat_p 0%R) l_p
(xp intr evad T T) (yp intr evad T T) T H H0
(Rlt_le MinBeta (beta_p + thetat_p 0%R) H4)
(Rlt_le (beta_p + thetat_p 0%R) (PI / 2) H10) H12 H11);
intro;
generalize
(Rlt_le_trans (Rsqr ConflictRange)
(Rsqr (xp intr evad T T) + Rsqr (yp intr evad T T))
(Rsqr ConflictRange) H13 H8); intro;
elim (Rlt_irrefl (Rsqr ConflictRange) H14)...
rewrite hyp1; rewrite hyp2...
apply (xpt_PI intr evad T)...
left; apply Rlt_le_trans with MinT; [ apply MinT_is_pos | apply (cond_1 T) ]...
rewrite <- hyp2; left; apply Rlt_trans with (PI / 2)%R...
apply rho_t_PI2...
apply PI2_Rlt_PI...
rewrite hyp1; rewrite hyp2; cut (0 <= T)%R...
cut (rho_vi intr * T <= PI / 2)%R...
intros; generalize (ypt_PI2 intr evad T T H12 H11); intro...
elim H13; intros...
rewrite <- hyp2; left; apply rho_t_PI2...
left; apply Rlt_le_trans with MinT; [ apply MinT_is_pos | apply (cond_1 T) ]...
cut
(yp intr evad T T <=
l_p * sin (beta_p + thetat_p 0) - r_V * (cos (rho_V * T) - 1))%R...
cut
(r_V * sin (rho_V * T) - l_p * cos (beta_p + thetat_p 0) <= xp intr evad T T)%R...
intros;
generalize
(Math_prop_no_conflict_2 (beta_p + thetat_p 0%R) l_p
(xp intr evad T T) (yp intr evad T T) T H H0
(Rlt_le (3 * (PI / 2)) (beta_p + thetat_p 0%R) H10) r H12 H11);
intro...
elim
(Rlt_irrefl (Rsqr ConflictRange)
(Rlt_le_trans (Rsqr ConflictRange)
(Rsqr (xp intr evad T T) + Rsqr (yp intr evad T T))
(Rsqr ConflictRange) H13 H8))...
rewrite hyp1; rewrite hyp2; apply (xpt_PI intr evad T)...
left; apply Rlt_le_trans with MinT; [ apply MinT_is_pos | apply (cond_1 T) ]...
rewrite <- hyp2; left; apply Rlt_trans with (PI / 2)%R...
apply rho_t_PI2...
apply PI2_Rlt_PI...
rewrite hyp1; rewrite hyp2; cut (0 <= T)%R...
cut (rho_vi intr * T <= PI / 2)%R...
intros; generalize (ypt_PI2 intr evad T T H12 H11); intro; elim H13; intros...
rewrite <- hyp2; left; apply rho_t_PI2...
left; apply Rlt_le_trans with MinT; [ apply MinT_is_pos | apply (cond_1 T) ]...
cut (Omega (beta_p + thetat_p 0%R) = false)...
unfold Omega in |- *; case (Rle_dec (PI / 2) (beta_p + thetat_p 0%R)); intro...
case (Rle_dec (beta_p + thetat_p 0%R) (3 * (PI / 2))); intros...
elim diff_true_false...
right; auto with real...
intro; left; auto with real...
apply Rplus_le_le_0_compat; apply Rle_0_sqr...
unfold ConflictRange in |- *; left; prove_sup...
unfold e in |- *; apply sqrt_positivity; apply Rsqr_evader_distance_pos...
Qed.

Lemma alarm_NOT_Omega_T :
forall (intr : Trajectory) (evad : EvaderTrajectory) (T : TimeT),
h intr = V ->
h (tr evad) = V ->
(MinDistance T <= l intr evad T)%R ->
(l intr evad T <= MaxDistance T)%R ->
Omega (beta intr evad T + thetat intr 0) = false ->
conflict intr evad T = true ->
(RR (measure2state intr 0) (measure2state (tr evad) 0) T <= AlertRange)%R.