Navigation in the Plane

We will use navigation in the plane as a domain in which to explore deductive program synthesis; this domain can be considered a mini version of the Amphion domain of interplanetary navigation.

Many forms of data are used in solving navigation problems:

• xy-data is a list (x y). The corresponding predicate is cartesian: (cartesian p q) means that q is the Cartesian equivalent of p.
• rth-data is a list (r theta) where theta is in radians, measured counter-clockwise from the x axis. The corresponding predicate is polar.

• rb-data is a list (range bearing) where bearing is in degrees, measured clockwise from north.

• dd-data is a list (distance direction) where direction is a compass direction such as n, s, e, w, ne, etc.