colregs 0.3.1 → 0.3.3

package/docs/part-b-invariants.md

@@ -46,7 +46,7 @@ suffix naming what distinguishes them.
 A **situation** is the record of `REQ-CAT-4` and `REQ-CAT-6`: two per-vessel
 fact records, a kinematic state each, relative geometry, history and the
 environment, addressed as `<subject>:<class>:<key>`, subject in
-`own`/`other`/`pair`. A **trace** is a sequence of situations for one ordered
+`self`/`other`/`pair`. A **trace** is a sequence of situations for one ordered
 pair, sampled at *t*₀ < *t*₁ < … . Each invariant is a property of one state
 ("at every state") or relates two or more ("at every state after", "from the
 first state at which") — the whole content of §4.1's `conduct` category, and
@@ -67,15 +67,15 @@ is Rules 11–18, III is Rule 19; which governs a pair is `INV-19a-scope`.
 # Rule 13 — Overtaking
 
 13(a) assigns a role, 13(b) deems the encounter, 13(c) resolves doubt, 13(d)
-latches the result against the geometry that follows.
+persists the result against the geometry that follows.
 
 ### INV-13b — the overtaking deeming test
 
 `13(b)` under 11 · classification · single-state · `✎`
 
 **Invariant.** At any state at which the two vessels are in sight of one
-another and both underway, own is deemed to be overtaking other exactly when
-own is coming up with other and own bears, from other, more than 22.5° abaft
+another and both underway, self is deemed to be overtaking other exactly when
+self is coming up with other and self bears, from other, more than 22.5° abaft
 other's beam — `other:geo:rel_bearing_deg` strictly inside (112.5°, 247.5°).
 The sector is open at both ends (*more than* 22.5°: a vessel on the edge is
 not overtaking); its edges are the forward edges of Rule 21(c)'s sternlight
@@ -93,7 +93,7 @@ arc, which 13(b)'s second limb states in light terms.
 
 `13(b)` · classification, derived · single-state · `✎`
 
-**Invariant.** Where `INV-13b` holds of own with respect to other, the
+**Invariant.** Where `INV-13b` holds of self with respect to other, the
 encounter type of the pair is `overtaking` read from *either* subject: the
 vessel being overtaken is in an overtaking, not a crossing, though the
 overtaking vessel bears forward of her beam.
@@ -122,29 +122,30 @@ well as Rules 14 and 15.
   Settled by P4.2's role assignment: the override is or is not needed to keep
   "never both give-way" true.
 
-### INV-13d — the latch: the classification survives the geometry
+### INV-13d — overtaking history: the classification survives the geometry
 
 `13(d)` · classification · temporal, a state to every later state of the
 encounter · `✎`
 
-**Invariant.** Let *s* be the first state of an encounter at which own is
+**Invariant.** Let *s* be the first state of an encounter at which self is
 deemed to be overtaking other. At every state of that encounter after *s*,
-until own is finally past and clear, the encounter type of the pair is
+until self is finally past and clear, the encounter type of the pair is
 `overtaking` whatever the relative bearings then are; in particular it is not
 `crossing`, and the tests of Rules 14 and 15 do not apply to the pair.
 
-- **State remembered.** One directional boolean per subject per encounter (own
+- **State remembered.** One directional boolean per subject per encounter (self
   was, earlier in this encounter, the overtaking vessel), plus the time of *s*
   for a monitor that says when the duty attached; window *s* to finally past and
   clear. Reading only the current state is wrong in the direction the paragraph
   forbids: an overtaking drawn out on the bow reads *crossing*, and hands
   give-way to the wrong vessel.
 - **Undetermined term.** "Finally past and clear" has no fact and no threshold;
-  the data's latch is consumer-cleared and never self-clears (`Q-47`), a trace
-  model's is its segmentation, and no bearing or range is invented here.
-- **Readings in doubt.** Two: what arms the latch, `Q-51`; what it forbids,
-  `Q-52`.
-- Entries: `rule:13d`, reading `own`/`other:hist:was_overtaking` and no geometry; the
+  the data's overtaking history is consumer-cleared and never self-clears
+  (`Q-47`), a trace model's is its segmentation, and no bearing or range is
+  invented here.
+- **Readings in doubt.** Two: what arms the overtaking history, `Q-51`; what it
+  forbids, `Q-52`.
+- Entries: `rule:13d`, reading `self`/`other:hist:was_overtaking` and no geometry; the
   `was_overtaking: false` gates on `rule:14b`, `rule:15a:crossing`, `rule:15a:keep_out_of_the_way`
   implement `Q-52`'s *broad* reading. Settled by `Q-51`, `Q-52`, then TLC on a
   three-state trace of an overtaking drawing out onto the bow.
@@ -153,17 +154,17 @@ until own is finally past and clear, the encounter type of the pair is
 
 `13(d)` second limb · precedence · temporal, as `INV-13d` · `✎`
 
-**Invariant.** With *s* as in `INV-13d`, at every state after *s* until own is
-finally past and clear, own holds `give-way` and other `stand-on`, whatever the
+**Invariant.** With *s* as in `INV-13d`, at every state after *s* until self is
+finally past and clear, self holds `give-way` and other `stand-on`, whatever the
 bearings. Separate from `INV-13d` because the two limbs come apart: a reading
 on which 13(d) forbids only the *crossing* reclassification still preserves
 the duty by its second clause, and a formalisation deriving role from encounter
 type alone cannot distinguish `Q-52`'s readings.
 
 - **State remembered.** As `INV-13d`.
-- Entries: `rule:13a`'s `any_of` second limb, `own:hist:was_overtaking: true` — role
-  asserted from the latch directly, keeping the limbs separable. Settled by
-  `Q-52`.
+- Entries: `rule:13a`'s `any_of` second limb, `self:hist:was_overtaking: true` — role
+  asserted from the overtaking history directly, keeping the limbs separable.
+  Settled by `Q-52`.
 
 ---
 
@@ -174,10 +175,10 @@ type alone cannot distinguish `Q-52`'s readings.
 `14(b)` reading 14(a)'s conditions · classification · single-state · `✎`
 
 **Invariant.** At any state at which two power-driven vessels are in sight,
-both underway, with risk of collision, and neither latched under `INV-13d`, a
-head-on situation is deemed to exist exactly when each sees the other ahead or
-nearly ahead: `own:geo:rel_bearing_deg` and `other:geo:rel_bearing_deg` each
-in [0°, 11.25°] ∪ [348.75°, 360°).
+both underway, with risk of collision, and neither carrying overtaking history
+under `INV-13d`, a head-on situation is deemed to exist exactly when each sees
+the other ahead or nearly ahead: `self:geo:rel_bearing_deg` and
+`other:geo:rel_bearing_deg` each in [0°, 11.25°] ∪ [348.75°, 360°).
 
 - **Both bearings, not one.** 14(b)'s lights limb is a statement about the
   *other* vessel's aspect; one bearing alone swallows part of the crossing
@@ -219,9 +220,9 @@ way; both are directed to act, and the duty is symmetric.
 `15(a)` · classification · single-state · `✎`
 
 **Invariant.** At any state at which two power-driven vessels are in sight,
-both underway, with risk of collision, and neither latched under `INV-13d`, the
-encounter type is `crossing` exactly when it is neither `overtaking` under
-`INV-13b` nor `head-on` under `INV-14b`.
+both underway, with risk of collision, and neither carrying overtaking history
+under `INV-13d`, the encounter type is `crossing` exactly when it is neither
+`overtaking` under `INV-13b` nor `head-on` under `INV-14b`.
 
 - **Derived, not enumerated.** Enumerating the sector gives two statements of
   one boundary, and the partition's only failure mode is editing one;
@@ -241,7 +242,7 @@ vessel which has the other on her own starboard side holds `give-way` and the
 other holds `stand-on`.
 
 - **Undetermined term.** "On her own starboard side" has no sector in the
-  paragraph; the data reads `own:geo:rel_bearing_deg` in (0°, 112.5°], its upper
+  paragraph; the data reads `self:geo:rel_bearing_deg` in (0°, 112.5°], its upper
   edge 13(b)'s constant, so it is checkable against the partition.
 - Entries: `rule:15a:keep_out_of_the_way`, plus six `rel:overrides` from Rule 18 entries, since
   Rule 18's chapeau excepts Rules 9, 10 and 13 and no others.
@@ -255,7 +256,7 @@ bearings only
 under `INV-15a-give-way`.
 
 - **Why it is not free.** Both-starboard is a consistent *record* and an
-  impossible *situation* on a steady bearing: own's speed times the sine of her
+  impossible *situation* on a steady bearing: self's speed times the sine of her
   relative bearing equals minus other's speed times the sine of the aspect, so
   the bearings lie on opposite sides. A theorem at zero bearing rate, an
   observation elsewhere.
@@ -462,11 +463,12 @@ is at each state in exactly one of three phases:
 
 Phase 3 dominates phase 2: an obligation is not qualified by a permission.
 
-- **Reading in doubt.** Monotone or not: `Q-54`.
-- **State remembered.** If monotone, one three-valued latch per stand-on vessel
-  per encounter; if not, no latch but `INV-17c` still needs the phase of each
-  action. TLC distinguishes them: under monotone a late-complying give-way
-  vessel still leaves stand-on action permitted; under reversible it does not.
+- **Reading ruled.** Monotone (`Q-54`): once phase 2 or 3 is reached for the
+  stand-on vessel in an encounter, it does not fall back on belated give-way
+  compliance.
+- **State remembered.** One three-valued marker per stand-on vessel per
+  encounter, monotone: a late-complying give-way vessel still leaves stand-on
+  action permitted.
 
 ---
 
@@ -601,7 +603,7 @@ not jointly exhaustive (`INV-19a-third-state`); Rule 19 supplements Section I
 
 - **Temporal note.** The switch is a function of the current state; a pair may
   cross it and back inside one encounter, and no paragraph says what becomes of
-  a 13(d) latch or a Rule 17 phase: `Q-55`.
+  a 13(d) overtaking history or a Rule 17 phase: `Q-55`.
 - **Undetermined term.** "In or near an area of restricted visibility" has no
   fact (3(l)'s atmospheric condition is nowhere in `data/facts.json`), so `rule:19a`
   selects Section III for any pair not in sight — wider — and records a gap.
@@ -703,7 +705,7 @@ action in ample time.
 
 **Invariant.** Where `INV-19d-action`'s action is an alteration of course,
 then so far as possible the vessel shall not alter course to port for a vessel
-forward of her beam — `own:geo:rel_bearing_deg` in (270°, 360°) ∪ [0°, 90°) —
+forward of her beam — `self:geo:rel_bearing_deg` in (270°, 360°) ∪ [0°, 90°) —
 other than for a vessel being overtaken.
 
 - **The exception reaches across the switch.** "A vessel being overtaken" is
@@ -718,7 +720,7 @@ other than for a vessel being overtaken.
 
 **Invariant.** Where `INV-19d-action`'s action is an alteration of course,
 then so far as possible the vessel shall not alter course toward a vessel
-abeam or abaft her beam — `own:geo:rel_bearing_deg` in [90°, 270°].
+abeam or abaft her beam — `self:geo:rel_bearing_deg` in [90°, 270°].
 
 - **"Toward"** is the sign of the alteration against the other's bearing, not
   the resulting heading: toward when it reduces her relative bearing off the bow
@@ -760,7 +762,7 @@ paragraph of its own.
 
 `13(a)`, `15(a)`, `12(a)`, `18(a)–(c)` with 18's chapeau · precedence, derived
 · single-state · `✎`, asserted over consistent steady bearings only
-(`REQ-VERIFY-8`)
+(`REQ-VERIFY-8`), over the pooled two-frame read of ADR 0016
 
 **Invariant.** At every state, after every `rel:overrides` is applied, no pair
 holds `give-way` on both subjects, and none holds `stand-on` on both.
@@ -786,7 +788,8 @@ P2.2.
 
 ### INV-PB-one-role-source — a vessel holds one helm role at a time
 
-`13(a)`, `18` chapeau, with 16 and 17 · precedence, derived · single-state · `✎`
+`13(a)`, `18` chapeau, with 16 and 17 · precedence, derived · single-state · `✎`,
+over the pooled two-frame read of ADR 0016
 
 **Invariant.** After every `rel:overrides` is applied, no vessel holds both
 `give-way` and `stand-on` with respect to the same other vessel at the same