(* Title: HOL/Multivariate_Analysis/Path_Connected.thy
Authors: LC Paulson and Robert Himmelmann (TU Muenchen), based on material from HOL Light
*)
section \<open>Continuous paths and path-connected sets\<close>
theory Path_Connected
imports Convex_Euclidean_Space
begin
subsection \<open>Paths and Arcs\<close>
definition path :: "(real \<Rightarrow> 'a::topological_space) \<Rightarrow> bool"
where "path g \<longleftrightarrow> continuous_on {0..1} g"
definition pathstart :: "(real \<Rightarrow> 'a::topological_space) \<Rightarrow> 'a"
where "pathstart g = g 0"
definition pathfinish :: "(real \<Rightarrow> 'a::topological_space) \<Rightarrow> 'a"
where "pathfinish g = g 1"
definition path_image :: "(real \<Rightarrow> 'a::topological_space) \<Rightarrow> 'a set"
where "path_image g = g ` {0 .. 1}"
definition reversepath :: "(real \<Rightarrow> 'a::topological_space) \<Rightarrow> real \<Rightarrow> 'a"
where "reversepath g = (\<lambda>x. g(1 - x))"
definition joinpaths :: "(real \<Rightarrow> 'a::topological_space) \<Rightarrow> (real \<Rightarrow> 'a) \<Rightarrow> real \<Rightarrow> 'a"
(infixr "+++" 75)
where "g1 +++ g2 = (\<lambda>x. if x \<le> 1/2 then g1 (2 * x) else g2 (2 * x - 1))"
definition simple_path :: "(real \<Rightarrow> 'a::topological_space) \<Rightarrow> bool"
where "simple_path g \<longleftrightarrow>
path g \<and> (\<forall>x\<in>{0..1}. \<forall>y\<in>{0..1}. g x = g y \<longrightarrow> x = y \<or> x = 0 \<and> y = 1 \<or> x = 1 \<and> y = 0)"
definition arc :: "(real \<Rightarrow> 'a :: topological_space) \<Rightarrow> bool"
where "arc g \<longleftrightarrow> path g \<and> inj_on g {0..1}"
subsection\<open>Invariance theorems\<close>
lemma path_eq: "path p \<Longrightarrow> (\<And>t. t \<in> {0..1} \<Longrightarrow> p t = q t) \<Longrightarrow> path q"
using continuous_on_eq path_def by blast
lemma path_continuous_image: "path g \<Longrightarrow> continuous_on (path_image g) f \<Longrightarrow> path(f o g)"
unfolding path_def path_image_def
using continuous_on_compose by blast
lemma path_translation_eq:
fixes g :: "real \<Rightarrow> 'a :: real_normed_vector"
shows "path((\<lambda>x. a + x) o g) = path g"
proof -
have g: "g = (\<lambda>x. -a + x) o ((\<lambda>x. a + x) o g)"
by (rule ext) simp
show ?thesis
unfolding path_def
apply safe
apply (subst g)
apply (rule continuous_on_compose)
apply (auto intro: continuous_intros)
done
qed
lemma path_linear_image_eq:
fixes f :: "'a::euclidean_space \<Rightarrow> 'b::euclidean_space"
assumes "linear f" "inj f"
shows "path(f o g) = path g"
proof -
from linear_injective_left_inverse [OF assms]
obtain h where h: "linear h" "h \<circ> f = id"
by blast
then have g: "g = h o (f o g)"
by (metis comp_assoc id_comp)
show ?thesis
unfolding path_def
using h assms
by (metis g continuous_on_compose linear_continuous_on linear_conv_bounded_linear)
qed
lemma pathstart_translation: "pathstart((\<lambda>x. a + x) o g) = a + pathstart g"
by (simp add: pathstart_def)
lemma pathstart_linear_image_eq: "linear f \<Longrightarrow> pathstart(f o g) = f(pathstart g)"
by (simp add: pathstart_def)
lemma pathfinish_translation: "pathfinish((\<lambda>x. a + x) o g) = a + pathfinish g"
by (simp add: pathfinish_def)
lemma pathfinish_linear_image: "linear f \<Longrightarrow> pathfinish(f o g) = f(pathfinish g)"
by (simp add: pathfinish_def)
lemma path_image_translation: "path_image((\<lambda>x. a + x) o g) = (\<lambda>x. a + x) ` (path_image g)"
by (simp add: image_comp path_image_def)
lemma path_image_linear_image: "linear f \<Longrightarrow> path_image(f o g) = f ` (path_image g)"
by (simp add: image_comp path_image_def)
lemma reversepath_translation: "reversepath((\<lambda>x. a + x) o g) = (\<lambda>x. a + x) o reversepath g"
by (rule ext) (simp add: reversepath_def)
lemma reversepath_linear_image: "linear f \<Longrightarrow> reversepath(f o g) = f o reversepath g"
by (rule ext) (simp add: reversepath_def)
lemma joinpaths_translation:
"((\<lambda>x. a + x) o g1) +++ ((\<lambda>x. a + x) o g2) = (\<lambda>x. a + x) o (g1 +++ g2)"
by (rule ext) (simp add: joinpaths_def)
lemma joinpaths_linear_image: "linear f \<Longrightarrow> (f o g1) +++ (f o g2) = f o (g1 +++ g2)"
by (rule ext) (simp add: joinpaths_def)
lemma simple_path_translation_eq:
fixes g :: "real \<Rightarrow> 'a::euclidean_space"
shows "simple_path((\<lambda>x. a + x) o g) = simple_path g"
by (simp add: simple_path_def path_translation_eq)
lemma simple_path_linear_image_eq:
fixes f :: "'a::euclidean_space \<Rightarrow> 'b::euclidean_space"
assumes "linear f" "inj f"
shows "simple_path(f o g) = simple_path g"
using assms inj_on_eq_iff [of f]
by (auto simp: path_linear_image_eq simple_path_def path_translation_eq)
lemma arc_translation_eq:
fixes g :: "real \<Rightarrow> 'a::euclidean_space"
shows "arc((\<lambda>x. a + x) o g) = arc g"
by (auto simp: arc_def inj_on_def path_translation_eq)
lemma arc_linear_image_eq:
fixes f :: "'a::euclidean_space \<Rightarrow> 'b::euclidean_space"
assumes "linear f" "inj f"
shows "arc(f o g) = arc g"
using assms inj_on_eq_iff [of f]
by (auto simp: arc_def inj_on_def path_linear_image_eq)
subsection\<open>Basic lemmas about paths\<close>
lemma arc_imp_simple_path: "arc g \<Longrightarrow> simple_path g"
by (simp add: arc_def inj_on_def simple_path_def)
lemma arc_imp_path: "arc g \<Longrightarrow> path g"
using arc_def by blast
lemma simple_path_imp_path: "simple_path g \<Longrightarrow> path g"
using simple_path_def by blast
lemma simple_path_cases: "simple_path g \<Longrightarrow> arc g \<or> pathfinish g = pathstart g"
unfolding simple_path_def arc_def inj_on_def pathfinish_def pathstart_def
by (force)
lemma simple_path_imp_arc: "simple_path g \<Longrightarrow> pathfinish g \<noteq> pathstart g \<Longrightarrow> arc g"
using simple_path_cases by auto
lemma arc_distinct_ends: "arc g \<Longrightarrow> pathfinish g \<noteq> pathstart g"
unfolding arc_def inj_on_def pathfinish_def pathstart_def
by fastforce
lemma arc_simple_path: "arc g \<longleftrightarrow> simple_path g \<and> pathfinish g \<noteq> pathstart g"
using arc_distinct_ends arc_imp_simple_path simple_path_cases by blast
lemma simple_path_eq_arc: "pathfinish g \<noteq> pathstart g \<Longrightarrow> (simple_path g = arc g)"
by (simp add: arc_simple_path)
lemma path_image_nonempty [simp]: "path_image g \<noteq> {}"
unfolding path_image_def image_is_empty box_eq_empty
by auto
lemma pathstart_in_path_image[intro]: "pathstart g \<in> path_image g"
unfolding pathstart_def path_image_def
by auto
lemma pathfinish_in_path_image[intro]: "pathfinish g \<in> path_image g"
unfolding pathfinish_def path_image_def
by auto
lemma connected_path_image[intro]: "path g \<Longrightarrow> connected (path_image g)"
unfolding path_def path_image_def
using connected_continuous_image connected_Icc by blast
lemma compact_path_image[intro]: "path g \<Longrightarrow> compact (path_image g)"
unfolding path_def path_image_def
using compact_continuous_image connected_Icc by blast
lemma reversepath_reversepath[simp]: "reversepath (reversepath g) = g"
unfolding reversepath_def
by auto
lemma pathstart_reversepath[simp]: "pathstart (reversepath g) = pathfinish g"
unfolding pathstart_def reversepath_def pathfinish_def
by auto
lemma pathfinish_reversepath[simp]: "pathfinish (reversepath g) = pathstart g"
unfolding pathstart_def reversepath_def pathfinish_def
by auto
lemma pathstart_join[simp]: "pathstart (g1 +++ g2) = pathstart g1"
unfolding pathstart_def joinpaths_def pathfinish_def
by auto
lemma pathfinish_join[simp]: "pathfinish (g1 +++ g2) = pathfinish g2"
unfolding pathstart_def joinpaths_def pathfinish_def
by auto
lemma path_image_reversepath[simp]: "path_image (reversepath g) = path_image g"
proof -
have *: "\<And>g. path_image (reversepath g) \<subseteq> path_image g"
unfolding path_image_def subset_eq reversepath_def Ball_def image_iff
by force
show ?thesis
using *[of g] *[of "reversepath g"]
unfolding reversepath_reversepath
by auto
qed
lemma path_reversepath [simp]: "path (reversepath g) \<longleftrightarrow> path g"
proof -
have *: "\<And>g. path g \<Longrightarrow> path (reversepath g)"
unfolding path_def reversepath_def
apply (rule continuous_on_compose[unfolded o_def, of _ "\<lambda>x. 1 - x"])
apply (intro continuous_intros)
apply (rule continuous_on_subset[of "{0..1}"])
apply assumption
apply auto
done
show ?thesis
using *[of "reversepath g"] *[of g]
unfolding reversepath_reversepath
by (rule iffI)
qed
lemma arc_reversepath:
assumes "arc g" shows "arc(reversepath g)"
proof -
have injg: "inj_on g {0..1}"
using assms
by (simp add: arc_def)
have **: "\<And>x y::real. 1-x = 1-y \<Longrightarrow> x = y"
by simp
show ?thesis
apply (auto simp: arc_def inj_on_def path_reversepath)
apply (simp add: arc_imp_path assms)
apply (rule **)
apply (rule inj_onD [OF injg])
apply (auto simp: reversepath_def)
done
qed
lemma simple_path_reversepath: "simple_path g \<Longrightarrow> simple_path (reversepath g)"
apply (simp add: simple_path_def)
apply (force simp: reversepath_def)
done
lemmas reversepath_simps =
path_reversepath path_image_reversepath pathstart_reversepath pathfinish_reversepath
lemma path_join[simp]:
assumes "pathfinish g1 = pathstart g2"
shows "path (g1 +++ g2) \<longleftrightarrow> path g1 \<and> path g2"
unfolding path_def pathfinish_def pathstart_def
proof safe
assume cont: "continuous_on {0..1} (g1 +++ g2)"
have g1: "continuous_on {0..1} g1 \<longleftrightarrow> continuous_on {0..1} ((g1 +++ g2) \<circ> (\<lambda>x. x / 2))"
by (intro continuous_on_cong refl) (auto simp: joinpaths_def)
have g2: "continuous_on {0..1} g2 \<longleftrightarrow> continuous_on {0..1} ((g1 +++ g2) \<circ> (\<lambda>x. x / 2 + 1/2))"
using assms
by (intro continuous_on_cong refl) (auto simp: joinpaths_def pathfinish_def pathstart_def)
show "continuous_on {0..1} g1" and "continuous_on {0..1} g2"
unfolding g1 g2
by (auto intro!: continuous_intros continuous_on_subset[OF cont] simp del: o_apply)
next
assume g1g2: "continuous_on {0..1} g1" "continuous_on {0..1} g2"
have 01: "{0 .. 1} = {0..1/2} \<union> {1/2 .. 1::real}"
by auto
{
fix x :: real
assume "0 \<le> x" and "x \<le> 1"
then have "x \<in> (\<lambda>x. x * 2) ` {0..1 / 2}"
by (intro image_eqI[where x="x/2"]) auto
}
note 1 = this
{
fix x :: real
assume "0 \<le> x" and "x \<le> 1"
then have "x \<in> (\<lambda>x. x * 2 - 1) ` {1 / 2..1}"
by (intro image_eqI[where x="x/2 + 1/2"]) auto
}
note 2 = this
show "continuous_on {0..1} (g1 +++ g2)"
using assms
unfolding joinpaths_def 01
apply (intro continuous_on_cases closed_atLeastAtMost g1g2[THEN continuous_on_compose2] continuous_intros)
apply (auto simp: field_simps pathfinish_def pathstart_def intro!: 1 2)
done
qed
section \<open>Path Images\<close>
lemma bounded_path_image: "path g \<Longrightarrow> bounded(path_image g)"
by (simp add: compact_imp_bounded compact_path_image)
lemma closed_path_image:
fixes g :: "real \<Rightarrow> 'a::t2_space"
shows "path g \<Longrightarrow> closed(path_image g)"
by (metis compact_path_image compact_imp_closed)
lemma connected_simple_path_image: "simple_path g \<Longrightarrow> connected(path_image g)"
by (metis connected_path_image simple_path_imp_path)
lemma compact_simple_path_image: "simple_path g \<Longrightarrow> compact(path_image g)"
by (metis compact_path_image simple_path_imp_path)
lemma bounded_simple_path_image: "simple_path g \<Longrightarrow> bounded(path_image g)"
by (metis bounded_path_image simple_path_imp_path)
lemma closed_simple_path_image:
fixes g :: "real \<Rightarrow> 'a::t2_space"
shows "simple_path g \<Longrightarrow> closed(path_image g)"
by (metis closed_path_image simple_path_imp_path)
lemma connected_arc_image: "arc g \<Longrightarrow> connected(path_image g)"
by (metis connected_path_image arc_imp_path)
lemma compact_arc_image: "arc g \<Longrightarrow> compact(path_image g)"
by (metis compact_path_image arc_imp_path)
lemma bounded_arc_image: "arc g \<Longrightarrow> bounded(path_image g)"
by (metis bounded_path_image arc_imp_path)
lemma closed_arc_image:
fixes g :: "real \<Rightarrow> 'a::t2_space"
shows "arc g \<Longrightarrow> closed(path_image g)"
by (metis closed_path_image arc_imp_path)
lemma path_image_join_subset: "path_image (g1 +++ g2) \<subseteq> path_image g1 \<union> path_image g2"
unfolding path_image_def joinpaths_def
by auto
lemma subset_path_image_join:
assumes "path_image g1 \<subseteq> s"
and "path_image g2 \<subseteq> s"
shows "path_image (g1 +++ g2) \<subseteq> s"
using path_image_join_subset[of g1 g2] and assms
by auto
lemma path_image_join:
"pathfinish g1 = pathstart g2 \<Longrightarrow> path_image(g1 +++ g2) = path_image g1 \<union> path_image g2"
apply (rule subset_antisym [OF path_image_join_subset])
apply (auto simp: pathfinish_def pathstart_def path_image_def joinpaths_def image_def)
apply (drule sym)
apply (rule_tac x="xa/2" in bexI, auto)
apply (rule ccontr)
apply (drule_tac x="(xa+1)/2" in bspec)
apply (auto simp: field_simps)
apply (drule_tac x="1/2" in bspec, auto)
done
lemma not_in_path_image_join:
assumes "x \<notin> path_image g1"
and "x \<notin> path_image g2"
shows "x \<notin> path_image (g1 +++ g2)"
using assms and path_image_join_subset[of g1 g2]
by auto
lemma pathstart_compose: "pathstart(f o p) = f(pathstart p)"
by (simp add: pathstart_def)
lemma pathfinish_compose: "pathfinish(f o p) = f(pathfinish p)"
by (simp add: pathfinish_def)
lemma path_image_compose: "path_image (f o p) = f ` (path_image p)"
by (simp add: image_comp path_image_def)
lemma path_compose_join: "f o (p +++ q) = (f o p) +++ (f o q)"
by (rule ext) (simp add: joinpaths_def)
lemma path_compose_reversepath: "f o reversepath p = reversepath(f o p)"
by (rule ext) (simp add: reversepath_def)
lemma joinpaths_eq:
"(\<And>t. t \<in> {0..1} \<Longrightarrow> p t = p' t) \<Longrightarrow>
(\<And>t. t \<in> {0..1} \<Longrightarrow> q t = q' t)
\<Longrightarrow> t \<in> {0..1} \<Longrightarrow> (p +++ q) t = (p' +++ q') t"
by (auto simp: joinpaths_def)
lemma simple_path_inj_on: "simple_path g \<Longrightarrow> inj_on g {0<..<1}"
by (auto simp: simple_path_def path_image_def inj_on_def less_eq_real_def Ball_def)
subsection\<open>Simple paths with the endpoints removed\<close>
lemma simple_path_endless:
"simple_path c \<Longrightarrow> path_image c - {pathstart c,pathfinish c} = c ` {0<..<1}"
apply (auto simp: simple_path_def path_image_def pathstart_def pathfinish_def Ball_def Bex_def image_def)
apply (metis eq_iff le_less_linear)
apply (metis leD linear)
using less_eq_real_def zero_le_one apply blast
using less_eq_real_def zero_le_one apply blast
done
lemma connected_simple_path_endless:
"simple_path c \<Longrightarrow> connected(path_image c - {pathstart c,pathfinish c})"
apply (simp add: simple_path_endless)
apply (rule connected_continuous_image)
apply (meson continuous_on_subset greaterThanLessThan_subseteq_atLeastAtMost_iff le_numeral_extra(3) le_numeral_extra(4) path_def simple_path_imp_path)
by auto
lemma nonempty_simple_path_endless:
"simple_path c \<Longrightarrow> path_image c - {pathstart c,pathfinish c} \<noteq> {}"
by (simp add: simple_path_endless)
subsection\<open>The operations on paths\<close>
lemma path_image_subset_reversepath: "path_image(reversepath g) \<le> path_image g"
by (auto simp: path_image_def reversepath_def)
lemma path_imp_reversepath: "path g \<Longrightarrow> path(reversepath g)"
apply (auto simp: path_def reversepath_def)
using continuous_on_compose [of "{0..1}" "\<lambda>x. 1 - x" g]
apply (auto simp: continuous_on_op_minus)
done
lemma half_bounded_equal: "1 \<le> x * 2 \<Longrightarrow> x * 2 \<le> 1 \<longleftrightarrow> x = (1/2::real)"
by simp
lemma continuous_on_joinpaths:
assumes "continuous_on {0..1} g1" "continuous_on {0..1} g2" "pathfinish g1 = pathstart g2"
shows "continuous_on {0..1} (g1 +++ g2)"
proof -
have *: "{0..1::real} = {0..1/2} \<union> {1/2..1}"
by auto
have gg: "g2 0 = g1 1"
by (metis assms(3) pathfinish_def pathstart_def)
have 1: "continuous_on {0..1/2} (g1 +++ g2)"
apply (rule continuous_on_eq [of _ "g1 o (\<lambda>x. 2*x)"])
apply (rule continuous_intros | simp add: joinpaths_def assms)+
done
have "continuous_on {1/2..1} (g2 o (\<lambda>x. 2*x-1))"
apply (rule continuous_on_subset [of "{1/2..1}"])
apply (rule continuous_intros | simp add: image_affinity_atLeastAtMost_diff assms)+
done
then have 2: "continuous_on {1/2..1} (g1 +++ g2)"
apply (rule continuous_on_eq [of "{1/2..1}" "g2 o (\<lambda>x. 2*x-1)"])
apply (rule assms continuous_intros | simp add: joinpaths_def mult.commute half_bounded_equal gg)+
done
show ?thesis
apply (subst *)
apply (rule continuous_on_closed_Un)
using 1 2
apply auto
done
qed
lemma path_join_imp: "\<lbrakk>path g1; path g2; pathfinish g1 = pathstart g2\<rbrakk> \<Longrightarrow> path(g1 +++ g2)"
by (simp add: path_join)
lemma simple_path_join_loop:
assumes "arc g1" "arc g2"
"pathfinish g1 = pathstart g2" "pathfinish g2 = pathstart g1"
"path_image g1 \<inter> path_image g2 \<subseteq> {pathstart g1, pathstart g2}"
shows "simple_path(g1 +++ g2)"
proof -
have injg1: "inj_on g1 {0..1}"
using assms
by (simp add: arc_def)
have injg2: "inj_on g2 {0..1}"
using assms
by (simp add: arc_def)
have g12: "g1 1 = g2 0"
and g21: "g2 1 = g1 0"
and sb: "g1 ` {0..1} \<inter> g2 ` {0..1} \<subseteq> {g1 0, g2 0}"
using assms
by (simp_all add: arc_def pathfinish_def pathstart_def path_image_def)
{ fix x and y::real
assume xyI: "x = 1 \<longrightarrow> y \<noteq> 0"
and xy: "x \<le> 1" "0 \<le> y" " y * 2 \<le> 1" "\<not> x * 2 \<le> 1" "g2 (2 * x - 1) = g1 (2 * y)"
have g1im: "g1 (2 * y) \<in> g1 ` {0..1} \<inter> g2 ` {0..1}"
using xy
apply simp
apply (rule_tac x="2 * x - 1" in image_eqI, auto)
done
have False
using subsetD [OF sb g1im] xy
apply auto
apply (drule inj_onD [OF injg1])
using g21 [symmetric] xyI
apply (auto dest: inj_onD [OF injg2])
done
} note * = this
{ fix x and y::real
assume xy: "y \<le> 1" "0 \<le> x" "\<not> y * 2 \<le> 1" "x * 2 \<le> 1" "g1 (2 * x) = g2 (2 * y - 1)"
have g1im: "g1 (2 * x) \<in> g1 ` {0..1} \<inter> g2 ` {0..1}"
using xy
apply simp
apply (rule_tac x="2 * x" in image_eqI, auto)
done
have "x = 0 \<and> y = 1"
using subsetD [OF sb g1im] xy
apply auto
apply (force dest: inj_onD [OF injg1])
using g21 [symmetric]
apply (auto dest: inj_onD [OF injg2])
done
} note ** = this
show ?thesis
using assms
apply (simp add: arc_def simple_path_def path_join, clarify)
apply (simp add: joinpaths_def split: if_split_asm)
apply (force dest: inj_onD [OF injg1])
apply (metis *)
apply (metis **)
apply (force dest: inj_onD [OF injg2])
done
qed
lemma arc_join:
assumes "arc g1" "arc g2"
"pathfinish g1 = pathstart g2"
"path_image g1 \<inter> path_image g2 \<subseteq> {pathstart g2}"
shows "arc(g1 +++ g2)"
proof -
have injg1: "inj_on g1 {0..1}"
using assms
by (simp add: arc_def)
have injg2: "inj_on g2 {0..1}"
using assms
by (simp add: arc_def)
have g11: "g1 1 = g2 0"
and sb: "g1 ` {0..1} \<inter> g2 ` {0..1} \<subseteq> {g2 0}"
using assms
by (simp_all add: arc_def pathfinish_def pathstart_def path_image_def)
{ fix x and y::real
assume xy: "x \<le> 1" "0 \<le> y" " y * 2 \<le> 1" "\<not> x * 2 \<le> 1" "g2 (2 * x - 1) = g1 (2 * y)"
have g1im: "g1 (2 * y) \<in> g1 ` {0..1} \<inter> g2 ` {0..1}"
using xy
apply simp
apply (rule_tac x="2 * x - 1" in image_eqI, auto)
done
have False
using subsetD [OF sb g1im] xy
by (auto dest: inj_onD [OF injg2])
} note * = this
show ?thesis
apply (simp add: arc_def inj_on_def)
apply (clarsimp simp add: arc_imp_path assms path_join)
apply (simp add: joinpaths_def split: if_split_asm)
apply (force dest: inj_onD [OF injg1])
apply (metis *)
apply (metis *)
apply (force dest: inj_onD [OF injg2])
done
qed
lemma reversepath_joinpaths:
"pathfinish g1 = pathstart g2 \<Longrightarrow> reversepath(g1 +++ g2) = reversepath g2 +++ reversepath g1"
unfolding reversepath_def pathfinish_def pathstart_def joinpaths_def
by (rule ext) (auto simp: mult.commute)
subsection\<open>Some reversed and "if and only if" versions of joining theorems\<close>
lemma path_join_path_ends:
fixes g1 :: "real \<Rightarrow> 'a::metric_space"
assumes "path(g1 +++ g2)" "path g2"
shows "pathfinish g1 = pathstart g2"
proof (rule ccontr)
def e \<equiv> "dist (g1 1) (g2 0)"
assume Neg: "pathfinish g1 \<noteq> pathstart g2"
then have "0 < dist (pathfinish g1) (pathstart g2)"
by auto
then have "e > 0"
by (metis e_def pathfinish_def pathstart_def)
then obtain d1 where "d1 > 0"
and d1: "\<And>x'. \<lbrakk>x'\<in>{0..1}; norm x' < d1\<rbrakk> \<Longrightarrow> dist (g2 x') (g2 0) < e/2"
using assms(2) unfolding path_def continuous_on_iff
apply (drule_tac x=0 in bspec, simp)
by (metis half_gt_zero_iff norm_conv_dist)
obtain d2 where "d2 > 0"
and d2: "\<And>x'. \<lbrakk>x'\<in>{0..1}; dist x' (1/2) < d2\<rbrakk>
\<Longrightarrow> dist ((g1 +++ g2) x') (g1 1) < e/2"
using assms(1) \<open>e > 0\<close> unfolding path_def continuous_on_iff
apply (drule_tac x="1/2" in bspec, simp)
apply (drule_tac x="e/2" in spec)
apply (force simp: joinpaths_def)
done
have int01_1: "min (1/2) (min d1 d2) / 2 \<in> {0..1}"
using \<open>d1 > 0\<close> \<open>d2 > 0\<close> by (simp add: min_def)
have dist1: "norm (min (1 / 2) (min d1 d2) / 2) < d1"
using \<open>d1 > 0\<close> \<open>d2 > 0\<close> by (simp add: min_def dist_norm)
have int01_2: "1/2 + min (1/2) (min d1 d2) / 4 \<in> {0..1}"
using \<open>d1 > 0\<close> \<open>d2 > 0\<close> by (simp add: min_def)
have dist2: "dist (1 / 2 + min (1 / 2) (min d1 d2) / 4) (1 / 2) < d2"
using \<open>d1 > 0\<close> \<open>d2 > 0\<close> by (simp add: min_def dist_norm)
have [simp]: "~ min (1 / 2) (min d1 d2) \<le> 0"
using \<open>d1 > 0\<close> \<open>d2 > 0\<close> by (simp add: min_def)
have "dist (g2 (min (1 / 2) (min d1 d2) / 2)) (g1 1) < e/2"
"dist (g2 (min (1 / 2) (min d1 d2) / 2)) (g2 0) < e/2"
using d1 [OF int01_1 dist1] d2 [OF int01_2 dist2] by (simp_all add: joinpaths_def)
then have "dist (g1 1) (g2 0) < e/2 + e/2"
using dist_triangle_half_r e_def by blast
then show False
by (simp add: e_def [symmetric])
qed
lemma path_join_eq [simp]:
fixes g1 :: "real \<Rightarrow> 'a::metric_space"
assumes "path g1" "path g2"
shows "path(g1 +++ g2) \<longleftrightarrow> pathfinish g1 = pathstart g2"
using assms by (metis path_join_path_ends path_join_imp)
lemma simple_path_joinE:
assumes "simple_path(g1 +++ g2)" and "pathfinish g1 = pathstart g2"
obtains "arc g1" "arc g2"
"path_image g1 \<inter> path_image g2 \<subseteq> {pathstart g1, pathstart g2}"
proof -
have *: "\<And>x y. \<lbrakk>0 \<le> x; x \<le> 1; 0 \<le> y; y \<le> 1; (g1 +++ g2) x = (g1 +++ g2) y\<rbrakk>
\<Longrightarrow> x = y \<or> x = 0 \<and> y = 1 \<or> x = 1 \<and> y = 0"
using assms by (simp add: simple_path_def)
have "path g1"
using assms path_join simple_path_imp_path by blast
moreover have "inj_on g1 {0..1}"
proof (clarsimp simp: inj_on_def)
fix x y
assume "g1 x = g1 y" "0 \<le> x" "x \<le> 1" "0 \<le> y" "y \<le> 1"
then show "x = y"
using * [of "x/2" "y/2"] by (simp add: joinpaths_def split_ifs)
qed
ultimately have "arc g1"
using assms by (simp add: arc_def)
have [simp]: "g2 0 = g1 1"
using assms by (metis pathfinish_def pathstart_def)
have "path g2"
using assms path_join simple_path_imp_path by blast
moreover have "inj_on g2 {0..1}"
proof (clarsimp simp: inj_on_def)
fix x y
assume "g2 x = g2 y" "0 \<le> x" "x \<le> 1" "0 \<le> y" "y \<le> 1"
then show "x = y"
using * [of "(x + 1) / 2" "(y + 1) / 2"]
by (force simp: joinpaths_def split_ifs divide_simps)
qed
ultimately have "arc g2"
using assms by (simp add: arc_def)
have "g2 y = g1 0 \<or> g2 y = g1 1"
if "g1 x = g2 y" "0 \<le> x" "x \<le> 1" "0 \<le> y" "y \<le> 1" for x y
using * [of "x / 2" "(y + 1) / 2"] that
by (auto simp: joinpaths_def split_ifs divide_simps)
then have "path_image g1 \<inter> path_image g2 \<subseteq> {pathstart g1, pathstart g2}"
by (fastforce simp: pathstart_def pathfinish_def path_image_def)
with \<open>arc g1\<close> \<open>arc g2\<close> show ?thesis using that by blast
qed
lemma simple_path_join_loop_eq:
assumes "pathfinish g2 = pathstart g1" "pathfinish g1 = pathstart g2"
shows "simple_path(g1 +++ g2) \<longleftrightarrow>
arc g1 \<and> arc g2 \<and> path_image g1 \<inter> path_image g2 \<subseteq> {pathstart g1, pathstart g2}"
by (metis assms simple_path_joinE simple_path_join_loop)
lemma arc_join_eq:
assumes "pathfinish g1 = pathstart g2"
shows "arc(g1 +++ g2) \<longleftrightarrow>
arc g1 \<and> arc g2 \<and> path_image g1 \<inter> path_image g2 \<subseteq> {pathstart g2}"
(is "?lhs = ?rhs")
proof
assume ?lhs
then have "simple_path(g1 +++ g2)" by (rule arc_imp_simple_path)
then have *: "\<And>x y. \<lbrakk>0 \<le> x; x \<le> 1; 0 \<le> y; y \<le> 1; (g1 +++ g2) x = (g1 +++ g2) y\<rbrakk>
\<Longrightarrow> x = y \<or> x = 0 \<and> y = 1 \<or> x = 1 \<and> y = 0"
using assms by (simp add: simple_path_def)
have False if "g1 0 = g2 u" "0 \<le> u" "u \<le> 1" for u
using * [of 0 "(u + 1) / 2"] that assms arc_distinct_ends [OF \<open>?lhs\<close>]
by (auto simp: joinpaths_def pathstart_def pathfinish_def split_ifs divide_simps)
then have n1: "~ (pathstart g1 \<in> path_image g2)"
unfolding pathstart_def path_image_def
using atLeastAtMost_iff by blast
show ?rhs using \<open>?lhs\<close>
apply (rule simple_path_joinE [OF arc_imp_simple_path assms])
using n1 by force
next
assume ?rhs then show ?lhs
using assms
by (fastforce simp: pathfinish_def pathstart_def intro!: arc_join)
qed
lemma arc_join_eq_alt:
"pathfinish g1 = pathstart g2
\<Longrightarrow> (arc(g1 +++ g2) \<longleftrightarrow>
arc g1 \<and> arc g2 \<and>
path_image g1 \<inter> path_image g2 = {pathstart g2})"
using pathfinish_in_path_image by (fastforce simp: arc_join_eq)
subsection\<open>The joining of paths is associative\<close>
lemma path_assoc:
"\<lbrakk>pathfinish p = pathstart q; pathfinish q = pathstart r\<rbrakk>
\<Longrightarrow> path(p +++ (q +++ r)) \<longleftrightarrow> path((p +++ q) +++ r)"
by simp
lemma simple_path_assoc:
assumes "pathfinish p = pathstart q" "pathfinish q = pathstart r"
shows "simple_path (p +++ (q +++ r)) \<longleftrightarrow> simple_path ((p +++ q) +++ r)"
proof (cases "pathstart p = pathfinish r")
case True show ?thesis
proof
assume "simple_path (p +++ q +++ r)"
with assms True show "simple_path ((p +++ q) +++ r)"
by (fastforce simp add: simple_path_join_loop_eq arc_join_eq path_image_join
dest: arc_distinct_ends [of r])
next
assume 0: "simple_path ((p +++ q) +++ r)"
with assms True have q: "pathfinish r \<notin> path_image q"
using arc_distinct_ends
by (fastforce simp add: simple_path_join_loop_eq arc_join_eq path_image_join)
have "pathstart r \<notin> path_image p"
using assms
by (metis 0 IntI arc_distinct_ends arc_join_eq_alt empty_iff insert_iff
pathfinish_in_path_image pathfinish_join simple_path_joinE)
with assms 0 q True show "simple_path (p +++ q +++ r)"
by (auto simp: simple_path_join_loop_eq arc_join_eq path_image_join
dest!: subsetD [OF _ IntI])
qed
next
case False
{ fix x :: 'a
assume a: "path_image p \<inter> path_image q \<subseteq> {pathstart q}"
"(path_image p \<union> path_image q) \<inter> path_image r \<subseteq> {pathstart r}"
"x \<in> path_image p" "x \<in> path_image r"
have "pathstart r \<in> path_image q"
by (metis assms(2) pathfinish_in_path_image)
with a have "x = pathstart q"
by blast
}
with False assms show ?thesis
by (auto simp: simple_path_eq_arc simple_path_join_loop_eq arc_join_eq path_image_join)
qed
lemma arc_assoc:
"\<lbrakk>pathfinish p = pathstart q; pathfinish q = pathstart r\<rbrakk>
\<Longrightarrow> arc(p +++ (q +++ r)) \<longleftrightarrow> arc((p +++ q) +++ r)"
by (simp add: arc_simple_path simple_path_assoc)
section\<open>Choosing a subpath of an existing path\<close>
definition subpath :: "real \<Rightarrow> real \<Rightarrow> (real \<Rightarrow> 'a) \<Rightarrow> real \<Rightarrow> 'a::real_normed_vector"
where "subpath a b g \<equiv> \<lambda>x. g((b - a) * x + a)"
lemma path_image_subpath_gen:
fixes g :: "_ \<Rightarrow> 'a::real_normed_vector"
shows "path_image(subpath u v g) = g ` (closed_segment u v)"
apply (simp add: closed_segment_real_eq path_image_def subpath_def)
apply (subst o_def [of g, symmetric])
apply (simp add: image_comp [symmetric])
done
lemma path_image_subpath:
fixes g :: "real \<Rightarrow> 'a::real_normed_vector"
shows "path_image(subpath u v g) = (if u \<le> v then g ` {u..v} else g ` {v..u})"
by (simp add: path_image_subpath_gen closed_segment_eq_real_ivl)
lemma path_subpath [simp]:
fixes g :: "real \<Rightarrow> 'a::real_normed_vector"
assumes "path g" "u \<in> {0..1}" "v \<in> {0..1}"
shows "path(subpath u v g)"
proof -
have "continuous_on {0..1} (g o (\<lambda>x. ((v-u) * x+ u)))"
apply (rule continuous_intros | simp)+
apply (simp add: image_affinity_atLeastAtMost [where c=u])
using assms
apply (auto simp: path_def continuous_on_subset)
done
then show ?thesis
by (simp add: path_def subpath_def)
qed
lemma pathstart_subpath [simp]: "pathstart(subpath u v g) = g(u)"
by (simp add: pathstart_def subpath_def)
lemma pathfinish_subpath [simp]: "pathfinish(subpath u v g) = g(v)"
by (simp add: pathfinish_def subpath_def)
lemma subpath_trivial [simp]: "subpath 0 1 g = g"
by (simp add: subpath_def)
lemma subpath_reversepath: "subpath 1 0 g = reversepath g"
by (simp add: reversepath_def subpath_def)
lemma reversepath_subpath: "reversepath(subpath u v g) = subpath v u g"
by (simp add: reversepath_def subpath_def algebra_simps)
lemma subpath_translation: "subpath u v ((\<lambda>x. a + x) o g) = (\<lambda>x. a + x) o subpath u v g"
by (rule ext) (simp add: subpath_def)
lemma subpath_linear_image: "linear f \<Longrightarrow> subpath u v (f o g) = f o subpath u v g"
by (rule ext) (simp add: subpath_def)
lemma affine_ineq:
fixes x :: "'a::linordered_idom"
assumes "x \<le> 1" "v \<le> u"
shows "v + x * u \<le> u + x * v"
proof -
have "(1-x)*(u-v) \<ge> 0"
using assms by auto
then show ?thesis
by (simp add: algebra_simps)
qed
lemma sum_le_prod1:
fixes a::real shows "\<lbrakk>a \<le> 1; b \<le> 1\<rbrakk> \<Longrightarrow> a + b \<le> 1 + a * b"
by (metis add.commute affine_ineq less_eq_real_def mult.right_neutral)
lemma simple_path_subpath_eq:
"simple_path(subpath u v g) \<longleftrightarrow>
path(subpath u v g) \<and> u\<noteq>v \<and>
(\<forall>x y. x \<in> closed_segment u v \<and> y \<in> closed_segment u v \<and> g x = g y
\<longrightarrow> x = y \<or> x = u \<and> y = v \<or> x = v \<and> y = u)"
(is "?lhs = ?rhs")
proof (rule iffI)
assume ?lhs
then have p: "path (\<lambda>x. g ((v - u) * x + u))"
and sim: "(\<And>x y. \<lbrakk>x\<in>{0..1}; y\<in>{0..1}; g ((v - u) * x + u) = g ((v - u) * y + u)\<rbrakk>
\<Longrightarrow> x = y \<or> x = 0 \<and> y = 1 \<or> x = 1 \<and> y = 0)"
by (auto simp: simple_path_def subpath_def)
{ fix x y
assume "x \<in> closed_segment u v" "y \<in> closed_segment u v" "g x = g y"
then have "x = y \<or> x = u \<and> y = v \<or> x = v \<and> y = u"
using sim [of "(x-u)/(v-u)" "(y-u)/(v-u)"] p
by (auto simp: closed_segment_real_eq image_affinity_atLeastAtMost divide_simps
split: if_split_asm)
} moreover
have "path(subpath u v g) \<and> u\<noteq>v"
using sim [of "1/3" "2/3"] p
by (auto simp: subpath_def)
ultimately show ?rhs
by metis
next
assume ?rhs
then
have d1: "\<And>x y. \<lbrakk>g x = g y; u \<le> x; x \<le> v; u \<le> y; y \<le> v\<rbrakk> \<Longrightarrow> x = y \<or> x = u \<and> y = v \<or> x = v \<and> y = u"
and d2: "\<And>x y. \<lbrakk>g x = g y; v \<le> x; x \<le> u; v \<le> y; y \<le> u\<rbrakk> \<Longrightarrow> x = y \<or> x = u \<and> y = v \<or> x = v \<and> y = u"
and ne: "u < v \<or> v < u"
and psp: "path (subpath u v g)"
by (auto simp: closed_segment_real_eq image_affinity_atLeastAtMost)
have [simp]: "\<And>x. u + x * v = v + x * u \<longleftrightarrow> u=v \<or> x=1"
by algebra
show ?lhs using psp ne
unfolding simple_path_def subpath_def
by (fastforce simp add: algebra_simps affine_ineq mult_left_mono crossproduct_eq dest: d1 d2)
qed
lemma arc_subpath_eq:
"arc(subpath u v g) \<longleftrightarrow> path(subpath u v g) \<and> u\<noteq>v \<and> inj_on g (closed_segment u v)"
(is "?lhs = ?rhs")
proof (rule iffI)
assume ?lhs
then have p: "path (\<lambda>x. g ((v - u) * x + u))"
and sim: "(\<And>x y. \<lbrakk>x\<in>{0..1}; y\<in>{0..1}; g ((v - u) * x + u) = g ((v - u) * y + u)\<rbrakk>
\<Longrightarrow> x = y)"
by (auto simp: arc_def inj_on_def subpath_def)
{ fix x y
assume "x \<in> closed_segment u v" "y \<in> closed_segment u v" "g x = g y"
then have "x = y"
using sim [of "(x-u)/(v-u)" "(y-u)/(v-u)"] p
by (force simp add: inj_on_def closed_segment_real_eq image_affinity_atLeastAtMost divide_simps
split: if_split_asm)
} moreover
have "path(subpath u v g) \<and> u\<noteq>v"
using sim [of "1/3" "2/3"] p
by (auto simp: subpath_def)
ultimately show ?rhs
unfolding inj_on_def
by metis
next
assume ?rhs
then
have d1: "\<And>x y. \<lbrakk>g x = g y; u \<le> x; x \<le> v; u \<le> y; y \<le> v\<rbrakk> \<Longrightarrow> x = y"
and d2: "\<And>x y. \<lbrakk>g x = g y; v \<le> x; x \<le> u; v \<le> y; y \<le> u\<rbrakk> \<Longrightarrow> x = y"
and ne: "u < v \<or> v < u"
and psp: "path (subpath u v g)"
by (auto simp: inj_on_def closed_segment_real_eq image_affinity_atLeastAtMost)
show ?lhs using psp ne
unfolding arc_def subpath_def inj_on_def
by (auto simp: algebra_simps affine_ineq mult_left_mono crossproduct_eq dest: d1 d2)
qed
lemma simple_path_subpath:
assumes "simple_path g" "u \<in> {0..1}" "v \<in> {0..1}" "u \<noteq> v"
shows "simple_path(subpath u v g)"
using assms
apply (simp add: simple_path_subpath_eq simple_path_imp_path)
apply (simp add: simple_path_def closed_segment_real_eq image_affinity_atLeastAtMost, fastforce)
done
lemma arc_simple_path_subpath:
"\<lbrakk>simple_path g; u \<in> {0..1}; v \<in> {0..1}; g u \<noteq> g v\<rbrakk> \<Longrightarrow> arc(subpath u v g)"
by (force intro: simple_path_subpath simple_path_imp_arc)
lemma arc_subpath_arc:
"\<lbrakk>arc g; u \<in> {0..1}; v \<in> {0..1}; u \<noteq> v\<rbrakk> \<Longrightarrow> arc(subpath u v g)"
by (meson arc_def arc_imp_simple_path arc_simple_path_subpath inj_onD)
lemma arc_simple_path_subpath_interior:
"\<lbrakk>simple_path g; u \<in> {0..1}; v \<in> {0..1}; u \<noteq> v; \<bar>u-v\<bar> < 1\<rbrakk> \<Longrightarrow> arc(subpath u v g)"
apply (rule arc_simple_path_subpath)
apply (force simp: simple_path_def)+
done
lemma path_image_subpath_subset:
"\<lbrakk>path g; u \<in> {0..1}; v \<in> {0..1}\<rbrakk> \<Longrightarrow> path_image(subpath u v g) \<subseteq> path_image g"
apply (simp add: closed_segment_real_eq image_affinity_atLeastAtMost path_image_subpath)
apply (auto simp: path_image_def)
done
lemma join_subpaths_middle: "subpath (0) ((1 / 2)) p +++ subpath ((1 / 2)) 1 p = p"
by (rule ext) (simp add: joinpaths_def subpath_def divide_simps)
subsection\<open>There is a subpath to the frontier\<close>
lemma subpath_to_frontier_explicit:
fixes S :: "'a::metric_space set"
assumes g: "path g" and "pathfinish g \<notin> S"
obtains u where "0 \<le> u" "u \<le> 1"
"\<And>x. 0 \<le> x \<and> x < u \<Longrightarrow> g x \<in> interior S"
"(g u \<notin> interior S)" "(u = 0 \<or> g u \<in> closure S)"
proof -
have gcon: "continuous_on {0..1} g" using g by (simp add: path_def)
then have com: "compact ({0..1} \<inter> {u. g u \<in> closure (- S)})"
apply (simp add: Int_commute [of "{0..1}"] compact_eq_bounded_closed closed_vimage_Int [unfolded vimage_def])
using compact_eq_bounded_closed apply fastforce
done
have "1 \<in> {u. g u \<in> closure (- S)}"
using assms by (simp add: pathfinish_def closure_def)
then have dis: "{0..1} \<inter> {u. g u \<in> closure (- S)} \<noteq> {}"
using atLeastAtMost_iff zero_le_one by blast
then obtain u where "0 \<le> u" "u \<le> 1" and gu: "g u \<in> closure (- S)"
and umin: "\<And>t. \<lbrakk>0 \<le> t; t \<le> 1; g t \<in> closure (- S)\<rbrakk> \<Longrightarrow> u \<le> t"
using compact_attains_inf [OF com dis] by fastforce
then have umin': "\<And>t. \<lbrakk>0 \<le> t; t \<le> 1; t < u\<rbrakk> \<Longrightarrow> g t \<in> S"
using closure_def by fastforce
{ assume "u \<noteq> 0"
then have "u > 0" using \<open>0 \<le> u\<close> by auto
{ fix e::real assume "e > 0"
obtain d where "d>0" and d: "\<And>x'. \<lbrakk>x' \<in> {0..1}; dist x' u \<le> d\<rbrakk> \<Longrightarrow> dist (g x') (g u) < e"
using continuous_onE [OF gcon _ \<open>e > 0\<close>] \<open>0 \<le> _\<close> \<open>_ \<le> 1\<close> atLeastAtMost_iff by auto
have *: "dist (max 0 (u - d / 2)) u \<le> d"
using \<open>0 \<le> u\<close> \<open>u \<le> 1\<close> \<open>d > 0\<close> by (simp add: dist_real_def)
have "\<exists>y\<in>S. dist y (g u) < e"
using \<open>0 < u\<close> \<open>u \<le> 1\<close> \<open>d > 0\<close>
by (force intro: d [OF _ *] umin')
}
then have "g u \<in> closure S"
by (simp add: frontier_def closure_approachable)
}
then show ?thesis
apply (rule_tac u=u in that)
apply (auto simp: \<open>0 \<le> u\<close> \<open>u \<le> 1\<close> gu interior_closure umin)
using \<open>_ \<le> 1\<close> interior_closure umin apply fastforce
done
qed
lemma subpath_to_frontier_strong:
assumes g: "path g" and "pathfinish g \<notin> S"
obtains u where "0 \<le> u" "u \<le> 1" "g u \<notin> interior S"
"u = 0 \<or> (\<forall>x. 0 \<le> x \<and> x < 1 \<longrightarrow> subpath 0 u g x \<in> interior S) \<and> g u \<in> closure S"
proof -
obtain u where "0 \<le> u" "u \<le> 1"
and gxin: "\<And>x. 0 \<le> x \<and> x < u \<Longrightarrow> g x \<in> interior S"
and gunot: "(g u \<notin> interior S)" and u0: "(u = 0 \<or> g u \<in> closure S)"
using subpath_to_frontier_explicit [OF assms] by blast
show ?thesis
apply (rule that [OF \<open>0 \<le> u\<close> \<open>u \<le> 1\<close>])
apply (simp add: gunot)
using \<open>0 \<le> u\<close> u0 by (force simp: subpath_def gxin)
qed
lemma subpath_to_frontier:
assumes g: "path g" and g0: "pathstart g \<in> closure S" and g1: "pathfinish g \<notin> S"
obtains u where "0 \<le> u" "u \<le> 1" "g u \<in> frontier S" "(path_image(subpath 0 u g) - {g u}) \<subseteq> interior S"
proof -
obtain u where "0 \<le> u" "u \<le> 1"
and notin: "g u \<notin> interior S"
and disj: "u = 0 \<or>
(\<forall>x. 0 \<le> x \<and> x < 1 \<longrightarrow> subpath 0 u g x \<in> interior S) \<and> g u \<in> closure S"
using subpath_to_frontier_strong [OF g g1] by blast
show ?thesis
apply (rule that [OF \<open>0 \<le> u\<close> \<open>u \<le> 1\<close>])
apply (metis DiffI disj frontier_def g0 notin pathstart_def)
using \<open>0 \<le> u\<close> g0 disj
apply (simp add: path_image_subpath_gen)
apply (auto simp: closed_segment_eq_real_ivl pathstart_def pathfinish_def subpath_def)
apply (rename_tac y)
apply (drule_tac x="y/u" in spec)
apply (auto split: if_split_asm)
done
qed
lemma exists_path_subpath_to_frontier:
fixes S :: "'a::real_normed_vector set"
assumes "path g" "pathstart g \<in> closure S" "pathfinish g \<notin> S"
obtains h where "path h" "pathstart h = pathstart g" "path_image h \<subseteq> path_image g"
"path_image h - {pathfinish h} \<subseteq> interior S"
"pathfinish h \<in> frontier S"
proof -
obtain u where u: "0 \<le> u" "u \<le> 1" "g u \<in> frontier S" "(path_image(subpath 0 u g) - {g u}) \<subseteq> interior S"
using subpath_to_frontier [OF assms] by blast
show ?thesis
apply (rule that [of "subpath 0 u g"])
using assms u
apply (simp_all add: path_image_subpath)
apply (simp add: pathstart_def)
apply (force simp: closed_segment_eq_real_ivl path_image_def)
done
qed
lemma exists_path_subpath_to_frontier_closed:
fixes S :: "'a::real_normed_vector set"
assumes S: "closed S" and g: "path g" and g0: "pathstart g \<in> S" and g1: "pathfinish g \<notin> S"
obtains h where "path h" "pathstart h = pathstart g" "path_image h \<subseteq> path_image g \<inter> S"
"pathfinish h \<in> frontier S"
proof -
obtain h where h: "path h" "pathstart h = pathstart g" "path_image h \<subseteq> path_image g"
"path_image h - {pathfinish h} \<subseteq> interior S"
"pathfinish h \<in> frontier S"
using exists_path_subpath_to_frontier [OF g _ g1] closure_closed [OF S] g0 by auto
show ?thesis
apply (rule that [OF \<open>path h\<close>])
using assms h
apply auto
apply (metis Diff_single_insert frontier_subset_eq insert_iff interior_subset subset_iff)
done
qed
subsection \<open>Reparametrizing a closed curve to start at some chosen point\<close>
definition shiftpath :: "real \<Rightarrow> (real \<Rightarrow> 'a::topological_space) \<Rightarrow> real \<Rightarrow> 'a"
where "shiftpath a f = (\<lambda>x. if (a + x) \<le> 1 then f (a + x) else f (a + x - 1))"
lemma pathstart_shiftpath: "a \<le> 1 \<Longrightarrow> pathstart (shiftpath a g) = g a"
unfolding pathstart_def shiftpath_def by auto
lemma pathfinish_shiftpath:
assumes "0 \<le> a"
and "pathfinish g = pathstart g"
shows "pathfinish (shiftpath a g) = g a"
using assms
unfolding pathstart_def pathfinish_def shiftpath_def
by auto
lemma endpoints_shiftpath:
assumes "pathfinish g = pathstart g"
and "a \<in> {0 .. 1}"
shows "pathfinish (shiftpath a g) = g a"
and "pathstart (shiftpath a g) = g a"
using assms
by (auto intro!: pathfinish_shiftpath pathstart_shiftpath)
lemma closed_shiftpath:
assumes "pathfinish g = pathstart g"
and "a \<in> {0..1}"
shows "pathfinish (shiftpath a g) = pathstart (shiftpath a g)"
using endpoints_shiftpath[OF assms]
by auto
lemma path_shiftpath:
assumes "path g"
and "pathfinish g = pathstart g"
and "a \<in> {0..1}"
shows "path (shiftpath a g)"
proof -
have *: "{0 .. 1} = {0 .. 1-a} \<union> {1-a .. 1}"
using assms(3) by auto
have **: "\<And>x. x + a = 1 \<Longrightarrow> g (x + a - 1) = g (x + a)"
using assms(2)[unfolded pathfinish_def pathstart_def]
by auto
show ?thesis
unfolding path_def shiftpath_def *
apply (rule continuous_on_closed_Un)
apply (rule closed_real_atLeastAtMost)+
apply (rule continuous_on_eq[of _ "g \<circ> (\<lambda>x. a + x)"])
prefer 3
apply (rule continuous_on_eq[of _ "g \<circ> (\<lambda>x. a - 1 + x)"])
prefer 3
apply (rule continuous_intros)+
prefer 2
apply (rule continuous_intros)+
apply (rule_tac[1-2] continuous_on_subset[OF assms(1)[unfolded path_def]])
using assms(3) and **
apply auto
apply (auto simp add: field_simps)
done
qed
lemma shiftpath_shiftpath:
assumes "pathfinish g = pathstart g"
and "a \<in> {0..1}"
and "x \<in> {0..1}"
shows "shiftpath (1 - a) (shiftpath a g) x = g x"
using assms
unfolding pathfinish_def pathstart_def shiftpath_def
by auto
lemma path_image_shiftpath:
assumes "a \<in> {0..1}"
and "pathfinish g = pathstart g"
shows "path_image (shiftpath a g) = path_image g"
proof -
{ fix x
assume as: "g 1 = g 0" "x \<in> {0..1::real}" " \<forall>y\<in>{0..1} \<inter> {x. \<not> a + x \<le> 1}. g x \<noteq> g (a + y - 1)"
then have "\<exists>y\<in>{0..1} \<inter> {x. a + x \<le> 1}. g x = g (a + y)"
proof (cases "a \<le> x")
case False
then show ?thesis
apply (rule_tac x="1 + x - a" in bexI)
using as(1,2) and as(3)[THEN bspec[where x="1 + x - a"]] and assms(1)
apply (auto simp add: field_simps atomize_not)
done
next
case True
then show ?thesis
using as(1-2) and assms(1)
apply (rule_tac x="x - a" in bexI)
apply (auto simp add: field_simps)
done
qed
}
then show ?thesis
using assms
unfolding shiftpath_def path_image_def pathfinish_def pathstart_def
by (auto simp add: image_iff)
qed
subsection \<open>Special case of straight-line paths\<close>
definition linepath :: "'a::real_normed_vector \<Rightarrow> 'a \<Rightarrow> real \<Rightarrow> 'a"
where "linepath a b = (\<lambda>x. (1 - x) *\<^sub>R a + x *\<^sub>R b)"
lemma pathstart_linepath[simp]: "pathstart (linepath a b) = a"
unfolding pathstart_def linepath_def
by auto
lemma pathfinish_linepath[simp]: "pathfinish (linepath a b) = b"
unfolding pathfinish_def linepath_def
by auto
lemma continuous_linepath_at[intro]: "continuous (at x) (linepath a b)"
unfolding linepath_def
by (intro continuous_intros)
lemma continuous_on_linepath [intro,continuous_intros]: "continuous_on s (linepath a b)"
using continuous_linepath_at
by (auto intro!: continuous_at_imp_continuous_on)
lemma path_linepath[intro]: "path (linepath a b)"
unfolding path_def
by (rule continuous_on_linepath)
lemma path_image_linepath[simp]: "path_image (linepath a b) = closed_segment a b"
unfolding path_image_def segment linepath_def
by auto
lemma reversepath_linepath[simp]: "reversepath (linepath a b) = linepath b a"
unfolding reversepath_def linepath_def
by auto
lemma linepath_0 [simp]: "linepath 0 b x = x *\<^sub>R b"
by (simp add: linepath_def)
lemma arc_linepath:
assumes "a \<noteq> b"
shows "arc (linepath a b)"
proof -
{
fix x y :: "real"
assume "x *\<^sub>R b + y *\<^sub>R a = x *\<^sub>R a + y *\<^sub>R b"
then have "(x - y) *\<^sub>R a = (x - y) *\<^sub>R b"
by (simp add: algebra_simps)
with assms have "x = y"
by simp
}
then show ?thesis
unfolding arc_def inj_on_def
by (simp add: path_linepath) (force simp: algebra_simps linepath_def)
qed
lemma simple_path_linepath[intro]: "a \<noteq> b \<Longrightarrow> simple_path (linepath a b)"
by (simp add: arc_imp_simple_path arc_linepath)
lemma linepath_trivial [simp]: "linepath a a x = a"
by (simp add: linepath_def real_vector.scale_left_diff_distrib)
lemma subpath_refl: "subpath a a g = linepath (g a) (g a)"
by (simp add: subpath_def linepath_def algebra_simps)
subsection \<open>Bounding a point away from a path\<close>
lemma not_on_path_ball:
fixes g :: "real \<Rightarrow> 'a::heine_borel"
assumes "path g"
and "z \<notin> path_image g"
shows "\<exists>e > 0. ball z e \<inter> path_image g = {}"
proof -
obtain a where "a \<in> path_image g" "\<forall>y \<in> path_image g. dist z a \<le> dist z y"
apply (rule distance_attains_inf[OF _ path_image_nonempty, of g z])
using compact_path_image[THEN compact_imp_closed, OF assms(1)] by auto
then show ?thesis
apply (rule_tac x="dist z a" in exI)
using assms(2)
apply (auto intro!: dist_pos_lt)
done
qed
lemma not_on_path_cball:
fixes g :: "real \<Rightarrow> 'a::heine_borel"
assumes "path g"
and "z \<notin> path_image g"
shows "\<exists>e>0. cball z e \<inter> (path_image g) = {}"
proof -
obtain e where "ball z e \<inter> path_image g = {}" "e > 0"
using not_on_path_ball[OF assms] by auto
moreover have "cball z (e/2) \<subseteq> ball z e"
using \<open>e > 0\<close> by auto
ultimately show ?thesis
apply (rule_tac x="e/2" in exI)
apply auto
done
qed
section \<open>Path component, considered as a "joinability" relation (from Tom Hales)\<close>
definition "path_component s x y \<longleftrightarrow>
(\<exists>g. path g \<and> path_image g \<subseteq> s \<and> pathstart g = x \<and> pathfinish g = y)"
abbreviation
"path_component_set s x \<equiv> Collect (path_component s x)"
lemmas path_defs = path_def pathstart_def pathfinish_def path_image_def path_component_def
lemma path_component_mem:
assumes "path_component s x y"
shows "x \<in> s" and "y \<in> s"
using assms
unfolding path_defs
by auto
lemma path_component_refl:
assumes "x \<in> s"
shows "path_component s x x"
unfolding path_defs
apply (rule_tac x="\<lambda>u. x" in exI)
using assms
apply (auto intro!: continuous_intros)
done
lemma path_component_refl_eq: "path_component s x x \<longleftrightarrow> x \<in> s"
by (auto intro!: path_component_mem path_component_refl)
lemma path_component_sym: "path_component s x y \<Longrightarrow> path_component s y x"
using assms
unfolding path_component_def
apply (erule exE)
apply (rule_tac x="reversepath g" in exI)
apply auto
done
lemma path_component_trans:
assumes "path_component s x y" and "path_component s y z"
shows "path_component s x z"
using assms
unfolding path_component_def
apply (elim exE)
apply (rule_tac x="g +++ ga" in exI)
apply (auto simp add: path_image_join)
done
lemma path_component_of_subset: "s \<subseteq> t \<Longrightarrow> path_component s x y \<Longrightarrow> path_component t x y"
unfolding path_component_def by auto
lemma path_connected_linepath:
fixes s :: "'a::real_normed_vector set"
shows "closed_segment a b \<subseteq> s \<Longrightarrow> path_component s a b"
apply (simp add: path_component_def)
apply (rule_tac x="linepath a b" in exI, auto)
done
text \<open>Can also consider it as a set, as the name suggests.\<close>
lemma path_component_set:
"path_component_set s x =
{y. (\<exists>g. path g \<and> path_image g \<subseteq> s \<and> pathstart g = x \<and> pathfinish g = y)}"
by (auto simp: path_component_def)
lemma path_component_subset: "path_component_set s x \<subseteq> s"
by (auto simp add: path_component_mem(2))
lemma path_component_eq_empty: "path_component_set s x = {} \<longleftrightarrow> x \<notin> s"
using path_component_mem path_component_refl_eq
by fastforce
lemma path_component_mono:
"s \<subseteq> t \<Longrightarrow> (path_component_set s x) \<subseteq> (path_component_set t x)"
by (simp add: Collect_mono path_component_of_subset)
lemma path_component_eq:
"y \<in> path_component_set s x \<Longrightarrow> path_component_set s y = path_component_set s x"
by (metis (no_types, lifting) Collect_cong mem_Collect_eq path_component_sym path_component_trans)
subsection \<open>Path connectedness of a space\<close>
definition "path_connected s \<longleftrightarrow>
(\<forall>x\<in>s. \<forall>y\<in>s. \<exists>g. path g \<and> path_image g \<subseteq> s \<and> pathstart g = x \<and> pathfinish g = y)"
lemma path_connected_component: "path_connected s \<longleftrightarrow> (\<forall>x\<in>s. \<forall>y\<in>s. path_component s x y)"
unfolding path_connected_def path_component_def by auto
lemma path_connected_component_set: "path_connected s \<longleftrightarrow> (\<forall>x\<in>s. path_component_set s x = s)"
unfolding path_connected_component path_component_subset
using path_component_mem by blast
lemma path_component_maximal:
"\<lbrakk>x \<in> t; path_connected t; t \<subseteq> s\<rbrakk> \<Longrightarrow> t \<subseteq> (path_component_set s x)"
by (metis path_component_mono path_connected_component_set)
subsection \<open>Some useful lemmas about path-connectedness\<close>
lemma convex_imp_path_connected:
fixes s :: "'a::real_normed_vector set"
assumes "convex s"
shows "path_connected s"
unfolding path_connected_def
apply rule
apply rule
apply (rule_tac x = "linepath x y" in exI)
unfolding path_image_linepath
using assms [unfolded convex_contains_segment]
apply auto
done
lemma path_connected_imp_connected:
assumes "path_connected s"
shows "connected s"
unfolding connected_def not_ex
apply rule
apply rule
apply (rule ccontr)
unfolding not_not
apply (elim conjE)
proof -
fix e1 e2
assume as: "open e1" "open e2" "s \<subseteq> e1 \<union> e2" "e1 \<inter> e2 \<inter> s = {}" "e1 \<inter> s \<noteq> {}" "e2 \<inter> s \<noteq> {}"
then obtain x1 x2 where obt:"x1 \<in> e1 \<inter> s" "x2 \<in> e2 \<inter> s"
by auto
then obtain g where g: "path g" "path_image g \<subseteq> s" "pathstart g = x1" "pathfinish g = x2"
using assms[unfolded path_connected_def,rule_format,of x1 x2] by auto
have *: "connected {0..1::real}"
by (auto intro!: convex_connected convex_real_interval)
have "{0..1} \<subseteq> {x \<in> {0..1}. g x \<in> e1} \<union> {x \<in> {0..1}. g x \<in> e2}"
using as(3) g(2)[unfolded path_defs] by blast
moreover have "{x \<in> {0..1}. g x \<in> e1} \<inter> {x \<in> {0..1}. g x \<in> e2} = {}"
using as(4) g(2)[unfolded path_defs]
unfolding subset_eq
by auto
moreover have "{x \<in> {0..1}. g x \<in> e1} \<noteq> {} \<and> {x \<in> {0..1}. g x \<in> e2} \<noteq> {}"
using g(3,4)[unfolded path_defs]
using obt
by (simp add: ex_in_conv [symmetric], metis zero_le_one order_refl)
ultimately show False
using *[unfolded connected_local not_ex, rule_format,
of "{x\<in>{0..1}. g x \<in> e1}" "{x\<in>{0..1}. g x \<in> e2}"]
using continuous_openin_preimage[OF g(1)[unfolded path_def] as(1)]
using continuous_openin_preimage[OF g(1)[unfolded path_def] as(2)]
by auto
qed
lemma open_path_component:
fixes s :: "'a::real_normed_vector set"
assumes "open s"
shows "open (path_component_set s x)"
unfolding open_contains_ball
proof
fix y
assume as: "y \<in> path_component_set s x"
then have "y \<in> s"
apply -
apply (rule path_component_mem(2))
unfolding mem_Collect_eq
apply auto
done
then obtain e where e: "e > 0" "ball y e \<subseteq> s"
using assms[unfolded open_contains_ball]
by auto
show "\<exists>e > 0. ball y e \<subseteq> path_component_set s x"
apply (rule_tac x=e in exI)
apply (rule,rule \<open>e>0\<close>)
apply rule
unfolding mem_ball mem_Collect_eq
proof -
fix z
assume "dist y z < e"
then show "path_component s x z"
apply (rule_tac path_component_trans[of _ _ y])
defer
apply (rule path_component_of_subset[OF e(2)])
apply (rule convex_imp_path_connected[OF convex_ball, unfolded path_connected_component, rule_format])
using \<open>e > 0\<close> as
apply auto
done
qed
qed
lemma open_non_path_component:
fixes s :: "'a::real_normed_vector set"
assumes "open s"
shows "open (s - path_component_set s x)"
unfolding open_contains_ball
proof
fix y
assume as: "y \<in> s - path_component_set s x"
then obtain e where e: "e > 0" "ball y e \<subseteq> s"
using assms [unfolded open_contains_ball]
by auto
show "\<exists>e>0. ball y e \<subseteq> s - path_component_set s x"
apply (rule_tac x=e in exI)
apply rule
apply (rule \<open>e>0\<close>)
apply rule
apply rule
defer
proof (rule ccontr)
fix z
assume "z \<in> ball y e" "\<not> z \<notin> path_component_set s x"
then have "y \<in> path_component_set s x"
unfolding not_not mem_Collect_eq using \<open>e>0\<close>
apply -
apply (rule path_component_trans, assumption)
apply (rule path_component_of_subset[OF e(2)])
apply (rule convex_imp_path_connected[OF convex_ball, unfolded path_connected_component, rule_format])
apply auto
done
then show False
using as by auto
qed (insert e(2), auto)
qed
lemma connected_open_path_connected:
fixes s :: "'a::real_normed_vector set"
assumes "open s"
and "connected s"
shows "path_connected s"
unfolding path_connected_component_set
proof (rule, rule, rule path_component_subset, rule)
fix x y
assume "x \<in> s" and "y \<in> s"
show "y \<in> path_component_set s x"
proof (rule ccontr)
assume "\<not> ?thesis"
moreover have "path_component_set s x \<inter> s \<noteq> {}"
using \<open>x \<in> s\<close> path_component_eq_empty path_component_subset[of s x]
by auto
ultimately
show False
using \<open>y \<in> s\<close> open_non_path_component[OF assms(1)] open_path_component[OF assms(1)]
using assms(2)[unfolded connected_def not_ex, rule_format,
of "path_component_set s x" "s - path_component_set s x"]
by auto
qed
qed
lemma path_connected_continuous_image:
assumes "continuous_on s f"
and "path_connected s"
shows "path_connected (f ` s)"
unfolding path_connected_def
proof (rule, rule)
fix x' y'
assume "x' \<in> f ` s" "y' \<in> f ` s"
then obtain x y where x: "x \<in> s" and y: "y \<in> s" and x': "x' = f x" and y': "y' = f y"
by auto
from x y obtain g where "path g \<and> path_image g \<subseteq> s \<and> pathstart g = x \<and> pathfinish g = y"
using assms(2)[unfolded path_connected_def] by fast
then show "\<exists>g. path g \<and> path_image g \<subseteq> f ` s \<and> pathstart g = x' \<and> pathfinish g = y'"
unfolding x' y'
apply (rule_tac x="f \<circ> g" in exI)
unfolding path_defs
apply (intro conjI continuous_on_compose continuous_on_subset[OF assms(1)])
apply auto
done
qed
lemma path_connected_segment:
fixes a :: "'a::real_normed_vector"
shows "path_connected (closed_segment a b)"
by (simp add: convex_imp_path_connected)
lemma path_connected_open_segment:
fixes a :: "'a::real_normed_vector"
shows "path_connected (open_segment a b)"
by (simp add: convex_imp_path_connected)
lemma homeomorphic_path_connectedness:
"s homeomorphic t \<Longrightarrow> path_connected s \<longleftrightarrow> path_connected t"
unfolding homeomorphic_def homeomorphism_def by (metis path_connected_continuous_image)
lemma path_connected_empty: "path_connected {}"
unfolding path_connected_def by auto
lemma path_connected_singleton: "path_connected {a}"
unfolding path_connected_def pathstart_def pathfinish_def path_image_def
apply clarify
apply (rule_tac x="\<lambda>x. a" in exI)
apply (simp add: image_constant_conv)
apply (simp add: path_def continuous_on_const)
done
lemma path_connected_Un:
assumes "path_connected s"
and "path_connected t"
and "s \<inter> t \<noteq> {}"
shows "path_connected (s \<union> t)"
unfolding path_connected_component
proof (rule, rule)
fix x y
assume as: "x \<in> s \<union> t" "y \<in> s \<union> t"
from assms(3) obtain z where "z \<in> s \<inter> t"
by auto
then show "path_component (s \<union> t) x y"
using as and assms(1-2)[unfolded path_connected_component]
apply -
apply (erule_tac[!] UnE)+
apply (rule_tac[2-3] path_component_trans[of _ _ z])
apply (auto simp add:path_component_of_subset [OF Un_upper1] path_component_of_subset[OF Un_upper2])
done
qed
lemma path_connected_UNION:
assumes "\<And>i. i \<in> A \<Longrightarrow> path_connected (S i)"
and "\<And>i. i \<in> A \<Longrightarrow> z \<in> S i"
shows "path_connected (\<Union>i\<in>A. S i)"
unfolding path_connected_component
proof clarify
fix x i y j
assume *: "i \<in> A" "x \<in> S i" "j \<in> A" "y \<in> S j"
then have "path_component (S i) x z" and "path_component (S j) z y"
using assms by (simp_all add: path_connected_component)
then have "path_component (\<Union>i\<in>A. S i) x z" and "path_component (\<Union>i\<in>A. S i) z y"
using *(1,3) by (auto elim!: path_component_of_subset [rotated])
then show "path_component (\<Union>i\<in>A. S i) x y"
by (rule path_component_trans)
qed
lemma path_component_path_image_pathstart:
assumes p: "path p" and x: "x \<in> path_image p"
shows "path_component (path_image p) (pathstart p) x"
using x
proof (clarsimp simp add: path_image_def)
fix y
assume "x = p y" and y: "0 \<le> y" "y \<le> 1"
show "path_component (p ` {0..1}) (pathstart p) (p y)"
proof (cases "y=0")
case True then show ?thesis
by (simp add: path_component_refl_eq pathstart_def)
next
case False have "continuous_on {0..1} (p o (op*y))"
apply (rule continuous_intros)+
using p [unfolded path_def] y
apply (auto simp: mult_le_one intro: continuous_on_subset [of _ p])
done
then have "path (\<lambda>u. p (y * u))"
by (simp add: path_def)
then show ?thesis
apply (simp add: path_component_def)
apply (rule_tac x = "\<lambda>u. p (y * u)" in exI)
apply (intro conjI)
using y False
apply (auto simp: mult_le_one pathstart_def pathfinish_def path_image_def)
done
qed
qed
lemma path_connected_path_image: "path p \<Longrightarrow> path_connected(path_image p)"
unfolding path_connected_component
by (meson path_component_path_image_pathstart path_component_sym path_component_trans)
lemma path_connected_path_component:
"path_connected (path_component_set s x)"
proof -
{ fix y z
assume pa: "path_component s x y" "path_component s x z"
then have pae: "path_component_set s x = path_component_set s y"
using path_component_eq by auto
have yz: "path_component s y z"
using pa path_component_sym path_component_trans by blast
then have "\<exists>g. path g \<and> path_image g \<subseteq> path_component_set s x \<and> pathstart g = y \<and> pathfinish g = z"
apply (simp add: path_component_def, clarify)
apply (rule_tac x=g in exI)
by (simp add: pae path_component_maximal path_connected_path_image pathstart_in_path_image)
}
then show ?thesis
by (simp add: path_connected_def)
qed
lemma path_component: "path_component s x y \<longleftrightarrow> (\<exists>t. path_connected t \<and> t \<subseteq> s \<and> x \<in> t \<and> y \<in> t)"
apply (intro iffI)
apply (metis path_connected_path_image path_defs(5) pathfinish_in_path_image pathstart_in_path_image)
using path_component_of_subset path_connected_component by blast
lemma path_component_path_component [simp]:
"path_component_set (path_component_set s x) x = path_component_set s x"
proof (cases "x \<in> s")
case True show ?thesis
apply (rule subset_antisym)
apply (simp add: path_component_subset)
by (simp add: True path_component_maximal path_component_refl path_connected_path_component)
next
case False then show ?thesis
by (metis False empty_iff path_component_eq_empty)
qed
lemma path_component_subset_connected_component:
"(path_component_set s x) \<subseteq> (connected_component_set s x)"
proof (cases "x \<in> s")
case True show ?thesis
apply (rule connected_component_maximal)
apply (auto simp: True path_component_subset path_component_refl path_connected_imp_connected path_connected_path_component)
done
next
case False then show ?thesis
using path_component_eq_empty by auto
qed
subsection \<open>Sphere is path-connected\<close>
lemma path_connected_punctured_universe:
assumes "2 \<le> DIM('a::euclidean_space)"
shows "path_connected (- {a::'a})"
proof -
let ?A = "{x::'a. \<exists>i\<in>Basis. x \<bullet> i < a \<bullet> i}"
let ?B = "{x::'a. \<exists>i\<in>Basis. a \<bullet> i < x \<bullet> i}"
have A: "path_connected ?A"
unfolding Collect_bex_eq
proof (rule path_connected_UNION)
fix i :: 'a
assume "i \<in> Basis"
then show "(\<Sum>i\<in>Basis. (a \<bullet> i - 1)*\<^sub>R i) \<in> {x::'a. x \<bullet> i < a \<bullet> i}"
by simp
show "path_connected {x. x \<bullet> i < a \<bullet> i}"
using convex_imp_path_connected [OF convex_halfspace_lt, of i "a \<bullet> i"]
by (simp add: inner_commute)
qed
have B: "path_connected ?B"
unfolding Collect_bex_eq
proof (rule path_connected_UNION)
fix i :: 'a
assume "i \<in> Basis"
then show "(\<Sum>i\<in>Basis. (a \<bullet> i + 1) *\<^sub>R i) \<in> {x::'a. a \<bullet> i < x \<bullet> i}"
by simp
show "path_connected {x. a \<bullet> i < x \<bullet> i}"
using convex_imp_path_connected [OF convex_halfspace_gt, of "a \<bullet> i" i]
by (simp add: inner_commute)
qed
obtain S :: "'a set" where "S \<subseteq> Basis" and "card S = Suc (Suc 0)"
using ex_card[OF assms]
by auto
then obtain b0 b1 :: 'a where "b0 \<in> Basis" and "b1 \<in> Basis" and "b0 \<noteq> b1"
unfolding card_Suc_eq by auto
then have "a + b0 - b1 \<in> ?A \<inter> ?B"
by (auto simp: inner_simps inner_Basis)
then have "?A \<inter> ?B \<noteq> {}"
by fast
with A B have "path_connected (?A \<union> ?B)"
by (rule path_connected_Un)
also have "?A \<union> ?B = {x. \<exists>i\<in>Basis. x \<bullet> i \<noteq> a \<bullet> i}"
unfolding neq_iff bex_disj_distrib Collect_disj_eq ..
also have "\<dots> = {x. x \<noteq> a}"
unfolding euclidean_eq_iff [where 'a='a]
by (simp add: Bex_def)
also have "\<dots> = - {a}"
by auto
finally show ?thesis .
qed
lemma path_connected_sphere:
assumes "2 \<le> DIM('a::euclidean_space)"
shows "path_connected {x::'a. norm (x - a) = r}"
proof (rule linorder_cases [of r 0])
assume "r < 0"
then have "{x::'a. norm(x - a) = r} = {}"
by auto
then show ?thesis
using path_connected_empty by simp
next
assume "r = 0"
then show ?thesis
using path_connected_singleton by simp
next
assume r: "0 < r"
have *: "{x::'a. norm(x - a) = r} = (\<lambda>x. a + r *\<^sub>R x) ` {x. norm x = 1}"
apply (rule set_eqI)
apply rule
unfolding image_iff
apply (rule_tac x="(1/r) *\<^sub>R (x - a)" in bexI)
unfolding mem_Collect_eq norm_scaleR
using r
apply (auto simp add: scaleR_right_diff_distrib)
done
have **: "{x::'a. norm x = 1} = (\<lambda>x. (1/norm x) *\<^sub>R x) ` (- {0})"
apply (rule set_eqI)
apply rule
unfolding image_iff
apply (rule_tac x=x in bexI)
unfolding mem_Collect_eq
apply (auto split: if_split_asm)
done
have "continuous_on (- {0}) (\<lambda>x::'a. 1 / norm x)"
by (auto intro!: continuous_intros)
then show ?thesis
unfolding * **
using path_connected_punctured_universe[OF assms]
by (auto intro!: path_connected_continuous_image continuous_intros)
qed
corollary connected_sphere: "2 \<le> DIM('a::euclidean_space) \<Longrightarrow> connected {x::'a. norm (x - a) = r}"
using path_connected_sphere path_connected_imp_connected
by auto
corollary path_connected_complement_bounded_convex:
fixes s :: "'a :: euclidean_space set"
assumes "bounded s" "convex s" and 2: "2 \<le> DIM('a)"
shows "path_connected (- s)"
proof (cases "s={}")
case True then show ?thesis
using convex_imp_path_connected by auto
next
case False
then obtain a where "a \<in> s" by auto
{ fix x y assume "x \<notin> s" "y \<notin> s"
then have "x \<noteq> a" "y \<noteq> a" using \<open>a \<in> s\<close> by auto
then have bxy: "bounded(insert x (insert y s))"
by (simp add: \<open>bounded s\<close>)
then obtain B::real where B: "0 < B" and Bx: "norm (a - x) < B" and By: "norm (a - y) < B"
and "s \<subseteq> ball a B"
using bounded_subset_ballD [OF bxy, of a] by (auto simp: dist_norm)
def C == "B / norm(x - a)"
{ fix u
assume u: "(1 - u) *\<^sub>R x + u *\<^sub>R (a + C *\<^sub>R (x - a)) \<in> s" and "0 \<le> u" "u \<le> 1"
have CC: "1 \<le> 1 + (C - 1) * u"
using \<open>x \<noteq> a\<close> \<open>0 \<le> u\<close>
apply (simp add: C_def divide_simps norm_minus_commute)
using Bx by auto
have *: "\<And>v. (1 - u) *\<^sub>R x + u *\<^sub>R (a + v *\<^sub>R (x - a)) = a + (1 + (v - 1) * u) *\<^sub>R (x - a)"
by (simp add: algebra_simps)
have "a + ((1 / (1 + C * u - u)) *\<^sub>R x + ((u / (1 + C * u - u)) *\<^sub>R a + (C * u / (1 + C * u - u)) *\<^sub>R x)) =
(1 + (u / (1 + C * u - u))) *\<^sub>R a + ((1 / (1 + C * u - u)) + (C * u / (1 + C * u - u))) *\<^sub>R x"
by (simp add: algebra_simps)
also have "... = (1 + (u / (1 + C * u - u))) *\<^sub>R a + (1 + (u / (1 + C * u - u))) *\<^sub>R x"
using CC by (simp add: field_simps)
also have "... = x + (1 + (u / (1 + C * u - u))) *\<^sub>R a + (u / (1 + C * u - u)) *\<^sub>R x"
by (simp add: algebra_simps)
also have "... = x + ((1 / (1 + C * u - u)) *\<^sub>R a +
((u / (1 + C * u - u)) *\<^sub>R x + (C * u / (1 + C * u - u)) *\<^sub>R a))"
using CC by (simp add: field_simps) (simp add: add_divide_distrib scaleR_add_left)
finally have xeq: "(1 - 1 / (1 + (C - 1) * u)) *\<^sub>R a + (1 / (1 + (C - 1) * u)) *\<^sub>R (a + (1 + (C - 1) * u) *\<^sub>R (x - a)) = x"
by (simp add: algebra_simps)
have False
using \<open>convex s\<close>
apply (simp add: convex_alt)
apply (drule_tac x=a in bspec)
apply (rule \<open>a \<in> s\<close>)
apply (drule_tac x="a + (1 + (C - 1) * u) *\<^sub>R (x - a)" in bspec)
using u apply (simp add: *)
apply (drule_tac x="1 / (1 + (C - 1) * u)" in spec)
using \<open>x \<noteq> a\<close> \<open>x \<notin> s\<close> \<open>0 \<le> u\<close> CC
apply (auto simp: xeq)
done
}
then have pcx: "path_component (- s) x (a + C *\<^sub>R (x - a))"
by (force simp: closed_segment_def intro!: path_connected_linepath)
def D == "B / norm(y - a)" \<comment>\<open>massive duplication with the proof above\<close>
{ fix u
assume u: "(1 - u) *\<^sub>R y + u *\<^sub>R (a + D *\<^sub>R (y - a)) \<in> s" and "0 \<le> u" "u \<le> 1"
have DD: "1 \<le> 1 + (D - 1) * u"
using \<open>y \<noteq> a\<close> \<open>0 \<le> u\<close>
apply (simp add: D_def divide_simps norm_minus_commute)
using By by auto
have *: "\<And>v. (1 - u) *\<^sub>R y + u *\<^sub>R (a + v *\<^sub>R (y - a)) = a + (1 + (v - 1) * u) *\<^sub>R (y - a)"
by (simp add: algebra_simps)
have "a + ((1 / (1 + D * u - u)) *\<^sub>R y + ((u / (1 + D * u - u)) *\<^sub>R a + (D * u / (1 + D * u - u)) *\<^sub>R y)) =
(1 + (u / (1 + D * u - u))) *\<^sub>R a + ((1 / (1 + D * u - u)) + (D * u / (1 + D * u - u))) *\<^sub>R y"
by (simp add: algebra_simps)
also have "... = (1 + (u / (1 + D * u - u))) *\<^sub>R a + (1 + (u / (1 + D * u - u))) *\<^sub>R y"
using DD by (simp add: field_simps)
also have "... = y + (1 + (u / (1 + D * u - u))) *\<^sub>R a + (u / (1 + D * u - u)) *\<^sub>R y"
by (simp add: algebra_simps)
also have "... = y + ((1 / (1 + D * u - u)) *\<^sub>R a +
((u / (1 + D * u - u)) *\<^sub>R y + (D * u / (1 + D * u - u)) *\<^sub>R a))"
using DD by (simp add: field_simps) (simp add: add_divide_distrib scaleR_add_left)
finally have xeq: "(1 - 1 / (1 + (D - 1) * u)) *\<^sub>R a + (1 / (1 + (D - 1) * u)) *\<^sub>R (a + (1 + (D - 1) * u) *\<^sub>R (y - a)) = y"
by (simp add: algebra_simps)
have False
using \<open>convex s\<close>
apply (simp add: convex_alt)
apply (drule_tac x=a in bspec)
apply (rule \<open>a \<in> s\<close>)
apply (drule_tac x="a + (1 + (D - 1) * u) *\<^sub>R (y - a)" in bspec)
using u apply (simp add: *)
apply (drule_tac x="1 / (1 + (D - 1) * u)" in spec)
using \<open>y \<noteq> a\<close> \<open>y \<notin> s\<close> \<open>0 \<le> u\<close> DD
apply (auto simp: xeq)
done
}
then have pdy: "path_component (- s) y (a + D *\<^sub>R (y - a))"
by (force simp: closed_segment_def intro!: path_connected_linepath)
have pyx: "path_component (- s) (a + D *\<^sub>R (y - a)) (a + C *\<^sub>R (x - a))"
apply (rule path_component_of_subset [of "{x. norm(x - a) = B}"])
using \<open>s \<subseteq> ball a B\<close>
apply (force simp: ball_def dist_norm norm_minus_commute)
apply (rule path_connected_sphere [OF 2, of a B, simplified path_connected_component, rule_format])
using \<open>x \<noteq> a\<close> using \<open>y \<noteq> a\<close> B apply (auto simp: C_def D_def)
done
have "path_component (- s) x y"
by (metis path_component_trans path_component_sym pcx pdy pyx)
}
then show ?thesis
by (auto simp: path_connected_component)
qed
lemma connected_complement_bounded_convex:
fixes s :: "'a :: euclidean_space set"
assumes "bounded s" "convex s" "2 \<le> DIM('a)"
shows "connected (- s)"
using path_connected_complement_bounded_convex [OF assms] path_connected_imp_connected by blast
lemma connected_diff_ball:
fixes s :: "'a :: euclidean_space set"
assumes "connected s" "cball a r \<subseteq> s" "2 \<le> DIM('a)"
shows "connected (s - ball a r)"
apply (rule connected_diff_open_from_closed [OF ball_subset_cball])
using assms connected_sphere
apply (auto simp: cball_diff_eq_sphere dist_norm)
done
proposition connected_open_delete:
assumes "open S" "connected S" and 2: "2 \<le> DIM('N::euclidean_space)"
shows "connected(S - {a::'N})"
proof (cases "a \<in> S")
case True
with \<open>open S\<close> obtain \<epsilon> where "\<epsilon> > 0" and \<epsilon>: "cball a \<epsilon> \<subseteq> S"
using open_contains_cball_eq by blast
have "dist a (a + \<epsilon> *\<^sub>R (SOME i. i \<in> Basis)) = \<epsilon>"
by (simp add: dist_norm SOME_Basis \<open>0 < \<epsilon>\<close> less_imp_le)
with \<epsilon> have "\<Inter>{S - ball a r |r. 0 < r \<and> r < \<epsilon>} \<subseteq> {} \<Longrightarrow> False"
apply (drule_tac c="a + scaleR (\<epsilon>) ((SOME i. i \<in> Basis))" in subsetD)
by auto
then have nonemp: "(\<Inter>{S - ball a r |r. 0 < r \<and> r < \<epsilon>}) = {} \<Longrightarrow> False"
by auto
have con: "\<And>r. r < \<epsilon> \<Longrightarrow> connected (S - ball a r)"
using \<epsilon> by (force intro: connected_diff_ball [OF \<open>connected S\<close> _ 2])
have "x \<in> \<Union>{S - ball a r |r. 0 < r \<and> r < \<epsilon>}" if "x \<in> S - {a}" for x
apply (rule UnionI [of "S - ball a (min \<epsilon> (dist a x) / 2)"])
using that \<open>0 < \<epsilon>\<close> apply (simp_all add:)
apply (rule_tac x="min \<epsilon> (dist a x) / 2" in exI)
apply auto
done
then have "S - {a} = \<Union>{S - ball a r | r. 0 < r \<and> r < \<epsilon>}"
by auto
then show ?thesis
by (auto intro: connected_Union con dest!: nonemp)
next
case False then show ?thesis
by (simp add: \<open>connected S\<close>)
qed
corollary path_connected_open_delete:
assumes "open S" "connected S" and 2: "2 \<le> DIM('N::euclidean_space)"
shows "path_connected(S - {a::'N})"
by (simp add: assms connected_open_delete connected_open_path_connected open_delete)
corollary path_connected_punctured_ball:
"2 \<le> DIM('N::euclidean_space) \<Longrightarrow> path_connected(ball a r - {a::'N})"
by (simp add: path_connected_open_delete)
lemma connected_punctured_ball:
"2 \<le> DIM('N::euclidean_space) \<Longrightarrow> connected(ball a r - {a::'N})"
by (simp add: connected_open_delete)
subsection\<open>Relations between components and path components\<close>
lemma open_connected_component:
fixes s :: "'a::real_normed_vector set"
shows "open s \<Longrightarrow> open (connected_component_set s x)"
apply (simp add: open_contains_ball, clarify)
apply (rename_tac y)
apply (drule_tac x=y in bspec)
apply (simp add: connected_component_in, clarify)
apply (rule_tac x=e in exI)
by (metis mem_Collect_eq connected_component_eq connected_component_maximal centre_in_ball connected_ball)
corollary open_components:
fixes s :: "'a::real_normed_vector set"
shows "\<lbrakk>open u; s \<in> components u\<rbrakk> \<Longrightarrow> open s"
by (simp add: components_iff) (metis open_connected_component)
lemma in_closure_connected_component:
fixes s :: "'a::real_normed_vector set"
assumes x: "x \<in> s" and s: "open s"
shows "x \<in> closure (connected_component_set s y) \<longleftrightarrow> x \<in> connected_component_set s y"
proof -
{ assume "x \<in> closure (connected_component_set s y)"
moreover have "x \<in> connected_component_set s x"
using x by simp
ultimately have "x \<in> connected_component_set s y"
using s by (meson Compl_disjoint closure_iff_nhds_not_empty connected_component_disjoint disjoint_eq_subset_Compl open_connected_component)
}
then show ?thesis
by (auto simp: closure_def)
qed
subsection\<open>Existence of unbounded components\<close>
lemma cobounded_unbounded_component:
fixes s :: "'a :: euclidean_space set"
assumes "bounded (-s)"
shows "\<exists>x. x \<in> s \<and> ~ bounded (connected_component_set s x)"
proof -
obtain i::'a where i: "i \<in> Basis"
using nonempty_Basis by blast
obtain B where B: "B>0" "-s \<subseteq> ball 0 B"
using bounded_subset_ballD [OF assms, of 0] by auto
then have *: "\<And>x. B \<le> norm x \<Longrightarrow> x \<in> s"
by (force simp add: ball_def dist_norm)
have unbounded_inner: "~ bounded {x. inner i x \<ge> B}"
apply (auto simp: bounded_def dist_norm)
apply (rule_tac x="x + (max B e + 1 + \<bar>i \<bullet> x\<bar>) *\<^sub>R i" in exI)
apply simp
using i
apply (auto simp: algebra_simps)
done
have **: "{x. B \<le> i \<bullet> x} \<subseteq> connected_component_set s (B *\<^sub>R i)"
apply (rule connected_component_maximal)
apply (auto simp: i intro: convex_connected convex_halfspace_ge [of B])
apply (rule *)
apply (rule order_trans [OF _ Basis_le_norm [OF i]])
by (simp add: inner_commute)
have "B *\<^sub>R i \<in> s"
by (rule *) (simp add: norm_Basis [OF i])
then show ?thesis
apply (rule_tac x="B *\<^sub>R i" in exI, clarify)
apply (frule bounded_subset [of _ "{x. B \<le> i \<bullet> x}", OF _ **])
using unbounded_inner apply blast
done
qed
lemma cobounded_unique_unbounded_component:
fixes s :: "'a :: euclidean_space set"
assumes bs: "bounded (-s)" and "2 \<le> DIM('a)"
and bo: "~ bounded(connected_component_set s x)"
"~ bounded(connected_component_set s y)"
shows "connected_component_set s x = connected_component_set s y"
proof -
obtain i::'a where i: "i \<in> Basis"
using nonempty_Basis by blast
obtain B where B: "B>0" "-s \<subseteq> ball 0 B"
using bounded_subset_ballD [OF bs, of 0] by auto
then have *: "\<And>x. B \<le> norm x \<Longrightarrow> x \<in> s"
by (force simp add: ball_def dist_norm)
have ccb: "connected (- ball 0 B :: 'a set)"
using assms by (auto intro: connected_complement_bounded_convex)
obtain x' where x': "connected_component s x x'" "norm x' > B"
using bo [unfolded bounded_def dist_norm, simplified, rule_format]
by (metis diff_zero norm_minus_commute not_less)
obtain y' where y': "connected_component s y y'" "norm y' > B"
using bo [unfolded bounded_def dist_norm, simplified, rule_format]
by (metis diff_zero norm_minus_commute not_less)
have x'y': "connected_component s x' y'"
apply (simp add: connected_component_def)
apply (rule_tac x="- ball 0 B" in exI)
using x' y'
apply (auto simp: ccb dist_norm *)
done
show ?thesis
apply (rule connected_component_eq)
using x' y' x'y'
by (metis (no_types, lifting) connected_component_eq_empty connected_component_eq_eq connected_component_idemp connected_component_in)
qed
lemma cobounded_unbounded_components:
fixes s :: "'a :: euclidean_space set"
shows "bounded (-s) \<Longrightarrow> \<exists>c. c \<in> components s \<and> ~bounded c"
by (metis cobounded_unbounded_component components_def imageI)
lemma cobounded_unique_unbounded_components:
fixes s :: "'a :: euclidean_space set"
shows "\<lbrakk>bounded (- s); c \<in> components s; \<not> bounded c; c' \<in> components s; \<not> bounded c'; 2 \<le> DIM('a)\<rbrakk> \<Longrightarrow> c' = c"
unfolding components_iff
by (metis cobounded_unique_unbounded_component)
lemma cobounded_has_bounded_component:
fixes s :: "'a :: euclidean_space set"
shows "\<lbrakk>bounded (- s); ~connected s; 2 \<le> DIM('a)\<rbrakk> \<Longrightarrow> \<exists>c. c \<in> components s \<and> bounded c"
by (meson cobounded_unique_unbounded_components connected_eq_connected_components_eq)
section\<open>The "inside" and "outside" of a set\<close>
text\<open>The inside comprises the points in a bounded connected component of the set's complement.
The outside comprises the points in unbounded connected component of the complement.\<close>
definition inside where
"inside s \<equiv> {x. (x \<notin> s) \<and> bounded(connected_component_set ( - s) x)}"
definition outside where
"outside s \<equiv> -s \<inter> {x. ~ bounded(connected_component_set (- s) x)}"
lemma outside: "outside s = {x. ~ bounded(connected_component_set (- s) x)}"
by (auto simp: outside_def) (metis Compl_iff bounded_empty connected_component_eq_empty)
lemma inside_no_overlap [simp]: "inside s \<inter> s = {}"
by (auto simp: inside_def)
lemma outside_no_overlap [simp]:
"outside s \<inter> s = {}"
by (auto simp: outside_def)
lemma inside_inter_outside [simp]: "inside s \<inter> outside s = {}"
by (auto simp: inside_def outside_def)
lemma inside_union_outside [simp]: "inside s \<union> outside s = (- s)"
by (auto simp: inside_def outside_def)
lemma inside_eq_outside:
"inside s = outside s \<longleftrightarrow> s = UNIV"
by (auto simp: inside_def outside_def)
lemma inside_outside: "inside s = (- (s \<union> outside s))"
by (force simp add: inside_def outside)
lemma outside_inside: "outside s = (- (s \<union> inside s))"
by (auto simp: inside_outside) (metis IntI equals0D outside_no_overlap)
lemma union_with_inside: "s \<union> inside s = - outside s"
by (auto simp: inside_outside) (simp add: outside_inside)
lemma union_with_outside: "s \<union> outside s = - inside s"
by (simp add: inside_outside)
lemma outside_mono: "s \<subseteq> t \<Longrightarrow> outside t \<subseteq> outside s"
by (auto simp: outside bounded_subset connected_component_mono)
lemma inside_mono: "s \<subseteq> t \<Longrightarrow> inside s - t \<subseteq> inside t"
by (auto simp: inside_def bounded_subset connected_component_mono)
lemma segment_bound_lemma:
fixes u::real
assumes "x \<ge> B" "y \<ge> B" "0 \<le> u" "u \<le> 1"
shows "(1 - u) * x + u * y \<ge> B"
proof -
obtain dx dy where "dx \<ge> 0" "dy \<ge> 0" "x = B + dx" "y = B + dy"
using assms by auto (metis add.commute diff_add_cancel)
with \<open>0 \<le> u\<close> \<open>u \<le> 1\<close> show ?thesis
by (simp add: add_increasing2 mult_left_le field_simps)
qed
lemma cobounded_outside:
fixes s :: "'a :: real_normed_vector set"
assumes "bounded s" shows "bounded (- outside s)"
proof -
obtain B where B: "B>0" "s \<subseteq> ball 0 B"
using bounded_subset_ballD [OF assms, of 0] by auto
{ fix x::'a and C::real
assume Bno: "B \<le> norm x" and C: "0 < C"
have "\<exists>y. connected_component (- s) x y \<and> norm y > C"
proof (cases "x = 0")
case True with B Bno show ?thesis by force
next
case False with B C show ?thesis
apply (rule_tac x="((B+C)/norm x) *\<^sub>R x" in exI)
apply (simp add: connected_component_def)
apply (rule_tac x="closed_segment x (((B+C)/norm x) *\<^sub>R x)" in exI)
apply simp
apply (rule_tac y="- ball 0 B" in order_trans)
prefer 2 apply force
apply (simp add: closed_segment_def ball_def dist_norm, clarify)
apply (simp add: real_vector_class.scaleR_add_left [symmetric] divide_simps)
using segment_bound_lemma [of B "norm x" "B+C" ] Bno
by (meson le_add_same_cancel1 less_eq_real_def not_le)
qed
}
then show ?thesis
apply (simp add: outside_def assms)
apply (rule bounded_subset [OF bounded_ball [of 0 B]])
apply (force simp add: dist_norm not_less bounded_pos)
done
qed
lemma unbounded_outside:
fixes s :: "'a::{real_normed_vector, perfect_space} set"
shows "bounded s \<Longrightarrow> ~ bounded(outside s)"
using cobounded_imp_unbounded cobounded_outside by blast
lemma bounded_inside:
fixes s :: "'a::{real_normed_vector, perfect_space} set"
shows "bounded s \<Longrightarrow> bounded(inside s)"
by (simp add: bounded_Int cobounded_outside inside_outside)
lemma connected_outside:
fixes s :: "'a::euclidean_space set"
assumes "bounded s" "2 \<le> DIM('a)"
shows "connected(outside s)"
apply (simp add: connected_iff_connected_component, clarify)
apply (simp add: outside)
apply (rule_tac s="connected_component_set (- s) x" in connected_component_of_subset)
apply (metis (no_types) assms cobounded_unbounded_component cobounded_unique_unbounded_component connected_component_eq_eq connected_component_idemp double_complement mem_Collect_eq)
apply clarify
apply (metis connected_component_eq_eq connected_component_in)
done
lemma outside_connected_component_lt:
"outside s = {x. \<forall>B. \<exists>y. B < norm(y) \<and> connected_component (- s) x y}"
apply (auto simp: outside bounded_def dist_norm)
apply (metis diff_0 norm_minus_cancel not_less)
by (metis less_diff_eq norm_minus_commute norm_triangle_ineq2 order.trans pinf(6))
lemma outside_connected_component_le:
"outside s =
{x. \<forall>B. \<exists>y. B \<le> norm(y) \<and>
connected_component (- s) x y}"
apply (simp add: outside_connected_component_lt)
apply (simp add: Set.set_eq_iff)
by (meson gt_ex leD le_less_linear less_imp_le order.trans)
lemma not_outside_connected_component_lt:
fixes s :: "'a::euclidean_space set"
assumes s: "bounded s" and "2 \<le> DIM('a)"
shows "- (outside s) = {x. \<forall>B. \<exists>y. B < norm(y) \<and> ~ (connected_component (- s) x y)}"
proof -
obtain B::real where B: "0 < B" and Bno: "\<And>x. x \<in> s \<Longrightarrow> norm x \<le> B"
using s [simplified bounded_pos] by auto
{ fix y::'a and z::'a
assume yz: "B < norm z" "B < norm y"
have "connected_component (- cball 0 B) y z"
apply (rule connected_componentI [OF _ subset_refl])
apply (rule connected_complement_bounded_convex)
using assms yz
by (auto simp: dist_norm)
then have "connected_component (- s) y z"
apply (rule connected_component_of_subset)
apply (metis Bno Compl_anti_mono mem_cball_0 subset_iff)
done
} note cyz = this
show ?thesis
apply (auto simp: outside)
apply (metis Compl_iff bounded_iff cobounded_imp_unbounded mem_Collect_eq not_le)
apply (simp add: bounded_pos)
by (metis B connected_component_trans cyz not_le)
qed
lemma not_outside_connected_component_le:
fixes s :: "'a::euclidean_space set"
assumes s: "bounded s" "2 \<le> DIM('a)"
shows "- (outside s) = {x. \<forall>B. \<exists>y. B \<le> norm(y) \<and> ~ (connected_component (- s) x y)}"
apply (auto intro: less_imp_le simp: not_outside_connected_component_lt [OF assms])
by (meson gt_ex less_le_trans)
lemma inside_connected_component_lt:
fixes s :: "'a::euclidean_space set"
assumes s: "bounded s" "2 \<le> DIM('a)"
shows "inside s = {x. (x \<notin> s) \<and> (\<forall>B. \<exists>y. B < norm(y) \<and> ~(connected_component (- s) x y))}"
by (auto simp: inside_outside not_outside_connected_component_lt [OF assms])
lemma inside_connected_component_le:
fixes s :: "'a::euclidean_space set"
assumes s: "bounded s" "2 \<le> DIM('a)"
shows "inside s = {x. (x \<notin> s) \<and> (\<forall>B. \<exists>y. B \<le> norm(y) \<and> ~(connected_component (- s) x y))}"
by (auto simp: inside_outside not_outside_connected_component_le [OF assms])
lemma inside_subset:
assumes "connected u" and "~bounded u" and "t \<union> u = - s"
shows "inside s \<subseteq> t"
apply (auto simp: inside_def)
by (metis bounded_subset [of "connected_component_set (- s) _"] connected_component_maximal
Compl_iff Un_iff assms subsetI)
lemma frontier_interiors: "frontier s = - interior(s) - interior(-s)"
by (simp add: Int_commute frontier_def interior_closure)
lemma frontier_interior_subset: "frontier(interior S) \<subseteq> frontier S"
by (simp add: Diff_mono frontier_interiors interior_mono interior_subset)
lemma connected_Int_frontier:
"\<lbrakk>connected s; s \<inter> t \<noteq> {}; s - t \<noteq> {}\<rbrakk> \<Longrightarrow> (s \<inter> frontier t \<noteq> {})"
apply (simp add: frontier_interiors connected_open_in, safe)
apply (drule_tac x="s \<inter> interior t" in spec, safe)
apply (drule_tac [2] x="s \<inter> interior (-t)" in spec)
apply (auto simp: disjoint_eq_subset_Compl dest: interior_subset [THEN subsetD])
done
lemma frontier_not_empty:
fixes S :: "'a :: real_normed_vector set"
shows "\<lbrakk>S \<noteq> {}; S \<noteq> UNIV\<rbrakk> \<Longrightarrow> frontier S \<noteq> {}"
using connected_Int_frontier [of UNIV S] by auto
lemma frontier_eq_empty:
fixes S :: "'a :: real_normed_vector set"
shows "frontier S = {} \<longleftrightarrow> S = {} \<or> S = UNIV"
using frontier_UNIV frontier_empty frontier_not_empty by blast
lemma frontier_of_connected_component_subset:
fixes S :: "'a::real_normed_vector set"
shows "frontier(connected_component_set S x) \<subseteq> frontier S"
proof -
{ fix y
assume y1: "y \<in> closure (connected_component_set S x)"
and y2: "y \<notin> interior (connected_component_set S x)"
have 1: "y \<in> closure S"
using y1 closure_mono connected_component_subset by blast
have "z \<in> interior (connected_component_set S x)"
if "0 < e" "ball y e \<subseteq> interior S" "dist y z < e" for e z
proof -
have "ball y e \<subseteq> connected_component_set S y"
apply (rule connected_component_maximal)
using that interior_subset mem_ball apply auto
done
then show ?thesis
using y1 apply (simp add: closure_approachable open_contains_ball_eq [OF open_interior])
by (metis (no_types, hide_lams) connected_component_eq_eq connected_component_in subsetD
dist_commute mem_Collect_eq mem_ball mem_interior \<open>0 < e\<close> y2)
qed
then have 2: "y \<notin> interior S"
using y2 by (force simp: open_contains_ball_eq [OF open_interior])
note 1 2
}
then show ?thesis by (auto simp: frontier_def)
qed
lemma connected_component_UNIV:
fixes x :: "'a::real_normed_vector"
shows "connected_component_set UNIV x = UNIV"
using connected_iff_eq_connected_component_set [of "UNIV::'a set"] connected_UNIV
by auto
lemma connected_component_eq_UNIV:
fixes x :: "'a::real_normed_vector"
shows "connected_component_set s x = UNIV \<longleftrightarrow> s = UNIV"
using connected_component_in connected_component_UNIV by blast
lemma components_univ [simp]: "components UNIV = {UNIV :: 'a::real_normed_vector set}"
by (auto simp: components_eq_sing_iff)
lemma interior_inside_frontier:
fixes s :: "'a::real_normed_vector set"
assumes "bounded s"
shows "interior s \<subseteq> inside (frontier s)"
proof -
{ fix x y
assume x: "x \<in> interior s" and y: "y \<notin> s"
and cc: "connected_component (- frontier s) x y"
have "connected_component_set (- frontier s) x \<inter> frontier s \<noteq> {}"
apply (rule connected_Int_frontier, simp)
apply (metis IntI cc connected_component_in connected_component_refl empty_iff interiorE mem_Collect_eq set_rev_mp x)
using y cc
by blast
then have "bounded (connected_component_set (- frontier s) x)"
using connected_component_in by auto
}
then show ?thesis
apply (auto simp: inside_def frontier_def)
apply (rule classical)
apply (rule bounded_subset [OF assms], blast)
done
qed
lemma inside_empty [simp]: "inside {} = ({} :: 'a :: {real_normed_vector, perfect_space} set)"
by (simp add: inside_def connected_component_UNIV)
lemma outside_empty [simp]: "outside {} = (UNIV :: 'a :: {real_normed_vector, perfect_space} set)"
using inside_empty inside_union_outside by blast
lemma inside_same_component:
"\<lbrakk>connected_component (- s) x y; x \<in> inside s\<rbrakk> \<Longrightarrow> y \<in> inside s"
using connected_component_eq connected_component_in
by (fastforce simp add: inside_def)
lemma outside_same_component:
"\<lbrakk>connected_component (- s) x y; x \<in> outside s\<rbrakk> \<Longrightarrow> y \<in> outside s"
using connected_component_eq connected_component_in
by (fastforce simp add: outside_def)
lemma convex_in_outside:
fixes s :: "'a :: {real_normed_vector, perfect_space} set"
assumes s: "convex s" and z: "z \<notin> s"
shows "z \<in> outside s"
proof (cases "s={}")
case True then show ?thesis by simp
next
case False then obtain a where "a \<in> s" by blast
with z have zna: "z \<noteq> a" by auto
{ assume "bounded (connected_component_set (- s) z)"
with bounded_pos_less obtain B where "B>0" and B: "\<And>x. connected_component (- s) z x \<Longrightarrow> norm x < B"
by (metis mem_Collect_eq)
def C \<equiv> "((B + 1 + norm z) / norm (z-a))"
have "C > 0"
using \<open>0 < B\<close> zna by (simp add: C_def divide_simps add_strict_increasing)
have "\<bar>norm (z + C *\<^sub>R (z-a)) - norm (C *\<^sub>R (z-a))\<bar> \<le> norm z"
by (metis add_diff_cancel norm_triangle_ineq3)
moreover have "norm (C *\<^sub>R (z-a)) > norm z + B"
using zna \<open>B>0\<close> by (simp add: C_def le_max_iff_disj field_simps)
ultimately have C: "norm (z + C *\<^sub>R (z-a)) > B" by linarith
{ fix u::real
assume u: "0\<le>u" "u\<le>1" and ins: "(1 - u) *\<^sub>R z + u *\<^sub>R (z + C *\<^sub>R (z - a)) \<in> s"
then have Cpos: "1 + u * C > 0"
by (meson \<open>0 < C\<close> add_pos_nonneg less_eq_real_def zero_le_mult_iff zero_less_one)
then have *: "(1 / (1 + u * C)) *\<^sub>R z + (u * C / (1 + u * C)) *\<^sub>R z = z"
by (simp add: scaleR_add_left [symmetric] divide_simps)
then have False
using convexD_alt [OF s \<open>a \<in> s\<close> ins, of "1/(u*C + 1)"] \<open>C>0\<close> \<open>z \<notin> s\<close> Cpos u
by (simp add: * divide_simps algebra_simps)
} note contra = this
have "connected_component (- s) z (z + C *\<^sub>R (z-a))"
apply (rule connected_componentI [OF connected_segment [of z "z + C *\<^sub>R (z-a)"]])
apply (simp add: closed_segment_def)
using contra
apply auto
done
then have False
using zna B [of "z + C *\<^sub>R (z-a)"] C
by (auto simp: divide_simps max_mult_distrib_right)
}
then show ?thesis
by (auto simp: outside_def z)
qed
lemma outside_convex:
fixes s :: "'a :: {real_normed_vector, perfect_space} set"
assumes "convex s"
shows "outside s = - s"
by (metis ComplD assms convex_in_outside equalityI inside_union_outside subsetI sup.cobounded2)
lemma inside_convex:
fixes s :: "'a :: {real_normed_vector, perfect_space} set"
shows "convex s \<Longrightarrow> inside s = {}"
by (simp add: inside_outside outside_convex)
lemma outside_subset_convex:
fixes s :: "'a :: {real_normed_vector, perfect_space} set"
shows "\<lbrakk>convex t; s \<subseteq> t\<rbrakk> \<Longrightarrow> - t \<subseteq> outside s"
using outside_convex outside_mono by blast
lemma outside_frontier_misses_closure:
fixes s :: "'a::real_normed_vector set"
assumes "bounded s"
shows "outside(frontier s) \<subseteq> - closure s"
unfolding outside_inside Lattices.boolean_algebra_class.compl_le_compl_iff
proof -
{ assume "interior s \<subseteq> inside (frontier s)"
hence "interior s \<union> inside (frontier s) = inside (frontier s)"
by (simp add: subset_Un_eq)
then have "closure s \<subseteq> frontier s \<union> inside (frontier s)"
using frontier_def by auto
}
then show "closure s \<subseteq> frontier s \<union> inside (frontier s)"
using interior_inside_frontier [OF assms] by blast
qed
lemma outside_frontier_eq_complement_closure:
fixes s :: "'a :: {real_normed_vector, perfect_space} set"
assumes "bounded s" "convex s"
shows "outside(frontier s) = - closure s"
by (metis Diff_subset assms convex_closure frontier_def outside_frontier_misses_closure
outside_subset_convex subset_antisym)
lemma inside_frontier_eq_interior:
fixes s :: "'a :: {real_normed_vector, perfect_space} set"
shows "\<lbrakk>bounded s; convex s\<rbrakk> \<Longrightarrow> inside(frontier s) = interior s"
apply (simp add: inside_outside outside_frontier_eq_complement_closure)
using closure_subset interior_subset
apply (auto simp add: frontier_def)
done
lemma open_inside:
fixes s :: "'a::real_normed_vector set"
assumes "closed s"
shows "open (inside s)"
proof -
{ fix x assume x: "x \<in> inside s"
have "open (connected_component_set (- s) x)"
using assms open_connected_component by blast
then obtain e where e: "e>0" and e: "\<And>y. dist y x < e \<longrightarrow> connected_component (- s) x y"
using dist_not_less_zero
apply (simp add: open_dist)
by (metis (no_types, lifting) Compl_iff connected_component_refl_eq inside_def mem_Collect_eq x)
then have "\<exists>e>0. ball x e \<subseteq> inside s"
by (metis e dist_commute inside_same_component mem_ball subsetI x)
}
then show ?thesis
by (simp add: open_contains_ball)
qed
lemma open_outside:
fixes s :: "'a::real_normed_vector set"
assumes "closed s"
shows "open (outside s)"
proof -
{ fix x assume x: "x \<in> outside s"
have "open (connected_component_set (- s) x)"
using assms open_connected_component by blast
then obtain e where e: "e>0" and e: "\<And>y. dist y x < e \<longrightarrow> connected_component (- s) x y"
using dist_not_less_zero
apply (simp add: open_dist)
by (metis Int_iff outside_def connected_component_refl_eq x)
then have "\<exists>e>0. ball x e \<subseteq> outside s"
by (metis e dist_commute outside_same_component mem_ball subsetI x)
}
then show ?thesis
by (simp add: open_contains_ball)
qed
lemma closure_inside_subset:
fixes s :: "'a::real_normed_vector set"
assumes "closed s"
shows "closure(inside s) \<subseteq> s \<union> inside s"
by (metis assms closure_minimal open_closed open_outside sup.cobounded2 union_with_inside)
lemma frontier_inside_subset:
fixes s :: "'a::real_normed_vector set"
assumes "closed s"
shows "frontier(inside s) \<subseteq> s"
proof -
have "closure (inside s) \<inter> - inside s = closure (inside s) - interior (inside s)"
by (metis (no_types) Diff_Compl assms closure_closed interior_closure open_closed open_inside)
moreover have "- inside s \<inter> - outside s = s"
by (metis (no_types) compl_sup double_compl inside_union_outside)
moreover have "closure (inside s) \<subseteq> - outside s"
by (metis (no_types) assms closure_inside_subset union_with_inside)
ultimately have "closure (inside s) - interior (inside s) \<subseteq> s"
by blast
then show ?thesis
by (simp add: frontier_def open_inside interior_open)
qed
lemma closure_outside_subset:
fixes s :: "'a::real_normed_vector set"
assumes "closed s"
shows "closure(outside s) \<subseteq> s \<union> outside s"
apply (rule closure_minimal, simp)
by (metis assms closed_open inside_outside open_inside)
lemma frontier_outside_subset:
fixes s :: "'a::real_normed_vector set"
assumes "closed s"
shows "frontier(outside s) \<subseteq> s"
apply (simp add: frontier_def open_outside interior_open)
by (metis Diff_subset_conv assms closure_outside_subset interior_eq open_outside sup.commute)
lemma inside_complement_unbounded_connected_empty:
"\<lbrakk>connected (- s); \<not> bounded (- s)\<rbrakk> \<Longrightarrow> inside s = {}"
apply (simp add: inside_def)
by (meson Compl_iff bounded_subset connected_component_maximal order_refl)
lemma inside_bounded_complement_connected_empty:
fixes s :: "'a::{real_normed_vector, perfect_space} set"
shows "\<lbrakk>connected (- s); bounded s\<rbrakk> \<Longrightarrow> inside s = {}"
by (metis inside_complement_unbounded_connected_empty cobounded_imp_unbounded)
lemma inside_inside:
assumes "s \<subseteq> inside t"
shows "inside s - t \<subseteq> inside t"
unfolding inside_def
proof clarify
fix x
assume x: "x \<notin> t" "x \<notin> s" and bo: "bounded (connected_component_set (- s) x)"
show "bounded (connected_component_set (- t) x)"
proof (cases "s \<inter> connected_component_set (- t) x = {}")
case True show ?thesis
apply (rule bounded_subset [OF bo])
apply (rule connected_component_maximal)
using x True apply auto
done
next
case False then show ?thesis
using assms [unfolded inside_def] x
apply (simp add: disjoint_iff_not_equal, clarify)
apply (drule subsetD, assumption, auto)
by (metis (no_types, hide_lams) ComplI connected_component_eq_eq)
qed
qed
lemma inside_inside_subset: "inside(inside s) \<subseteq> s"
using inside_inside union_with_outside by fastforce
lemma inside_outside_intersect_connected:
"\<lbrakk>connected t; inside s \<inter> t \<noteq> {}; outside s \<inter> t \<noteq> {}\<rbrakk> \<Longrightarrow> s \<inter> t \<noteq> {}"
apply (simp add: inside_def outside_def ex_in_conv [symmetric] disjoint_eq_subset_Compl, clarify)
by (metis (no_types, hide_lams) Compl_anti_mono connected_component_eq connected_component_maximal contra_subsetD double_compl)
lemma outside_bounded_nonempty:
fixes s :: "'a :: {real_normed_vector, perfect_space} set"
assumes "bounded s" shows "outside s \<noteq> {}"
by (metis (no_types, lifting) Collect_empty_eq Collect_mem_eq Compl_eq_Diff_UNIV Diff_cancel
Diff_disjoint UNIV_I assms ball_eq_empty bounded_diff cobounded_outside convex_ball
double_complement order_refl outside_convex outside_def)
lemma outside_compact_in_open:
fixes s :: "'a :: {real_normed_vector,perfect_space} set"
assumes s: "compact s" and t: "open t" and "s \<subseteq> t" "t \<noteq> {}"
shows "outside s \<inter> t \<noteq> {}"
proof -
have "outside s \<noteq> {}"
by (simp add: compact_imp_bounded outside_bounded_nonempty s)
with assms obtain a b where a: "a \<in> outside s" and b: "b \<in> t" by auto
show ?thesis
proof (cases "a \<in> t")
case True with a show ?thesis by blast
next
case False
have front: "frontier t \<subseteq> - s"
using \<open>s \<subseteq> t\<close> frontier_disjoint_eq t by auto
{ fix \<gamma>
assume "path \<gamma>" and pimg_sbs: "path_image \<gamma> - {pathfinish \<gamma>} \<subseteq> interior (- t)"
and pf: "pathfinish \<gamma> \<in> frontier t" and ps: "pathstart \<gamma> = a"
def c \<equiv> "pathfinish \<gamma>"
have "c \<in> -s" unfolding c_def using front pf by blast
moreover have "open (-s)" using s compact_imp_closed by blast
ultimately obtain \<epsilon>::real where "\<epsilon> > 0" and \<epsilon>: "cball c \<epsilon> \<subseteq> -s"
using open_contains_cball[of "-s"] s by blast
then obtain d where "d \<in> t" and d: "dist d c < \<epsilon>"
using closure_approachable [of c t] pf unfolding c_def
by (metis Diff_iff frontier_def)
then have "d \<in> -s" using \<epsilon>
using dist_commute by (metis contra_subsetD mem_cball not_le not_less_iff_gr_or_eq)
have pimg_sbs_cos: "path_image \<gamma> \<subseteq> -s"
using pimg_sbs apply (auto simp: path_image_def)
apply (drule subsetD)
using \<open>c \<in> - s\<close> \<open>s \<subseteq> t\<close> interior_subset apply (auto simp: c_def)
done
have "closed_segment c d \<le> cball c \<epsilon>"
apply (simp add: segment_convex_hull)
apply (rule hull_minimal)
using \<open>\<epsilon> > 0\<close> d apply (auto simp: dist_commute)
done
with \<epsilon> have "closed_segment c d \<subseteq> -s" by blast
moreover have con_gcd: "connected (path_image \<gamma> \<union> closed_segment c d)"
by (rule connected_Un) (auto simp: c_def \<open>path \<gamma>\<close> connected_path_image)
ultimately have "connected_component (- s) a d"
unfolding connected_component_def using pimg_sbs_cos ps by blast
then have "outside s \<inter> t \<noteq> {}"
using outside_same_component [OF _ a] by (metis IntI \<open>d \<in> t\<close> empty_iff)
} note * = this
have pal: "pathstart (linepath a b) \<in> closure (- t)"
by (auto simp: False closure_def)
show ?thesis
by (rule exists_path_subpath_to_frontier [OF path_linepath pal _ *]) (auto simp: b)
qed
qed
lemma inside_inside_compact_connected:
fixes s :: "'a :: euclidean_space set"
assumes s: "closed s" and t: "compact t" and "connected t" "s \<subseteq> inside t"
shows "inside s \<subseteq> inside t"
proof (cases "inside t = {}")
case True with assms show ?thesis by auto
next
case False
consider "DIM('a) = 1" | "DIM('a) \<ge> 2"
using antisym not_less_eq_eq by fastforce
then show ?thesis
proof cases
case 1 then show ?thesis
using connected_convex_1_gen assms False inside_convex by blast
next
case 2
have coms: "compact s"
using assms apply (simp add: s compact_eq_bounded_closed)
by (meson bounded_inside bounded_subset compact_imp_bounded)
then have bst: "bounded (s \<union> t)"
by (simp add: compact_imp_bounded t)
then obtain r where "0 < r" and r: "s \<union> t \<subseteq> ball 0 r"
using bounded_subset_ballD by blast
have outst: "outside s \<inter> outside t \<noteq> {}"
proof -
have "- ball 0 r \<subseteq> outside s"
apply (rule outside_subset_convex)
using r by auto
moreover have "- ball 0 r \<subseteq> outside t"
apply (rule outside_subset_convex)
using r by auto
ultimately show ?thesis
by (metis Compl_subset_Compl_iff Int_subset_iff bounded_ball inf.orderE outside_bounded_nonempty outside_no_overlap)
qed
have "s \<inter> t = {}" using assms
by (metis disjoint_iff_not_equal inside_no_overlap subsetCE)
moreover have "outside s \<inter> inside t \<noteq> {}"
by (meson False assms(4) compact_eq_bounded_closed coms open_inside outside_compact_in_open t)
ultimately have "inside s \<inter> t = {}"
using inside_outside_intersect_connected [OF \<open>connected t\<close>, of s]
by (metis "2" compact_eq_bounded_closed coms connected_outside inf.commute inside_outside_intersect_connected outst)
then show ?thesis
using inside_inside [OF \<open>s \<subseteq> inside t\<close>] by blast
qed
qed
lemma connected_with_inside:
fixes s :: "'a :: real_normed_vector set"
assumes s: "closed s" and cons: "connected s"
shows "connected(s \<union> inside s)"
proof (cases "s \<union> inside s = UNIV")
case True with assms show ?thesis by auto
next
case False
then obtain b where b: "b \<notin> s" "b \<notin> inside s" by blast
have *: "\<exists>y t. y \<in> s \<and> connected t \<and> a \<in> t \<and> y \<in> t \<and> t \<subseteq> (s \<union> inside s)" if "a \<in> (s \<union> inside s)" for a
using that proof
assume "a \<in> s" then show ?thesis
apply (rule_tac x=a in exI)
apply (rule_tac x="{a}" in exI)
apply (simp add:)
done
next
assume a: "a \<in> inside s"
show ?thesis
apply (rule exists_path_subpath_to_frontier [OF path_linepath [of a b], of "inside s"])
using a apply (simp add: closure_def)
apply (simp add: b)
apply (rule_tac x="pathfinish h" in exI)
apply (rule_tac x="path_image h" in exI)
apply (simp add: pathfinish_in_path_image connected_path_image, auto)
using frontier_inside_subset s apply fastforce
by (metis (no_types, lifting) frontier_inside_subset insertE insert_Diff interior_eq open_inside pathfinish_in_path_image s subsetCE)
qed
show ?thesis
apply (simp add: connected_iff_connected_component)
apply (simp add: connected_component_def)
apply (clarify dest!: *)
apply (rename_tac u u' t t')
apply (rule_tac x="(s \<union> t \<union> t')" in exI)
apply (auto simp: intro!: connected_Un cons)
done
qed
text\<open>The proof is virtually the same as that above.\<close>
lemma connected_with_outside:
fixes s :: "'a :: real_normed_vector set"
assumes s: "closed s" and cons: "connected s"
shows "connected(s \<union> outside s)"
proof (cases "s \<union> outside s = UNIV")
case True with assms show ?thesis by auto
next
case False
then obtain b where b: "b \<notin> s" "b \<notin> outside s" by blast
have *: "\<exists>y t. y \<in> s \<and> connected t \<and> a \<in> t \<and> y \<in> t \<and> t \<subseteq> (s \<union> outside s)" if "a \<in> (s \<union> outside s)" for a
using that proof
assume "a \<in> s" then show ?thesis
apply (rule_tac x=a in exI)
apply (rule_tac x="{a}" in exI)
apply (simp add:)
done
next
assume a: "a \<in> outside s"
show ?thesis
apply (rule exists_path_subpath_to_frontier [OF path_linepath [of a b], of "outside s"])
using a apply (simp add: closure_def)
apply (simp add: b)
apply (rule_tac x="pathfinish h" in exI)
apply (rule_tac x="path_image h" in exI)
apply (simp add: pathfinish_in_path_image connected_path_image, auto)
using frontier_outside_subset s apply fastforce
by (metis (no_types, lifting) frontier_outside_subset insertE insert_Diff interior_eq open_outside pathfinish_in_path_image s subsetCE)
qed
show ?thesis
apply (simp add: connected_iff_connected_component)
apply (simp add: connected_component_def)
apply (clarify dest!: *)
apply (rename_tac u u' t t')
apply (rule_tac x="(s \<union> t \<union> t')" in exI)
apply (auto simp: intro!: connected_Un cons)
done
qed
lemma inside_inside_eq_empty [simp]:
fixes s :: "'a :: {real_normed_vector, perfect_space} set"
assumes s: "closed s" and cons: "connected s"
shows "inside (inside s) = {}"
by (metis (no_types) unbounded_outside connected_with_outside [OF assms] bounded_Un
inside_complement_unbounded_connected_empty unbounded_outside union_with_outside)
lemma inside_in_components:
"inside s \<in> components (- s) \<longleftrightarrow> connected(inside s) \<and> inside s \<noteq> {}"
apply (simp add: in_components_maximal)
apply (auto intro: inside_same_component connected_componentI)
apply (metis IntI empty_iff inside_no_overlap)
done
text\<open>The proof is virtually the same as that above.\<close>
lemma outside_in_components:
"outside s \<in> components (- s) \<longleftrightarrow> connected(outside s) \<and> outside s \<noteq> {}"
apply (simp add: in_components_maximal)
apply (auto intro: outside_same_component connected_componentI)
apply (metis IntI empty_iff outside_no_overlap)
done
lemma bounded_unique_outside:
fixes s :: "'a :: euclidean_space set"
shows "\<lbrakk>bounded s; DIM('a) \<ge> 2\<rbrakk> \<Longrightarrow> (c \<in> components (- s) \<and> ~bounded c \<longleftrightarrow> c = outside s)"
apply (rule iffI)
apply (metis cobounded_unique_unbounded_components connected_outside double_compl outside_bounded_nonempty outside_in_components unbounded_outside)
by (simp add: connected_outside outside_bounded_nonempty outside_in_components unbounded_outside)
subsection\<open>Condition for an open map's image to contain a ball\<close>
lemma ball_subset_open_map_image:
fixes f :: "'a::heine_borel \<Rightarrow> 'b :: {real_normed_vector,heine_borel}"
assumes contf: "continuous_on (closure S) f"
and oint: "open (f ` interior S)"
and le_no: "\<And>z. z \<in> frontier S \<Longrightarrow> r \<le> norm(f z - f a)"
and "bounded S" "a \<in> S" "0 < r"
shows "ball (f a) r \<subseteq> f ` S"
proof (cases "f ` S = UNIV")
case True then show ?thesis by simp
next
case False
obtain w where w: "w \<in> frontier (f ` S)"
and dw_le: "\<And>y. y \<in> frontier (f ` S) \<Longrightarrow> norm (f a - w) \<le> norm (f a - y)"
apply (rule distance_attains_inf [of "frontier(f ` S)" "f a"])
using \<open>a \<in> S\<close> by (auto simp: frontier_eq_empty dist_norm False)
then obtain \<xi> where \<xi>: "\<And>n. \<xi> n \<in> f ` S" and tendsw: "\<xi> \<longlonglongrightarrow> w"
by (metis Diff_iff frontier_def closure_sequential)
then have "\<And>n. \<exists>x \<in> S. \<xi> n = f x" by force
then obtain z where zs: "\<And>n. z n \<in> S" and fz: "\<And>n. \<xi> n = f (z n)"
by metis
then obtain y K where y: "y \<in> closure S" and "subseq K" and Klim: "(z \<circ> K) \<longlonglongrightarrow> y"
using \<open>bounded S\<close>
apply (simp add: compact_closure [symmetric] compact_def)
apply (drule_tac x=z in spec)
using closure_subset apply force
done
then have ftendsw: "((\<lambda>n. f (z n)) \<circ> K) \<longlonglongrightarrow> w"
by (metis LIMSEQ_subseq_LIMSEQ fun.map_cong0 fz tendsw)
have zKs: "\<And>n. (z o K) n \<in> S" by (simp add: zs)
have "f \<circ> z = \<xi>" "(\<lambda>n. f (z n)) = \<xi>"
using fz by auto
moreover then have "(\<xi> \<circ> K) \<longlonglongrightarrow> f y"
by (metis (no_types) Klim zKs y contf comp_assoc continuous_on_closure_sequentially)
ultimately have wy: "w = f y" using fz LIMSEQ_unique ftendsw by auto
have rle: "r \<le> norm (f y - f a)"
apply (rule le_no)
using w wy oint
by (force simp: imageI image_mono interiorI interior_subset frontier_def y)
have **: "(~(b \<inter> (- S) = {}) \<and> ~(b - (- S) = {}) \<Longrightarrow> (b \<inter> f \<noteq> {}))
\<Longrightarrow> (b \<inter> S \<noteq> {}) \<Longrightarrow> b \<inter> f = {} \<Longrightarrow>
b \<subseteq> S" for b f and S :: "'b set"
by blast
show ?thesis
apply (rule **) (*such a horrible mess*)
apply (rule connected_Int_frontier [where t = "f`S", OF connected_ball])
using \<open>a \<in> S\<close> \<open>0 < r\<close>
apply (auto simp: disjoint_iff_not_equal dist_norm)
by (metis dw_le norm_minus_commute not_less order_trans rle wy)
qed
section\<open> Homotopy of maps p,q : X=>Y with property P of all intermediate maps.\<close>
text\<open> We often just want to require that it fixes some subset, but to take in
the case of a loop homotopy, it's convenient to have a general property P.\<close>
definition homotopic_with ::
"[('a::topological_space \<Rightarrow> 'b::topological_space) \<Rightarrow> bool, 'a set, 'b set, 'a \<Rightarrow> 'b, 'a \<Rightarrow> 'b] \<Rightarrow> bool"
where
"homotopic_with P X Y p q \<equiv>
(\<exists>h:: real \<times> 'a \<Rightarrow> 'b.
continuous_on ({0..1} \<times> X) h \<and>
h ` ({0..1} \<times> X) \<subseteq> Y \<and>
(\<forall>x. h(0, x) = p x) \<and>
(\<forall>x. h(1, x) = q x) \<and>
(\<forall>t \<in> {0..1}. P(\<lambda>x. h(t, x))))"
text\<open> We often want to just localize the ending function equality or whatever.\<close>
proposition homotopic_with:
fixes X :: "'a::topological_space set" and Y :: "'b::topological_space set"
assumes "\<And>h k. (\<And>x. x \<in> X \<Longrightarrow> h x = k x) \<Longrightarrow> (P h \<longleftrightarrow> P k)"
shows "homotopic_with P X Y p q \<longleftrightarrow>
(\<exists>h :: real \<times> 'a \<Rightarrow> 'b.
continuous_on ({0..1} \<times> X) h \<and>
h ` ({0..1} \<times> X) \<subseteq> Y \<and>
(\<forall>x \<in> X. h(0,x) = p x) \<and>
(\<forall>x \<in> X. h(1,x) = q x) \<and>
(\<forall>t \<in> {0..1}. P(\<lambda>x. h(t, x))))"
unfolding homotopic_with_def
apply (rule iffI, blast, clarify)
apply (rule_tac x="\<lambda>(u,v). if v \<in> X then h(u,v) else if u = 0 then p v else q v" in exI)
apply (auto simp:)
apply (force elim: continuous_on_eq)
apply (drule_tac x=t in bspec, force)
apply (subst assms; simp)
done
proposition homotopic_with_eq:
assumes h: "homotopic_with P X Y f g"
and f': "\<And>x. x \<in> X \<Longrightarrow> f' x = f x"
and g': "\<And>x. x \<in> X \<Longrightarrow> g' x = g x"
and P: "(\<And>h k. (\<And>x. x \<in> X \<Longrightarrow> h x = k x) \<Longrightarrow> (P h \<longleftrightarrow> P k))"
shows "homotopic_with P X Y f' g'"
using h unfolding homotopic_with_def
apply safe
apply (rule_tac x="\<lambda>(u,v). if v \<in> X then h(u,v) else if u = 0 then f' v else g' v" in exI)
apply (simp add: f' g', safe)
apply (fastforce intro: continuous_on_eq)
apply fastforce
apply (subst P; fastforce)
done
proposition homotopic_with_equal:
assumes contf: "continuous_on X f" and fXY: "f ` X \<subseteq> Y"
and gf: "\<And>x. x \<in> X \<Longrightarrow> g x = f x"
and P: "P f" "P g"
shows "homotopic_with P X Y f g"
unfolding homotopic_with_def
apply (rule_tac x="\<lambda>(u,v). if u = 1 then g v else f v" in exI)
using assms
apply (intro conjI)
apply (rule continuous_on_eq [where f = "f o snd"])
apply (rule continuous_intros | force)+
apply clarify
apply (case_tac "t=1"; force)
done
lemma image_Pair_const: "(\<lambda>x. (x, c)) ` A = A \<times> {c}"
by (auto simp:)
lemma homotopic_constant_maps:
"homotopic_with (\<lambda>x. True) s t (\<lambda>x. a) (\<lambda>x. b) \<longleftrightarrow> s = {} \<or> path_component t a b"
proof (cases "s = {} \<or> t = {}")
case True with continuous_on_const show ?thesis
by (auto simp: homotopic_with path_component_def)
next
case False
then obtain c where "c \<in> s" by blast
show ?thesis
proof
assume "homotopic_with (\<lambda>x. True) s t (\<lambda>x. a) (\<lambda>x. b)"
then obtain h :: "real \<times> 'a \<Rightarrow> 'b"
where conth: "continuous_on ({0..1} \<times> s) h"
and h: "h ` ({0..1} \<times> s) \<subseteq> t" "(\<forall>x\<in>s. h (0, x) = a)" "(\<forall>x\<in>s. h (1, x) = b)"
by (auto simp: homotopic_with)
have "continuous_on {0..1} (h \<circ> (\<lambda>t. (t, c)))"
apply (rule continuous_intros conth | simp add: image_Pair_const)+
apply (blast intro: \<open>c \<in> s\<close> continuous_on_subset [OF conth] )
done
with \<open>c \<in> s\<close> h show "s = {} \<or> path_component t a b"
apply (simp_all add: homotopic_with path_component_def)
apply (auto simp:)
apply (drule_tac x="h o (\<lambda>t. (t, c))" in spec)
apply (auto simp: pathstart_def pathfinish_def path_image_def path_def)
done
next
assume "s = {} \<or> path_component t a b"
with False show "homotopic_with (\<lambda>x. True) s t (\<lambda>x. a) (\<lambda>x. b)"
apply (clarsimp simp: homotopic_with path_component_def pathstart_def pathfinish_def path_image_def path_def)
apply (rule_tac x="g o fst" in exI)
apply (rule conjI continuous_intros | force)+
done
qed
qed
subsection\<open> Trivial properties.\<close>
lemma homotopic_with_imp_property: "homotopic_with P X Y f g \<Longrightarrow> P f \<and> P g"
unfolding homotopic_with_def Ball_def
apply clarify
apply (frule_tac x=0 in spec)
apply (drule_tac x=1 in spec)
apply (auto simp:)
done
lemma continuous_on_o_Pair: "\<lbrakk>continuous_on (T \<times> X) h; t \<in> T\<rbrakk> \<Longrightarrow> continuous_on X (h o Pair t)"
by (fast intro: continuous_intros elim!: continuous_on_subset)
lemma homotopic_with_imp_continuous:
assumes "homotopic_with P X Y f g"
shows "continuous_on X f \<and> continuous_on X g"
proof -
obtain h :: "real \<times> 'a \<Rightarrow> 'b"
where conth: "continuous_on ({0..1} \<times> X) h"
and h: "\<forall>x. h (0, x) = f x" "\<forall>x. h (1, x) = g x"
using assms by (auto simp: homotopic_with_def)
have *: "t \<in> {0..1} \<Longrightarrow> continuous_on X (h o (\<lambda>x. (t,x)))" for t
by (rule continuous_intros continuous_on_subset [OF conth] | force)+
show ?thesis
using h *[of 0] *[of 1] by auto
qed
proposition homotopic_with_imp_subset1:
"homotopic_with P X Y f g \<Longrightarrow> f ` X \<subseteq> Y"
by (simp add: homotopic_with_def image_subset_iff) (metis atLeastAtMost_iff order_refl zero_le_one)
proposition homotopic_with_imp_subset2:
"homotopic_with P X Y f g \<Longrightarrow> g ` X \<subseteq> Y"
by (simp add: homotopic_with_def image_subset_iff) (metis atLeastAtMost_iff order_refl zero_le_one)
proposition homotopic_with_mono:
assumes hom: "homotopic_with P X Y f g"
and Q: "\<And>h. \<lbrakk>continuous_on X h; image h X \<subseteq> Y \<and> P h\<rbrakk> \<Longrightarrow> Q h"
shows "homotopic_with Q X Y f g"
using hom
apply (simp add: homotopic_with_def)
apply (erule ex_forward)
apply (force simp: intro!: Q dest: continuous_on_o_Pair)
done
proposition homotopic_with_subset_left:
"\<lbrakk>homotopic_with P X Y f g; Z \<subseteq> X\<rbrakk> \<Longrightarrow> homotopic_with P Z Y f g"
apply (simp add: homotopic_with_def)
apply (fast elim!: continuous_on_subset ex_forward)
done
proposition homotopic_with_subset_right:
"\<lbrakk>homotopic_with P X Y f g; Y \<subseteq> Z\<rbrakk> \<Longrightarrow> homotopic_with P X Z f g"
apply (simp add: homotopic_with_def)
apply (fast elim!: continuous_on_subset ex_forward)
done
proposition homotopic_with_compose_continuous_right:
"\<lbrakk>homotopic_with (\<lambda>f. p (f \<circ> h)) X Y f g; continuous_on W h; h ` W \<subseteq> X\<rbrakk>
\<Longrightarrow> homotopic_with p W Y (f o h) (g o h)"
apply (clarsimp simp add: homotopic_with_def)
apply (rename_tac k)
apply (rule_tac x="k o (\<lambda>y. (fst y, h (snd y)))" in exI)
apply (rule conjI continuous_intros continuous_on_compose [where f=snd and g=h, unfolded o_def] | simp)+
apply (erule continuous_on_subset)
apply (fastforce simp: o_def)+
done
proposition homotopic_compose_continuous_right:
"\<lbrakk>homotopic_with (\<lambda>f. True) X Y f g; continuous_on W h; h ` W \<subseteq> X\<rbrakk>
\<Longrightarrow> homotopic_with (\<lambda>f. True) W Y (f o h) (g o h)"
using homotopic_with_compose_continuous_right by fastforce
proposition homotopic_with_compose_continuous_left:
"\<lbrakk>homotopic_with (\<lambda>f. p (h \<circ> f)) X Y f g; continuous_on Y h; h ` Y \<subseteq> Z\<rbrakk>
\<Longrightarrow> homotopic_with p X Z (h o f) (h o g)"
apply (clarsimp simp add: homotopic_with_def)
apply (rename_tac k)
apply (rule_tac x="h o k" in exI)
apply (rule conjI continuous_intros continuous_on_compose [where f=snd and g=h, unfolded o_def] | simp)+
apply (erule continuous_on_subset)
apply (fastforce simp: o_def)+
done
proposition homotopic_compose_continuous_left:
"homotopic_with (\<lambda>f. True) X Y f g \<and>
continuous_on Y h \<and> image h Y \<subseteq> Z
\<Longrightarrow> homotopic_with (\<lambda>f. True) X Z (h o f) (h o g)"
using homotopic_with_compose_continuous_left by fastforce
proposition homotopic_with_Pair:
assumes hom: "homotopic_with p s t f g" "homotopic_with p' s' t' f' g'"
and q: "\<And>f g. \<lbrakk>p f; p' g\<rbrakk> \<Longrightarrow> q(\<lambda>(x,y). (f x, g y))"
shows "homotopic_with q (s \<times> s') (t \<times> t')
(\<lambda>(x,y). (f x, f' y)) (\<lambda>(x,y). (g x, g' y))"
using hom
apply (clarsimp simp add: homotopic_with_def)
apply (rename_tac k k')
apply (rule_tac x="\<lambda>z. ((k o (\<lambda>x. (fst x, fst (snd x)))) z, (k' o (\<lambda>x. (fst x, snd (snd x)))) z)" in exI)
apply (rule conjI continuous_intros | erule continuous_on_subset | clarsimp)+
apply (auto intro!: q [unfolded case_prod_unfold])
done
lemma homotopic_on_empty: "homotopic_with (\<lambda>x. True) {} t f g"
by (metis continuous_on_def empty_iff homotopic_with_equal image_subset_iff)
text\<open>Homotopy with P is an equivalence relation (on continuous functions mapping X into Y that satisfy P,
though this only affects reflexivity.\<close>
proposition homotopic_with_refl:
"homotopic_with P X Y f f \<longleftrightarrow> continuous_on X f \<and> image f X \<subseteq> Y \<and> P f"
apply (rule iffI)
using homotopic_with_imp_continuous homotopic_with_imp_property homotopic_with_imp_subset2 apply blast
apply (simp add: homotopic_with_def)
apply (rule_tac x="f o snd" in exI)
apply (rule conjI continuous_intros | force)+
done
lemma homotopic_with_symD:
fixes X :: "'a::real_normed_vector set"
assumes "homotopic_with P X Y f g"
shows "homotopic_with P X Y g f"
using assms
apply (clarsimp simp add: homotopic_with_def)
apply (rename_tac h)
apply (rule_tac x="h o (\<lambda>y. (1 - fst y, snd y))" in exI)
apply (rule conjI continuous_intros | erule continuous_on_subset | force simp add: image_subset_iff)+
done
proposition homotopic_with_sym:
fixes X :: "'a::real_normed_vector set"
shows "homotopic_with P X Y f g \<longleftrightarrow> homotopic_with P X Y g f"
using homotopic_with_symD by blast
lemma split_01: "{0..1::real} = {0..1/2} \<union> {1/2..1}"
by force
lemma split_01_prod: "{0..1::real} \<times> X = ({0..1/2} \<times> X) \<union> ({1/2..1} \<times> X)"
by force
proposition homotopic_with_trans:
fixes X :: "'a::real_normed_vector set"
assumes "homotopic_with P X Y f g" and "homotopic_with P X Y g h"
shows "homotopic_with P X Y f h"
proof -
have clo1: "closedin (subtopology euclidean ({0..1/2} \<times> X \<union> {1/2..1} \<times> X)) ({0..1/2::real} \<times> X)"
apply (simp add: closedin_closed split_01_prod [symmetric])
apply (rule_tac x="{0..1/2} \<times> UNIV" in exI)
apply (force simp add: closed_Times)
done
have clo2: "closedin (subtopology euclidean ({0..1/2} \<times> X \<union> {1/2..1} \<times> X)) ({1/2..1::real} \<times> X)"
apply (simp add: closedin_closed split_01_prod [symmetric])
apply (rule_tac x="{1/2..1} \<times> UNIV" in exI)
apply (force simp add: closed_Times)
done
{ fix k1 k2:: "real \<times> 'a \<Rightarrow> 'b"
assume cont: "continuous_on ({0..1} \<times> X) k1" "continuous_on ({0..1} \<times> X) k2"
and Y: "k1 ` ({0..1} \<times> X) \<subseteq> Y" "k2 ` ({0..1} \<times> X) \<subseteq> Y"
and geq: "\<forall>x. k1 (1, x) = g x" "\<forall>x. k2 (0, x) = g x"
and k12: "\<forall>x. k1 (0, x) = f x" "\<forall>x. k2 (1, x) = h x"
and P: "\<forall>t\<in>{0..1}. P (\<lambda>x. k1 (t, x))" "\<forall>t\<in>{0..1}. P (\<lambda>x. k2 (t, x))"
def k \<equiv> "\<lambda>y. if fst y \<le> 1 / 2 then (k1 o (\<lambda>x. (2 *\<^sub>R fst x, snd x))) y
else (k2 o (\<lambda>x. (2 *\<^sub>R fst x -1, snd x))) y"
have keq: "k1 (2 * u, v) = k2 (2 * u - 1, v)" if "u = 1/2" for u v
by (simp add: geq that)
have "continuous_on ({0..1} \<times> X) k"
using cont
apply (simp add: split_01_prod k_def)
apply (rule clo1 clo2 continuous_on_cases_local continuous_intros | erule continuous_on_subset | simp add: linear image_subset_iff)+
apply (force simp add: keq)
done
moreover have "k ` ({0..1} \<times> X) \<subseteq> Y"
using Y by (force simp add: k_def)
moreover have "\<forall>x. k (0, x) = f x"
by (simp add: k_def k12)
moreover have "(\<forall>x. k (1, x) = h x)"
by (simp add: k_def k12)
moreover have "\<forall>t\<in>{0..1}. P (\<lambda>x. k (t, x))"
using P
apply (clarsimp simp add: k_def)
apply (case_tac "t \<le> 1/2")
apply (auto simp:)
done
ultimately have *: "\<exists>k :: real \<times> 'a \<Rightarrow> 'b.
continuous_on ({0..1} \<times> X) k \<and> k ` ({0..1} \<times> X) \<subseteq> Y \<and>
(\<forall>x. k (0, x) = f x) \<and> (\<forall>x. k (1, x) = h x) \<and> (\<forall>t\<in>{0..1}. P (\<lambda>x. k (t, x)))"
by blast
} note * = this
show ?thesis
using assms by (auto intro: * simp add: homotopic_with_def)
qed
proposition homotopic_compose:
fixes s :: "'a::real_normed_vector set"
shows "\<lbrakk>homotopic_with (\<lambda>x. True) s t f f'; homotopic_with (\<lambda>x. True) t u g g'\<rbrakk>
\<Longrightarrow> homotopic_with (\<lambda>x. True) s u (g o f) (g' o f')"
apply (rule homotopic_with_trans [where g = "g o f'"])
apply (metis homotopic_compose_continuous_left homotopic_with_imp_continuous homotopic_with_imp_subset1)
by (metis homotopic_compose_continuous_right homotopic_with_imp_continuous homotopic_with_imp_subset2)
subsection\<open>Homotopy of paths, maintaining the same endpoints.\<close>
definition homotopic_paths :: "['a set, real \<Rightarrow> 'a, real \<Rightarrow> 'a::topological_space] \<Rightarrow> bool"
where
"homotopic_paths s p q \<equiv>
homotopic_with (\<lambda>r. pathstart r = pathstart p \<and> pathfinish r = pathfinish p) {0..1} s p q"
lemma homotopic_paths:
"homotopic_paths s p q \<longleftrightarrow>
(\<exists>h. continuous_on ({0..1} \<times> {0..1}) h \<and>
h ` ({0..1} \<times> {0..1}) \<subseteq> s \<and>
(\<forall>x \<in> {0..1}. h(0,x) = p x) \<and>
(\<forall>x \<in> {0..1}. h(1,x) = q x) \<and>
(\<forall>t \<in> {0..1::real}. pathstart(h o Pair t) = pathstart p \<and>
pathfinish(h o Pair t) = pathfinish p))"
by (auto simp: homotopic_paths_def homotopic_with pathstart_def pathfinish_def)
proposition homotopic_paths_imp_pathstart:
"homotopic_paths s p q \<Longrightarrow> pathstart p = pathstart q"
by (metis (mono_tags, lifting) homotopic_paths_def homotopic_with_imp_property)
proposition homotopic_paths_imp_pathfinish:
"homotopic_paths s p q \<Longrightarrow> pathfinish p = pathfinish q"
by (metis (mono_tags, lifting) homotopic_paths_def homotopic_with_imp_property)
lemma homotopic_paths_imp_path:
"homotopic_paths s p q \<Longrightarrow> path p \<and> path q"
using homotopic_paths_def homotopic_with_imp_continuous path_def by blast
lemma homotopic_paths_imp_subset:
"homotopic_paths s p q \<Longrightarrow> path_image p \<subseteq> s \<and> path_image q \<subseteq> s"
by (simp add: homotopic_paths_def homotopic_with_imp_subset1 homotopic_with_imp_subset2 path_image_def)
proposition homotopic_paths_refl [simp]: "homotopic_paths s p p \<longleftrightarrow> path p \<and> path_image p \<subseteq> s"
by (simp add: homotopic_paths_def homotopic_with_refl path_def path_image_def)
proposition homotopic_paths_sym: "homotopic_paths s p q \<Longrightarrow> homotopic_paths s q p"
by (metis (mono_tags) homotopic_paths_def homotopic_paths_imp_pathfinish homotopic_paths_imp_pathstart homotopic_with_symD)
proposition homotopic_paths_sym_eq: "homotopic_paths s p q \<longleftrightarrow> homotopic_paths s q p"
by (metis homotopic_paths_sym)
proposition homotopic_paths_trans [trans]:
"\<lbrakk>homotopic_paths s p q; homotopic_paths s q r\<rbrakk> \<Longrightarrow> homotopic_paths s p r"
apply (simp add: homotopic_paths_def)
apply (rule homotopic_with_trans, assumption)
by (metis (mono_tags, lifting) homotopic_with_imp_property homotopic_with_mono)
proposition homotopic_paths_eq:
"\<lbrakk>path p; path_image p \<subseteq> s; \<And>t. t \<in> {0..1} \<Longrightarrow> p t = q t\<rbrakk> \<Longrightarrow> homotopic_paths s p q"
apply (simp add: homotopic_paths_def)
apply (rule homotopic_with_eq)
apply (auto simp: path_def homotopic_with_refl pathstart_def pathfinish_def path_image_def elim: continuous_on_eq)
done
proposition homotopic_paths_reparametrize:
assumes "path p"
and pips: "path_image p \<subseteq> s"
and contf: "continuous_on {0..1} f"
and f01:"f ` {0..1} \<subseteq> {0..1}"
and [simp]: "f(0) = 0" "f(1) = 1"
and q: "\<And>t. t \<in> {0..1} \<Longrightarrow> q(t) = p(f t)"
shows "homotopic_paths s p q"
proof -
have contp: "continuous_on {0..1} p"
by (metis \<open>path p\<close> path_def)
then have "continuous_on {0..1} (p o f)"
using contf continuous_on_compose continuous_on_subset f01 by blast
then have "path q"
by (simp add: path_def) (metis q continuous_on_cong)
have piqs: "path_image q \<subseteq> s"
by (metis (no_types, hide_lams) pips f01 image_subset_iff path_image_def q)
have fb0: "\<And>a b. \<lbrakk>0 \<le> a; a \<le> 1; 0 \<le> b; b \<le> 1\<rbrakk> \<Longrightarrow> 0 \<le> (1 - a) * f b + a * b"
using f01 by force
have fb1: "\<lbrakk>0 \<le> a; a \<le> 1; 0 \<le> b; b \<le> 1\<rbrakk> \<Longrightarrow> (1 - a) * f b + a * b \<le> 1" for a b
using f01 [THEN subsetD, of "f b"] by (simp add: convex_bound_le)
have "homotopic_paths s q p"
proof (rule homotopic_paths_trans)
show "homotopic_paths s q (p \<circ> f)"
using q by (force intro: homotopic_paths_eq [OF \<open>path q\<close> piqs])
next
show "homotopic_paths s (p \<circ> f) p"
apply (simp add: homotopic_paths_def homotopic_with_def)
apply (rule_tac x="p o (\<lambda>y. (1 - (fst y)) *\<^sub>R ((f o snd) y) + (fst y) *\<^sub>R snd y)" in exI)
apply (rule conjI contf continuous_intros continuous_on_subset [OF contp] | simp)+
using pips [unfolded path_image_def]
apply (auto simp: fb0 fb1 pathstart_def pathfinish_def)
done
qed
then show ?thesis
by (simp add: homotopic_paths_sym)
qed
lemma homotopic_paths_subset: "\<lbrakk>homotopic_paths s p q; s \<subseteq> t\<rbrakk> \<Longrightarrow> homotopic_paths t p q"
using homotopic_paths_def homotopic_with_subset_right by blast
text\<open> A slightly ad-hoc but useful lemma in constructing homotopies.\<close>
lemma homotopic_join_lemma:
fixes q :: "[real,real] \<Rightarrow> 'a::topological_space"
assumes p: "continuous_on ({0..1} \<times> {0..1}) (\<lambda>y. p (fst y) (snd y))"
and q: "continuous_on ({0..1} \<times> {0..1}) (\<lambda>y. q (fst y) (snd y))"
and pf: "\<And>t. t \<in> {0..1} \<Longrightarrow> pathfinish(p t) = pathstart(q t)"
shows "continuous_on ({0..1} \<times> {0..1}) (\<lambda>y. (p(fst y) +++ q(fst y)) (snd y))"
proof -
have 1: "(\<lambda>y. p (fst y) (2 * snd y)) = (\<lambda>y. p (fst y) (snd y)) o (\<lambda>y. (fst y, 2 * snd y))"
by (rule ext) (simp )
have 2: "(\<lambda>y. q (fst y) (2 * snd y - 1)) = (\<lambda>y. q (fst y) (snd y)) o (\<lambda>y. (fst y, 2 * snd y - 1))"
by (rule ext) (simp )
show ?thesis
apply (simp add: joinpaths_def)
apply (rule continuous_on_cases_le)
apply (simp_all only: 1 2)
apply (rule continuous_intros continuous_on_subset [OF p] continuous_on_subset [OF q] | force)+
using pf
apply (auto simp: mult.commute pathstart_def pathfinish_def)
done
qed
text\<open> Congruence properties of homotopy w.r.t. path-combining operations.\<close>
lemma homotopic_paths_reversepath_D:
assumes "homotopic_paths s p q"
shows "homotopic_paths s (reversepath p) (reversepath q)"
using assms
apply (simp add: homotopic_paths_def homotopic_with_def, clarify)
apply (rule_tac x="h o (\<lambda>x. (fst x, 1 - snd x))" in exI)
apply (rule conjI continuous_intros)+
apply (auto simp: reversepath_def pathstart_def pathfinish_def elim!: continuous_on_subset)
done
proposition homotopic_paths_reversepath:
"homotopic_paths s (reversepath p) (reversepath q) \<longleftrightarrow> homotopic_paths s p q"
using homotopic_paths_reversepath_D by force
proposition homotopic_paths_join:
"\<lbrakk>homotopic_paths s p p'; homotopic_paths s q q'; pathfinish p = pathstart q\<rbrakk> \<Longrightarrow> homotopic_paths s (p +++ q) (p' +++ q')"
apply (simp add: homotopic_paths_def homotopic_with_def, clarify)
apply (rename_tac k1 k2)
apply (rule_tac x="(\<lambda>y. ((k1 o Pair (fst y)) +++ (k2 o Pair (fst y))) (snd y))" in exI)
apply (rule conjI continuous_intros homotopic_join_lemma)+
apply (auto simp: joinpaths_def pathstart_def pathfinish_def path_image_def)
done
proposition homotopic_paths_continuous_image:
"\<lbrakk>homotopic_paths s f g; continuous_on s h; h ` s \<subseteq> t\<rbrakk> \<Longrightarrow> homotopic_paths t (h o f) (h o g)"
unfolding homotopic_paths_def
apply (rule homotopic_with_compose_continuous_left [of _ _ _ s])
apply (auto simp: pathstart_def pathfinish_def elim!: homotopic_with_mono)
done
subsection\<open>Group properties for homotopy of paths\<close>
text\<open>So taking equivalence classes under homotopy would give the fundamental group\<close>
proposition homotopic_paths_rid:
"\<lbrakk>path p; path_image p \<subseteq> s\<rbrakk> \<Longrightarrow> homotopic_paths s (p +++ linepath (pathfinish p) (pathfinish p)) p"
apply (subst homotopic_paths_sym)
apply (rule homotopic_paths_reparametrize [where f = "\<lambda>t. if t \<le> 1 / 2 then 2 *\<^sub>R t else 1"])
apply (simp_all del: le_divide_eq_numeral1)
apply (subst split_01)
apply (rule continuous_on_cases continuous_intros | force simp: pathfinish_def joinpaths_def)+
done
proposition homotopic_paths_lid:
"\<lbrakk>path p; path_image p \<subseteq> s\<rbrakk> \<Longrightarrow> homotopic_paths s (linepath (pathstart p) (pathstart p) +++ p) p"
using homotopic_paths_rid [of "reversepath p" s]
by (metis homotopic_paths_reversepath path_image_reversepath path_reversepath pathfinish_linepath
pathfinish_reversepath reversepath_joinpaths reversepath_linepath)
proposition homotopic_paths_assoc:
"\<lbrakk>path p; path_image p \<subseteq> s; path q; path_image q \<subseteq> s; path r; path_image r \<subseteq> s; pathfinish p = pathstart q;
pathfinish q = pathstart r\<rbrakk>
\<Longrightarrow> homotopic_paths s (p +++ (q +++ r)) ((p +++ q) +++ r)"
apply (subst homotopic_paths_sym)
apply (rule homotopic_paths_reparametrize
[where f = "\<lambda>t. if t \<le> 1 / 2 then inverse 2 *\<^sub>R t
else if t \<le> 3 / 4 then t - (1 / 4)
else 2 *\<^sub>R t - 1"])
apply (simp_all del: le_divide_eq_numeral1)
apply (simp add: subset_path_image_join)
apply (rule continuous_on_cases_1 continuous_intros)+
apply (auto simp: joinpaths_def)
done
proposition homotopic_paths_rinv:
assumes "path p" "path_image p \<subseteq> s"
shows "homotopic_paths s (p +++ reversepath p) (linepath (pathstart p) (pathstart p))"
proof -
have "continuous_on ({0..1} \<times> {0..1}) (\<lambda>x. (subpath 0 (fst x) p +++ reversepath (subpath 0 (fst x) p)) (snd x))"
using assms
apply (simp add: joinpaths_def subpath_def reversepath_def path_def del: le_divide_eq_numeral1)
apply (rule continuous_on_cases_le)
apply (rule_tac [2] continuous_on_compose [of _ _ p, unfolded o_def])
apply (rule continuous_on_compose [of _ _ p, unfolded o_def])
apply (auto intro!: continuous_intros simp del: eq_divide_eq_numeral1)
apply (force elim!: continuous_on_subset simp add: mult_le_one)+
done
then show ?thesis
using assms
apply (subst homotopic_paths_sym_eq)
unfolding homotopic_paths_def homotopic_with_def
apply (rule_tac x="(\<lambda>y. (subpath 0 (fst y) p +++ reversepath(subpath 0 (fst y) p)) (snd y))" in exI)
apply (simp add: path_defs joinpaths_def subpath_def reversepath_def)
apply (force simp: mult_le_one)
done
qed
proposition homotopic_paths_linv:
assumes "path p" "path_image p \<subseteq> s"
shows "homotopic_paths s (reversepath p +++ p) (linepath (pathfinish p) (pathfinish p))"
using homotopic_paths_rinv [of "reversepath p" s] assms by simp
subsection\<open> Homotopy of loops without requiring preservation of endpoints.\<close>
definition homotopic_loops :: "'a::topological_space set \<Rightarrow> (real \<Rightarrow> 'a) \<Rightarrow> (real \<Rightarrow> 'a) \<Rightarrow> bool" where
"homotopic_loops s p q \<equiv>
homotopic_with (\<lambda>r. pathfinish r = pathstart r) {0..1} s p q"
lemma homotopic_loops:
"homotopic_loops s p q \<longleftrightarrow>
(\<exists>h. continuous_on ({0..1::real} \<times> {0..1}) h \<and>
image h ({0..1} \<times> {0..1}) \<subseteq> s \<and>
(\<forall>x \<in> {0..1}. h(0,x) = p x) \<and>
(\<forall>x \<in> {0..1}. h(1,x) = q x) \<and>
(\<forall>t \<in> {0..1}. pathfinish(h o Pair t) = pathstart(h o Pair t)))"
by (simp add: homotopic_loops_def pathstart_def pathfinish_def homotopic_with)
proposition homotopic_loops_imp_loop:
"homotopic_loops s p q \<Longrightarrow> pathfinish p = pathstart p \<and> pathfinish q = pathstart q"
using homotopic_with_imp_property homotopic_loops_def by blast
proposition homotopic_loops_imp_path:
"homotopic_loops s p q \<Longrightarrow> path p \<and> path q"
unfolding homotopic_loops_def path_def
using homotopic_with_imp_continuous by blast
proposition homotopic_loops_imp_subset:
"homotopic_loops s p q \<Longrightarrow> path_image p \<subseteq> s \<and> path_image q \<subseteq> s"
unfolding homotopic_loops_def path_image_def
by (metis homotopic_with_imp_subset1 homotopic_with_imp_subset2)
proposition homotopic_loops_refl:
"homotopic_loops s p p \<longleftrightarrow>
path p \<and> path_image p \<subseteq> s \<and> pathfinish p = pathstart p"
by (simp add: homotopic_loops_def homotopic_with_refl path_image_def path_def)
proposition homotopic_loops_sym: "homotopic_loops s p q \<Longrightarrow> homotopic_loops s q p"
by (simp add: homotopic_loops_def homotopic_with_sym)
proposition homotopic_loops_sym_eq: "homotopic_loops s p q \<longleftrightarrow> homotopic_loops s q p"
by (metis homotopic_loops_sym)
proposition homotopic_loops_trans:
"\<lbrakk>homotopic_loops s p q; homotopic_loops s q r\<rbrakk> \<Longrightarrow> homotopic_loops s p r"
unfolding homotopic_loops_def by (blast intro: homotopic_with_trans)
proposition homotopic_loops_subset:
"\<lbrakk>homotopic_loops s p q; s \<subseteq> t\<rbrakk> \<Longrightarrow> homotopic_loops t p q"
by (simp add: homotopic_loops_def homotopic_with_subset_right)
proposition homotopic_loops_eq:
"\<lbrakk>path p; path_image p \<subseteq> s; pathfinish p = pathstart p; \<And>t. t \<in> {0..1} \<Longrightarrow> p(t) = q(t)\<rbrakk>
\<Longrightarrow> homotopic_loops s p q"
unfolding homotopic_loops_def
apply (rule homotopic_with_eq)
apply (rule homotopic_with_refl [where f = p, THEN iffD2])
apply (simp_all add: path_image_def path_def pathstart_def pathfinish_def)
done
proposition homotopic_loops_continuous_image:
"\<lbrakk>homotopic_loops s f g; continuous_on s h; h ` s \<subseteq> t\<rbrakk> \<Longrightarrow> homotopic_loops t (h \<circ> f) (h \<circ> g)"
unfolding homotopic_loops_def
apply (rule homotopic_with_compose_continuous_left)
apply (erule homotopic_with_mono)
by (simp add: pathfinish_def pathstart_def)
subsection\<open>Relations between the two variants of homotopy\<close>
proposition homotopic_paths_imp_homotopic_loops:
"\<lbrakk>homotopic_paths s p q; pathfinish p = pathstart p; pathfinish q = pathstart p\<rbrakk> \<Longrightarrow> homotopic_loops s p q"
by (auto simp: homotopic_paths_def homotopic_loops_def intro: homotopic_with_mono)
proposition homotopic_loops_imp_homotopic_paths_null:
assumes "homotopic_loops s p (linepath a a)"
shows "homotopic_paths s p (linepath (pathstart p) (pathstart p))"
proof -
have "path p" by (metis assms homotopic_loops_imp_path)
have ploop: "pathfinish p = pathstart p" by (metis assms homotopic_loops_imp_loop)
have pip: "path_image p \<subseteq> s" by (metis assms homotopic_loops_imp_subset)
obtain h where conth: "continuous_on ({0..1::real} \<times> {0..1}) h"
and hs: "h ` ({0..1} \<times> {0..1}) \<subseteq> s"
and [simp]: "\<And>x. x \<in> {0..1} \<Longrightarrow> h(0,x) = p x"
and [simp]: "\<And>x. x \<in> {0..1} \<Longrightarrow> h(1,x) = a"
and ends: "\<And>t. t \<in> {0..1} \<Longrightarrow> pathfinish (h \<circ> Pair t) = pathstart (h \<circ> Pair t)"
using assms by (auto simp: homotopic_loops homotopic_with)
have conth0: "path (\<lambda>u. h (u, 0))"
unfolding path_def
apply (rule continuous_on_compose [of _ _ h, unfolded o_def])
apply (force intro: continuous_intros continuous_on_subset [OF conth])+
done
have pih0: "path_image (\<lambda>u. h (u, 0)) \<subseteq> s"
using hs by (force simp: path_image_def)
have c1: "continuous_on ({0..1} \<times> {0..1}) (\<lambda>x. h (fst x * snd x, 0))"
apply (rule continuous_on_compose [of _ _ h, unfolded o_def])
apply (force simp: mult_le_one intro: continuous_intros continuous_on_subset [OF conth])+
done
have c2: "continuous_on ({0..1} \<times> {0..1}) (\<lambda>x. h (fst x - fst x * snd x, 0))"
apply (rule continuous_on_compose [of _ _ h, unfolded o_def])
apply (force simp: mult_left_le mult_le_one intro: continuous_intros continuous_on_subset [OF conth])+
apply (rule continuous_on_subset [OF conth])
apply (auto simp: algebra_simps add_increasing2 mult_left_le)
done
have [simp]: "\<And>t. \<lbrakk>0 \<le> t \<and> t \<le> 1\<rbrakk> \<Longrightarrow> h (t, 1) = h (t, 0)"
using ends by (simp add: pathfinish_def pathstart_def)
have adhoc_le: "c * 4 \<le> 1 + c * (d * 4)" if "\<not> d * 4 \<le> 3" "0 \<le> c" "c \<le> 1" for c d::real
proof -
have "c * 3 \<le> c * (d * 4)" using that less_eq_real_def by auto
with \<open>c \<le> 1\<close> show ?thesis by fastforce
qed
have *: "\<And>p x. (path p \<and> path(reversepath p)) \<and>
(path_image p \<subseteq> s \<and> path_image(reversepath p) \<subseteq> s) \<and>
(pathfinish p = pathstart(linepath a a +++ reversepath p) \<and>
pathstart(reversepath p) = a) \<and> pathstart p = x
\<Longrightarrow> homotopic_paths s (p +++ linepath a a +++ reversepath p) (linepath x x)"
by (metis homotopic_paths_lid homotopic_paths_join
homotopic_paths_trans homotopic_paths_sym homotopic_paths_rinv)
have 1: "homotopic_paths s p (p +++ linepath (pathfinish p) (pathfinish p))"
using \<open>path p\<close> homotopic_paths_rid homotopic_paths_sym pip by blast
moreover have "homotopic_paths s (p +++ linepath (pathfinish p) (pathfinish p))
(linepath (pathstart p) (pathstart p) +++ p +++ linepath (pathfinish p) (pathfinish p))"
apply (rule homotopic_paths_sym)
using homotopic_paths_lid [of "p +++ linepath (pathfinish p) (pathfinish p)" s]
by (metis 1 homotopic_paths_imp_path homotopic_paths_imp_pathstart homotopic_paths_imp_subset)
moreover have "homotopic_paths s (linepath (pathstart p) (pathstart p) +++ p +++ linepath (pathfinish p) (pathfinish p))
((\<lambda>u. h (u, 0)) +++ linepath a a +++ reversepath (\<lambda>u. h (u, 0)))"
apply (simp add: homotopic_paths_def homotopic_with_def)
apply (rule_tac x="\<lambda>y. (subpath 0 (fst y) (\<lambda>u. h (u, 0)) +++ (\<lambda>u. h (Pair (fst y) u)) +++ subpath (fst y) 0 (\<lambda>u. h (u, 0))) (snd y)" in exI)
apply (simp add: subpath_reversepath)
apply (intro conjI homotopic_join_lemma)
using ploop
apply (simp_all add: path_defs joinpaths_def o_def subpath_def conth c1 c2)
apply (force simp: algebra_simps mult_le_one mult_left_le intro: hs [THEN subsetD] adhoc_le)
done
moreover have "homotopic_paths s ((\<lambda>u. h (u, 0)) +++ linepath a a +++ reversepath (\<lambda>u. h (u, 0)))
(linepath (pathstart p) (pathstart p))"
apply (rule *)
apply (simp add: pih0 pathstart_def pathfinish_def conth0)
apply (simp add: reversepath_def joinpaths_def)
done
ultimately show ?thesis
by (blast intro: homotopic_paths_trans)
qed
proposition homotopic_loops_conjugate:
fixes s :: "'a::real_normed_vector set"
assumes "path p" "path q" and pip: "path_image p \<subseteq> s" and piq: "path_image q \<subseteq> s"
and papp: "pathfinish p = pathstart q" and qloop: "pathfinish q = pathstart q"
shows "homotopic_loops s (p +++ q +++ reversepath p) q"
proof -
have contp: "continuous_on {0..1} p" using \<open>path p\<close> [unfolded path_def] by blast
have contq: "continuous_on {0..1} q" using \<open>path q\<close> [unfolded path_def] by blast
have c1: "continuous_on ({0..1} \<times> {0..1}) (\<lambda>x. p ((1 - fst x) * snd x + fst x))"
apply (rule continuous_on_compose [of _ _ p, unfolded o_def])
apply (force simp: mult_le_one intro!: continuous_intros)
apply (rule continuous_on_subset [OF contp])
apply (auto simp: algebra_simps add_increasing2 mult_right_le_one_le sum_le_prod1)
done
have c2: "continuous_on ({0..1} \<times> {0..1}) (\<lambda>x. p ((fst x - 1) * snd x + 1))"
apply (rule continuous_on_compose [of _ _ p, unfolded o_def])
apply (force simp: mult_le_one intro!: continuous_intros)
apply (rule continuous_on_subset [OF contp])
apply (auto simp: algebra_simps add_increasing2 mult_left_le_one_le)
done
have ps1: "\<And>a b. \<lbrakk>b * 2 \<le> 1; 0 \<le> b; 0 \<le> a; a \<le> 1\<rbrakk> \<Longrightarrow> p ((1 - a) * (2 * b) + a) \<in> s"
using sum_le_prod1
by (force simp: algebra_simps add_increasing2 mult_left_le intro: pip [unfolded path_image_def, THEN subsetD])
have ps2: "\<And>a b. \<lbrakk>\<not> 4 * b \<le> 3; b \<le> 1; 0 \<le> a; a \<le> 1\<rbrakk> \<Longrightarrow> p ((a - 1) * (4 * b - 3) + 1) \<in> s"
apply (rule pip [unfolded path_image_def, THEN subsetD])
apply (rule image_eqI, blast)
apply (simp add: algebra_simps)
by (metis add_mono_thms_linordered_semiring(1) affine_ineq linear mult.commute mult.left_neutral mult_right_mono not_le
add.commute zero_le_numeral)
have qs: "\<And>a b. \<lbrakk>4 * b \<le> 3; \<not> b * 2 \<le> 1\<rbrakk> \<Longrightarrow> q (4 * b - 2) \<in> s"
using path_image_def piq by fastforce
have "homotopic_loops s (p +++ q +++ reversepath p)
(linepath (pathstart q) (pathstart q) +++ q +++ linepath (pathstart q) (pathstart q))"
apply (simp add: homotopic_loops_def homotopic_with_def)
apply (rule_tac x="(\<lambda>y. (subpath (fst y) 1 p +++ q +++ subpath 1 (fst y) p) (snd y))" in exI)
apply (simp add: subpath_refl subpath_reversepath)
apply (intro conjI homotopic_join_lemma)
using papp qloop
apply (simp_all add: path_defs joinpaths_def o_def subpath_def c1 c2)
apply (force simp: contq intro: continuous_on_compose [of _ _ q, unfolded o_def] continuous_on_id continuous_on_snd)
apply (auto simp: ps1 ps2 qs)
done
moreover have "homotopic_loops s (linepath (pathstart q) (pathstart q) +++ q +++ linepath (pathstart q) (pathstart q)) q"
proof -
have "homotopic_paths s (linepath (pathfinish q) (pathfinish q) +++ q) q"
using \<open>path q\<close> homotopic_paths_lid qloop piq by auto
hence 1: "\<And>f. homotopic_paths s f q \<or> \<not> homotopic_paths s f (linepath (pathfinish q) (pathfinish q) +++ q)"
using homotopic_paths_trans by blast
hence "homotopic_paths s (linepath (pathfinish q) (pathfinish q) +++ q +++ linepath (pathfinish q) (pathfinish q)) q"
proof -
have "homotopic_paths s (q +++ linepath (pathfinish q) (pathfinish q)) q"
by (simp add: \<open>path q\<close> homotopic_paths_rid piq)
thus ?thesis
by (metis (no_types) 1 \<open>path q\<close> homotopic_paths_join homotopic_paths_rinv homotopic_paths_sym
homotopic_paths_trans qloop pathfinish_linepath piq)
qed
thus ?thesis
by (metis (no_types) qloop homotopic_loops_sym homotopic_paths_imp_homotopic_loops homotopic_paths_imp_pathfinish homotopic_paths_sym)
qed
ultimately show ?thesis
by (blast intro: homotopic_loops_trans)
qed
subsection\<open> Homotopy of "nearby" function, paths and loops.\<close>
lemma homotopic_with_linear:
fixes f g :: "_ \<Rightarrow> 'b::real_normed_vector"
assumes contf: "continuous_on s f"
and contg:"continuous_on s g"
and sub: "\<And>x. x \<in> s \<Longrightarrow> closed_segment (f x) (g x) \<subseteq> t"
shows "homotopic_with (\<lambda>z. True) s t f g"
apply (simp add: homotopic_with_def)
apply (rule_tac x="\<lambda>y. ((1 - (fst y)) *\<^sub>R f(snd y) + (fst y) *\<^sub>R g(snd y))" in exI)
apply (intro conjI)
apply (rule subset_refl continuous_intros continuous_on_subset [OF contf] continuous_on_compose2 [where g=f]
continuous_on_subset [OF contg] continuous_on_compose2 [where g=g]| simp)+
using sub closed_segment_def apply fastforce+
done
lemma homotopic_paths_linear:
fixes g h :: "real \<Rightarrow> 'a::real_normed_vector"
assumes "path g" "path h" "pathstart h = pathstart g" "pathfinish h = pathfinish g"
"\<And>t x. t \<in> {0..1} \<Longrightarrow> closed_segment (g t) (h t) \<subseteq> s"
shows "homotopic_paths s g h"
using assms
unfolding path_def
apply (simp add: pathstart_def pathfinish_def homotopic_paths_def homotopic_with_def)
apply (rule_tac x="\<lambda>y. ((1 - (fst y)) *\<^sub>R g(snd y) + (fst y) *\<^sub>R h(snd y))" in exI)
apply (auto intro!: continuous_intros intro: continuous_on_compose2 [where g=g] continuous_on_compose2 [where g=h] )
apply (force simp: closed_segment_def)
apply (simp_all add: algebra_simps)
done
lemma homotopic_loops_linear:
fixes g h :: "real \<Rightarrow> 'a::real_normed_vector"
assumes "path g" "path h" "pathfinish g = pathstart g" "pathfinish h = pathstart h"
"\<And>t x. t \<in> {0..1} \<Longrightarrow> closed_segment (g t) (h t) \<subseteq> s"
shows "homotopic_loops s g h"
using assms
unfolding path_def
apply (simp add: pathstart_def pathfinish_def homotopic_loops_def homotopic_with_def)
apply (rule_tac x="\<lambda>y. ((1 - (fst y)) *\<^sub>R g(snd y) + (fst y) *\<^sub>R h(snd y))" in exI)
apply (auto intro!: continuous_intros intro: continuous_on_compose2 [where g=g] continuous_on_compose2 [where g=h])
apply (force simp: closed_segment_def)
done
lemma homotopic_paths_nearby_explicit:
assumes "path g" "path h" "pathstart h = pathstart g" "pathfinish h = pathfinish g"
and no: "\<And>t x. \<lbrakk>t \<in> {0..1}; x \<notin> s\<rbrakk> \<Longrightarrow> norm(h t - g t) < norm(g t - x)"
shows "homotopic_paths s g h"
apply (rule homotopic_paths_linear [OF assms(1-4)])
by (metis no segment_bound(1) subsetI norm_minus_commute not_le)
lemma homotopic_loops_nearby_explicit:
assumes "path g" "path h" "pathfinish g = pathstart g" "pathfinish h = pathstart h"
and no: "\<And>t x. \<lbrakk>t \<in> {0..1}; x \<notin> s\<rbrakk> \<Longrightarrow> norm(h t - g t) < norm(g t - x)"
shows "homotopic_loops s g h"
apply (rule homotopic_loops_linear [OF assms(1-4)])
by (metis no segment_bound(1) subsetI norm_minus_commute not_le)
lemma homotopic_nearby_paths:
fixes g h :: "real \<Rightarrow> 'a::euclidean_space"
assumes "path g" "open s" "path_image g \<subseteq> s"
shows "\<exists>e. 0 < e \<and>
(\<forall>h. path h \<and>
pathstart h = pathstart g \<and> pathfinish h = pathfinish g \<and>
(\<forall>t \<in> {0..1}. norm(h t - g t) < e) \<longrightarrow> homotopic_paths s g h)"
proof -
obtain e where "e > 0" and e: "\<And>x y. x \<in> path_image g \<Longrightarrow> y \<in> - s \<Longrightarrow> e \<le> dist x y"
using separate_compact_closed [of "path_image g" "-s"] assms by force
show ?thesis
apply (intro exI conjI)
using e [unfolded dist_norm]
apply (auto simp: intro!: homotopic_paths_nearby_explicit assms \<open>e > 0\<close>)
by (metis atLeastAtMost_iff imageI le_less_trans not_le path_image_def)
qed
lemma homotopic_nearby_loops:
fixes g h :: "real \<Rightarrow> 'a::euclidean_space"
assumes "path g" "open s" "path_image g \<subseteq> s" "pathfinish g = pathstart g"
shows "\<exists>e. 0 < e \<and>
(\<forall>h. path h \<and> pathfinish h = pathstart h \<and>
(\<forall>t \<in> {0..1}. norm(h t - g t) < e) \<longrightarrow> homotopic_loops s g h)"
proof -
obtain e where "e > 0" and e: "\<And>x y. x \<in> path_image g \<Longrightarrow> y \<in> - s \<Longrightarrow> e \<le> dist x y"
using separate_compact_closed [of "path_image g" "-s"] assms by force
show ?thesis
apply (intro exI conjI)
using e [unfolded dist_norm]
apply (auto simp: intro!: homotopic_loops_nearby_explicit assms \<open>e > 0\<close>)
by (metis atLeastAtMost_iff imageI le_less_trans not_le path_image_def)
qed
subsection\<open> Homotopy and subpaths\<close>
lemma homotopic_join_subpaths1:
assumes "path g" and pag: "path_image g \<subseteq> s"
and u: "u \<in> {0..1}" and v: "v \<in> {0..1}" and w: "w \<in> {0..1}" "u \<le> v" "v \<le> w"
shows "homotopic_paths s (subpath u v g +++ subpath v w g) (subpath u w g)"
proof -
have 1: "t * 2 \<le> 1 \<Longrightarrow> u + t * (v * 2) \<le> v + t * (u * 2)" for t
using affine_ineq \<open>u \<le> v\<close> by fastforce
have 2: "t * 2 > 1 \<Longrightarrow> u + (2*t - 1) * v \<le> v + (2*t - 1) * w" for t
by (metis add_mono_thms_linordered_semiring(1) diff_gt_0_iff_gt less_eq_real_def mult.commute mult_right_mono \<open>u \<le> v\<close> \<open>v \<le> w\<close>)
have t2: "\<And>t::real. t*2 = 1 \<Longrightarrow> t = 1/2" by auto
show ?thesis
apply (rule homotopic_paths_subset [OF _ pag])
using assms
apply (cases "w = u")
using homotopic_paths_rinv [of "subpath u v g" "path_image g"]
apply (force simp: closed_segment_eq_real_ivl image_mono path_image_def subpath_refl)
apply (rule homotopic_paths_sym)
apply (rule homotopic_paths_reparametrize
[where f = "\<lambda>t. if t \<le> 1 / 2
then inverse((w - u)) *\<^sub>R (2 * (v - u)) *\<^sub>R t
else inverse((w - u)) *\<^sub>R ((v - u) + (w - v) *\<^sub>R (2 *\<^sub>R t - 1))"])
using \<open>path g\<close> path_subpath u w apply blast
using \<open>path g\<close> path_image_subpath_subset u w(1) apply blast
apply simp_all
apply (subst split_01)
apply (rule continuous_on_cases continuous_intros | force simp: pathfinish_def joinpaths_def)+
apply (simp_all add: field_simps not_le)
apply (force dest!: t2)
apply (force simp: algebra_simps mult_left_mono affine_ineq dest!: 1 2)
apply (simp add: joinpaths_def subpath_def)
apply (force simp: algebra_simps)
done
qed
lemma homotopic_join_subpaths2:
assumes "homotopic_paths s (subpath u v g +++ subpath v w g) (subpath u w g)"
shows "homotopic_paths s (subpath w v g +++ subpath v u g) (subpath w u g)"
by (metis assms homotopic_paths_reversepath_D pathfinish_subpath pathstart_subpath reversepath_joinpaths reversepath_subpath)
lemma homotopic_join_subpaths3:
assumes hom: "homotopic_paths s (subpath u v g +++ subpath v w g) (subpath u w g)"
and "path g" and pag: "path_image g \<subseteq> s"
and u: "u \<in> {0..1}" and v: "v \<in> {0..1}" and w: "w \<in> {0..1}"
shows "homotopic_paths s (subpath v w g +++ subpath w u g) (subpath v u g)"
proof -
have "homotopic_paths s (subpath u w g +++ subpath w v g) ((subpath u v g +++ subpath v w g) +++ subpath w v g)"
apply (rule homotopic_paths_join)
using hom homotopic_paths_sym_eq apply blast
apply (metis \<open>path g\<close> homotopic_paths_eq pag path_image_subpath_subset path_subpath subset_trans v w)
apply (simp add:)
done
also have "homotopic_paths s ((subpath u v g +++ subpath v w g) +++ subpath w v g) (subpath u v g +++ subpath v w g +++ subpath w v g)"
apply (rule homotopic_paths_sym [OF homotopic_paths_assoc])
using assms by (simp_all add: path_image_subpath_subset [THEN order_trans])
also have "homotopic_paths s (subpath u v g +++ subpath v w g +++ subpath w v g)
(subpath u v g +++ linepath (pathfinish (subpath u v g)) (pathfinish (subpath u v g)))"
apply (rule homotopic_paths_join)
apply (metis \<open>path g\<close> homotopic_paths_eq order.trans pag path_image_subpath_subset path_subpath u v)
apply (metis (no_types, lifting) \<open>path g\<close> homotopic_paths_linv order_trans pag path_image_subpath_subset path_subpath pathfinish_subpath reversepath_subpath v w)
apply (simp add:)
done
also have "homotopic_paths s (subpath u v g +++ linepath (pathfinish (subpath u v g)) (pathfinish (subpath u v g))) (subpath u v g)"
apply (rule homotopic_paths_rid)
using \<open>path g\<close> path_subpath u v apply blast
apply (meson \<open>path g\<close> order.trans pag path_image_subpath_subset u v)
done
finally have "homotopic_paths s (subpath u w g +++ subpath w v g) (subpath u v g)" .
then show ?thesis
using homotopic_join_subpaths2 by blast
qed
proposition homotopic_join_subpaths:
"\<lbrakk>path g; path_image g \<subseteq> s; u \<in> {0..1}; v \<in> {0..1}; w \<in> {0..1}\<rbrakk>
\<Longrightarrow> homotopic_paths s (subpath u v g +++ subpath v w g) (subpath u w g)"
apply (rule le_cases3 [of u v w])
using homotopic_join_subpaths1 homotopic_join_subpaths2 homotopic_join_subpaths3 by metis+
end