// overtaking with static agents ahead

map_name = "san_francisco";
car_model = "gt_sensors";
    initial_position = "lane_221" -> 5;
ego_init_state = (initial_position);
target_position = "lane_221" -> 110;
ego_target_state = (target_position);
vehicle_type = (car_model);
ego_vehicle = AV(ego_init_state, ego_target_state, vehicle_type);

//npc1: start from lane_221
npc1_init_position = "lane_221" -> 20;
npc1 = Vehicle((npc1_init_position,,0.5));

//npc2: start from lane_221
npc2_init_position = "lane_221" -> 40;
npc2 = Vehicle((npc2_init_position,,1));

//npc3: start from lane_221
npc3_init_position = "lane_221" -> 60;
npc3 = Vehicle((npc3_init_position,,1.2));


time = 12:00;
weather = {rain:0.5, snow: 0.1, wetness: heavy};
evn = Environment(time, weather);
scenario0 = CreateScenario{load(map_name);
                 ego_vehicle;
                 {npc1, npc2, npc3}; 
                 {}; // no pedestrians;
                 {}; // no obstacles;
                 evn; 
};

Trace trace = EXE(scenario0);

ego_vehicle_state= trace[ego];

npc_vehicle1_truth = trace[truth][npc1];
npc_vehicle2_truth = trace[truth][npc2];
npc_vehicle3_truth = trace[truth][npc3];


dis_target = dis(ego_vehicle_state, target_position);

dis1 = dis(ego_vehicle_state, npc_vehicle1_truth);
dis2 = dis(ego_vehicle_state, npc_vehicle2_truth);
dis3 = dis(ego_vehicle_state, npc_vehicle3_truth);


statement1 = dis1 >= 0.5;
statement2 = dis2 >= 0.5;
statement3 = dis3 >= 0.5;

trace |= (G(statement1 & statement2 & statement3)) & (F dis_target <= 2.0);