Expression 15: negative left parenthesis, "y" Subscript, 2 , Baseline minus "y" Subscript, 1 , Baseline , right parenthesis left parenthesis, "x" minus "x" Subscript, 1 , Baseline , right parenthesis plus left parenthesis, "x" Subscript, 2 , Baseline minus "x" Subscript, 1 , Baseline , right parenthesis left parenthesis, "y" minus "y" Subscript, 1 , Baseline , right parenthesis minus 0 equals 0−y2−y1x−x1+x2−x1y−y1−0=0
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Expression 16: 0 greater than or equal to left brace, "r" squared greater than or equal to left parenthesis, "x" minus "h" , right parenthesis squared plus left parenthesis, "y" minus "v" , right parenthesis squared : negative left parenthesis, "y" Subscript, 2 , Baseline minus "y" Subscript, 1 , Baseline , right parenthesis left parenthesis, "x" minus "x" Subscript, 1 , Baseline , right parenthesis plus left parenthesis, "x" Subscript, 2 , Baseline minus "x" Subscript, 1 , Baseline , right parenthesis left parenthesis, "y" minus "y" Subscript, 1 , Baseline , right parenthesis , right brace0≥r2≥x−h2+y−v2:−y2−y1x−x1+x2−x1y−y1
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Expression 17: "F" to the 0 power max left parenthesis, StartRoot, left parenthesis, "x" minus "H" , right parenthesis squared plus left parenthesis, "y" minus "V" , right parenthesis squared , EndRoot minus "R" , negative left parenthesis, "y" Subscript, 2 , Baseline minus "y" Subscript, 1 , Baseline , right parenthesis left parenthesis, "x" minus "x" Subscript, 1 , Baseline , right parenthesis plus left parenthesis, "x" Subscript, 2 , Baseline minus "x" Subscript, 1 , Baseline , right parenthesis left parenthesis, "y" minus "y" Subscript, 1 , Baseline , right parenthesis , right parenthesis less than or equal to 0F0maxx−H2+y−V2−R,−y2−y1x−x1+x2−x1y−y1≤0
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Expression 18: left parenthesis, "x" minus "H" , right parenthesis squared plus left parenthesis, "y" minus "V" , right parenthesis squared greater than or equal to "R" squared left brace, left parenthesis, "x" minus "h" , right parenthesis squared plus left parenthesis, "y" minus "v" , right parenthesis squared greater than or equal to "r" squared , right bracex−H2+y−V2≥R2x−h2+y−v2≥r2
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Expression 19: left parenthesis, "h" plus "r" cos "t" , "v" plus "r" sin "t" , right parenthesish+rcost,v+rsint
domain t Minimum: 00
less than or equal to "t" less than or equal to≤t≤
domain t Maximum: tauτ
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Expression 20: left parenthesis, "H" plus "R" cos "t" , "V" plus "R" sin "t" , right parenthesisH+Rcost,V+Rsint
domain t Minimum: 00
less than or equal to "t" less than or equal to≤t≤