Expression 8: left parenthesis, "r" left parenthesis, "p" , "i" , right parenthesis . "x" , "r" left parenthesis, "p" , "i" , right parenthesis . "y" , right parenthesis with alpha equals "t"rp,i.x,rp,i.ywithα=t
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↑ Collision without threshold
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Visualisation
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Expression 20: "p" equals left parenthesis, negative 3.2 5 , 0.4 , right parenthesisp=−3.25,0.4