r
(
φ
)
=
(
|
cos
(
m
φ
4
)
|
n
2
+
|
sin
(
m
φ
4
)
|
n
3
)
−
1
n
1
·
r
t
max
(
r
(
φ
)
)
Parameters
m
n
1
n
2
n
3
r
t
p
th
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r
φ
r
t