(B,45)Y(P-r2)=cos4(x1-x2)+sin,(y-y2)+1.25cos(2-4-a)+15 0a-[s46-)+m25o低-4-a)+15-0 sin (2-a) Substitute d2-d-a=0 into cosp2(x1-x2)+sin42(by1-y2)+1.25cos(p2-4,-a1)+15=0 the constraint equation is → DW4,2)=cos2(x1-x2)+sin2by,-y2)+16.25=0 No Kind B, sip e R B R 8, C 6 ax 3 o1 6 7 92 3 31 Number of constraint equations:2 Φm(3)=x3-6 Φm3)=y3-31 No. Kind B siP s° R B, R C ax [01 12 9 aψ 4 -π/2 Number of constraint equations:2 Φ(4)=x4-12 D)=中4+    cos   sin   1.25 cos   15 2 2 1  2   2 x1  x2   2 y1  y 2   2  1   1  T P Q B u r r          0                  2 1 1 (1,2 ) 2 1 2 2 1 2 2 1 1 sin cos sin 1.25 cos 15    cf  x x  y y     Substitute 0  2  1   1  into cos   sin   1.25 cos   15 0  2 x1  x2   2 y1  y 2   2  1   1   the constraint equation is cos   sin   16 .25 0 2 1 2 2 1 2 (1,2 )  x  x  y  y   cf    No. Kind Bi P i s Q i s Ri  i B j P j s Q j s R j  j C 6 ax 3       0 0 6 7 ay 3       0 0 31 Number of constraint equations:2 6 3 (3)  x  ax  3 31 (3)  y  ay  No. Kind Bi P i s Q i s Ri  i B j P j s Q j s R j  j C 8 ax 4       0 0 12 9 a 4 /2 Number of constraint equations:2 12 4 ( 4 )  x  ax  2 4 (4)       a