 Total duration of a circular planetary transit

The first-to-fourth-contact duration of an exoplanet transit by a spherical opaque planet of radius ratio $k=R_p/R_{\star }$ on a circular orbit. The transit impact parameter is $b=(a/R_{\star })\cos i$. The formula includes finite planet size and orbital curvature; it reduces to the transit duration of a small planet when $k\to 0$ and $R_{\star }/a\ll 1$. It describes contact geometry, not a uniquely specified light-curve threshold in the presence of limb darkening.