0.002 * [progress]: [Phase 1 of 3] Setting up. 0.002 * * * [progress]: [1/2] Preparing points 30.757 * * * [progress]: [2/2] Setting up program. 30.771 * [progress]: [Phase 2 of 3] Improving. 30.771 * * * * [progress]: [ 1 / 1 ] simplifiying candidate # 30.771 * [simplify]: Simplifying (+ lambda1 (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))))) 30.771 * * [simplify]: iters left: 6 (22 enodes) 30.781 * * [simplify]: iters left: 5 (80 enodes) 30.804 * * [simplify]: iters left: 4 (107 enodes) 30.834 * * [simplify]: iters left: 3 (125 enodes) 30.860 * * [simplify]: Extracting #0: cost 1 inf + 0 30.860 * * [simplify]: Extracting #1: cost 4 inf + 0 30.860 * * [simplify]: Extracting #2: cost 6 inf + 1 30.860 * * [simplify]: Extracting #3: cost 21 inf + 1 30.860 * * [simplify]: Extracting #4: cost 38 inf + 1 30.861 * * [simplify]: Extracting #5: cost 28 inf + 734 30.861 * * [simplify]: Extracting #6: cost 24 inf + 1889 30.861 * * [simplify]: Extracting #7: cost 25 inf + 2537 30.862 * * [simplify]: Extracting #8: cost 18 inf + 4766 30.863 * * [simplify]: Extracting #9: cost 12 inf + 7142 30.865 * * [simplify]: Extracting #10: cost 3 inf + 13414 30.867 * * [simplify]: Extracting #11: cost 0 inf + 16385 30.877 * * [simplify]: Extracting #12: cost 0 inf + 16340 30.881 * [simplify]: Simplified to (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1) 30.882 * [simplify]: Simplified (2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 30.911 * * [progress]: iteration 1 / 4 30.911 * * * [progress]: picking best candidate 30.924 * * * * [pick]: Picked # 30.924 * * * [progress]: localizing error 31.017 * * * [progress]: generating rewritten candidates 31.017 * * * * [progress]: [ 1 / 4 ] rewriting at (2 1 2) 31.031 * * * * [progress]: [ 2 / 4 ] rewriting at (2 1 2 2 2 1) 31.033 * * * * [progress]: [ 3 / 4 ] rewriting at (2 1 1) 31.083 * * * * [progress]: [ 4 / 4 ] rewriting at (2 1 2 2) 31.107 * * * [progress]: generating series expansions 31.107 * * * * [progress]: [ 1 / 4 ] generating series at (2 1 2) 31.108 * [backup-simplify]: Simplify (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) into (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) 31.108 * [approximate]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in (delta phi1 theta) around 0 31.108 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in theta 31.108 * [taylor]: Taking taylor expansion of (cos delta) in theta 31.108 * [taylor]: Taking taylor expansion of delta in theta 31.108 * [backup-simplify]: Simplify delta into delta 31.108 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.108 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.108 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 31.108 * [taylor]: Taking taylor expansion of (sin phi1) in theta 31.108 * [taylor]: Taking taylor expansion of phi1 in theta 31.108 * [backup-simplify]: Simplify phi1 into phi1 31.108 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.108 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.108 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 31.109 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 31.109 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 31.109 * [taylor]: Taking taylor expansion of (cos theta) in theta 31.109 * [taylor]: Taking taylor expansion of theta in theta 31.109 * [backup-simplify]: Simplify 0 into 0 31.109 * [backup-simplify]: Simplify 1 into 1 31.109 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 31.109 * [taylor]: Taking taylor expansion of (cos phi1) in theta 31.109 * [taylor]: Taking taylor expansion of phi1 in theta 31.109 * [backup-simplify]: Simplify phi1 into phi1 31.109 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.109 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.109 * [taylor]: Taking taylor expansion of (sin delta) in theta 31.109 * [taylor]: Taking taylor expansion of delta in theta 31.109 * [backup-simplify]: Simplify delta into delta 31.109 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.109 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.109 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 31.109 * [taylor]: Taking taylor expansion of (sin phi1) in theta 31.109 * [taylor]: Taking taylor expansion of phi1 in theta 31.109 * [backup-simplify]: Simplify phi1 into phi1 31.109 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.109 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.109 * [taylor]: Taking taylor expansion of (cos delta) in theta 31.109 * [taylor]: Taking taylor expansion of delta in theta 31.109 * [backup-simplify]: Simplify delta into delta 31.109 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.109 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.109 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in phi1 31.109 * [taylor]: Taking taylor expansion of (cos delta) in phi1 31.109 * [taylor]: Taking taylor expansion of delta in phi1 31.109 * [backup-simplify]: Simplify delta into delta 31.110 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.110 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.110 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 31.110 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.110 * [taylor]: Taking taylor expansion of phi1 in phi1 31.110 * [backup-simplify]: Simplify 0 into 0 31.110 * [backup-simplify]: Simplify 1 into 1 31.110 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 31.110 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 31.110 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 31.110 * [taylor]: Taking taylor expansion of (cos theta) in phi1 31.110 * [taylor]: Taking taylor expansion of theta in phi1 31.110 * [backup-simplify]: Simplify theta into theta 31.110 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.110 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.110 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 31.110 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 31.110 * [taylor]: Taking taylor expansion of phi1 in phi1 31.110 * [backup-simplify]: Simplify 0 into 0 31.110 * [backup-simplify]: Simplify 1 into 1 31.110 * [taylor]: Taking taylor expansion of (sin delta) in phi1 31.110 * [taylor]: Taking taylor expansion of delta in phi1 31.110 * [backup-simplify]: Simplify delta into delta 31.110 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.110 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.110 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 31.110 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.110 * [taylor]: Taking taylor expansion of phi1 in phi1 31.110 * [backup-simplify]: Simplify 0 into 0 31.110 * [backup-simplify]: Simplify 1 into 1 31.110 * [taylor]: Taking taylor expansion of (cos delta) in phi1 31.110 * [taylor]: Taking taylor expansion of delta in phi1 31.110 * [backup-simplify]: Simplify delta into delta 31.110 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.111 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.111 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in delta 31.111 * [taylor]: Taking taylor expansion of (cos delta) in delta 31.111 * [taylor]: Taking taylor expansion of delta in delta 31.111 * [backup-simplify]: Simplify 0 into 0 31.111 * [backup-simplify]: Simplify 1 into 1 31.111 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 31.111 * [taylor]: Taking taylor expansion of (sin phi1) in delta 31.111 * [taylor]: Taking taylor expansion of phi1 in delta 31.111 * [backup-simplify]: Simplify phi1 into phi1 31.111 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.111 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.111 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 31.111 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 31.111 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 31.111 * [taylor]: Taking taylor expansion of (cos theta) in delta 31.111 * [taylor]: Taking taylor expansion of theta in delta 31.111 * [backup-simplify]: Simplify theta into theta 31.111 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.111 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.111 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 31.111 * [taylor]: Taking taylor expansion of (cos phi1) in delta 31.111 * [taylor]: Taking taylor expansion of phi1 in delta 31.111 * [backup-simplify]: Simplify phi1 into phi1 31.111 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.111 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.111 * [taylor]: Taking taylor expansion of (sin delta) in delta 31.111 * [taylor]: Taking taylor expansion of delta in delta 31.111 * [backup-simplify]: Simplify 0 into 0 31.111 * [backup-simplify]: Simplify 1 into 1 31.111 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 31.111 * [taylor]: Taking taylor expansion of (sin phi1) in delta 31.111 * [taylor]: Taking taylor expansion of phi1 in delta 31.112 * [backup-simplify]: Simplify phi1 into phi1 31.112 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.112 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.112 * [taylor]: Taking taylor expansion of (cos delta) in delta 31.112 * [taylor]: Taking taylor expansion of delta in delta 31.112 * [backup-simplify]: Simplify 0 into 0 31.112 * [backup-simplify]: Simplify 1 into 1 31.112 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in delta 31.112 * [taylor]: Taking taylor expansion of (cos delta) in delta 31.112 * [taylor]: Taking taylor expansion of delta in delta 31.112 * [backup-simplify]: Simplify 0 into 0 31.112 * [backup-simplify]: Simplify 1 into 1 31.112 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 31.112 * [taylor]: Taking taylor expansion of (sin phi1) in delta 31.112 * [taylor]: Taking taylor expansion of phi1 in delta 31.112 * [backup-simplify]: Simplify phi1 into phi1 31.112 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.112 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.112 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 31.112 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 31.112 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 31.112 * [taylor]: Taking taylor expansion of (cos theta) in delta 31.112 * [taylor]: Taking taylor expansion of theta in delta 31.112 * [backup-simplify]: Simplify theta into theta 31.112 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.112 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.112 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 31.112 * [taylor]: Taking taylor expansion of (cos phi1) in delta 31.112 * [taylor]: Taking taylor expansion of phi1 in delta 31.112 * [backup-simplify]: Simplify phi1 into phi1 31.112 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.112 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.113 * [taylor]: Taking taylor expansion of (sin delta) in delta 31.113 * [taylor]: Taking taylor expansion of delta in delta 31.113 * [backup-simplify]: Simplify 0 into 0 31.113 * [backup-simplify]: Simplify 1 into 1 31.113 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 31.113 * [taylor]: Taking taylor expansion of (sin phi1) in delta 31.113 * [taylor]: Taking taylor expansion of phi1 in delta 31.113 * [backup-simplify]: Simplify phi1 into phi1 31.113 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.113 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.113 * [taylor]: Taking taylor expansion of (cos delta) in delta 31.113 * [taylor]: Taking taylor expansion of delta in delta 31.113 * [backup-simplify]: Simplify 0 into 0 31.113 * [backup-simplify]: Simplify 1 into 1 31.113 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 31.114 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 31.114 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 31.114 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 31.114 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 31.115 * [backup-simplify]: Simplify (- 0) into 0 31.115 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 31.115 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 31.115 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 31.116 * [backup-simplify]: Simplify (- 0) into 0 31.116 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 31.116 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 31.116 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 31.116 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 31.116 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 31.116 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 31.116 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 31.116 * [backup-simplify]: Simplify (+ 0 (sin phi1)) into (sin phi1) 31.116 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 31.116 * [backup-simplify]: Simplify (- (pow (sin phi1) 2)) into (- (pow (sin phi1) 2)) 31.117 * [backup-simplify]: Simplify (+ 1 (- (pow (sin phi1) 2))) into (- 1 (pow (sin phi1) 2)) 31.117 * [taylor]: Taking taylor expansion of (- 1 (pow (sin phi1) 2)) in phi1 31.117 * [taylor]: Taking taylor expansion of 1 in phi1 31.117 * [backup-simplify]: Simplify 1 into 1 31.117 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 31.117 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.117 * [taylor]: Taking taylor expansion of phi1 in phi1 31.117 * [backup-simplify]: Simplify 0 into 0 31.117 * [backup-simplify]: Simplify 1 into 1 31.118 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.118 * [backup-simplify]: Simplify (+ 1 0) into 1 31.118 * [taylor]: Taking taylor expansion of 1 in theta 31.118 * [backup-simplify]: Simplify 1 into 1 31.118 * [backup-simplify]: Simplify 1 into 1 31.119 * [backup-simplify]: Simplify (+ 0) into 0 31.120 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.120 * [backup-simplify]: Simplify (+ 0) into 0 31.121 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 31.122 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.122 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 31.123 * [backup-simplify]: Simplify (- 0) into 0 31.123 * [backup-simplify]: Simplify (+ 0 0) into 0 31.123 * [backup-simplify]: Simplify (+ (* (cos phi1) 1) (* 0 0)) into (cos phi1) 31.124 * [backup-simplify]: Simplify (+ 0) into 0 31.125 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 31.126 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.126 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 31.126 * [backup-simplify]: Simplify (- 0) into 0 31.127 * [backup-simplify]: Simplify (+ 0 0) into 0 31.127 * [backup-simplify]: Simplify (+ (* (cos theta) (cos phi1)) (* 0 0)) into (* (cos theta) (cos phi1)) 31.128 * [backup-simplify]: Simplify (+ 0) into 0 31.129 * [backup-simplify]: Simplify (+ 0) into 0 31.129 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 31.130 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.131 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 31.132 * [backup-simplify]: Simplify (+ 0 0) into 0 31.132 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 31.132 * [backup-simplify]: Simplify (+ (* (cos theta) (cos phi1)) 0) into (* (cos theta) (cos phi1)) 31.133 * [backup-simplify]: Simplify (+ 0) into 0 31.133 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 31.134 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.135 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 31.135 * [backup-simplify]: Simplify (+ 0 0) into 0 31.135 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos theta) (cos phi1))) (* 0 (sin phi1))) into (* (sin phi1) (* (cos theta) (cos phi1))) 31.135 * [backup-simplify]: Simplify (- (* (sin phi1) (* (cos theta) (cos phi1)))) into (- (* (sin phi1) (* (cos theta) (cos phi1)))) 31.136 * [backup-simplify]: Simplify (+ 0 (- (* (sin phi1) (* (cos theta) (cos phi1))))) into (- (* (sin phi1) (* (cos theta) (cos phi1)))) 31.136 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (* (cos theta) (cos phi1)))) in phi1 31.136 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos theta) (cos phi1))) in phi1 31.136 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.136 * [taylor]: Taking taylor expansion of phi1 in phi1 31.136 * [backup-simplify]: Simplify 0 into 0 31.136 * [backup-simplify]: Simplify 1 into 1 31.136 * [taylor]: Taking taylor expansion of (* (cos theta) (cos phi1)) in phi1 31.136 * [taylor]: Taking taylor expansion of (cos theta) in phi1 31.136 * [taylor]: Taking taylor expansion of theta in phi1 31.136 * [backup-simplify]: Simplify theta into theta 31.136 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.136 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.136 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 31.136 * [taylor]: Taking taylor expansion of phi1 in phi1 31.136 * [backup-simplify]: Simplify 0 into 0 31.136 * [backup-simplify]: Simplify 1 into 1 31.136 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 31.136 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 31.137 * [backup-simplify]: Simplify (- 0) into 0 31.137 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 31.137 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 31.137 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 31.137 * [backup-simplify]: Simplify (- 0) into 0 31.137 * [taylor]: Taking taylor expansion of 0 in theta 31.137 * [backup-simplify]: Simplify 0 into 0 31.137 * [backup-simplify]: Simplify 0 into 0 31.138 * [backup-simplify]: Simplify (+ 0 0) into 0 31.138 * [taylor]: Taking taylor expansion of 0 in theta 31.138 * [backup-simplify]: Simplify 0 into 0 31.138 * [backup-simplify]: Simplify 0 into 0 31.138 * [backup-simplify]: Simplify 0 into 0 31.139 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 31.140 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.141 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.142 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 31.142 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.143 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 31.143 * [backup-simplify]: Simplify (- 0) into 0 31.147 * [backup-simplify]: Simplify (+ 0 0) into 0 31.148 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 1) (* 0 0))) into 0 31.149 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.150 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 31.151 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.151 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 31.152 * [backup-simplify]: Simplify (- 0) into 0 31.152 * [backup-simplify]: Simplify (+ 0 0) into 0 31.153 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 (cos phi1)) (* 0 0))) into 0 31.154 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 31.155 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.156 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 31.156 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.157 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 31.157 * [backup-simplify]: Simplify (+ 0 0) into 0 31.158 * [backup-simplify]: Simplify (+ (* (sin phi1) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (sin phi1))) 31.158 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (sin phi1)))) into (- (* 1/2 (sin phi1))) 31.159 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.160 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 31.161 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.161 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 31.162 * [backup-simplify]: Simplify (+ 0 0) into 0 31.162 * [backup-simplify]: Simplify (+ (* (sin phi1) (- (* 1/2 (sin phi1)))) (+ (* 0 (* (cos theta) (cos phi1))) (* 0 (sin phi1)))) into (- (* 1/2 (pow (sin phi1) 2))) 31.162 * [backup-simplify]: Simplify (- (- (* 1/2 (pow (sin phi1) 2)))) into (* 1/2 (pow (sin phi1) 2)) 31.163 * [backup-simplify]: Simplify (+ -1/2 (* 1/2 (pow (sin phi1) 2))) into (- (* 1/2 (pow (sin phi1) 2)) 1/2) 31.163 * [taylor]: Taking taylor expansion of (- (* 1/2 (pow (sin phi1) 2)) 1/2) in phi1 31.163 * [taylor]: Taking taylor expansion of (* 1/2 (pow (sin phi1) 2)) in phi1 31.163 * [taylor]: Taking taylor expansion of 1/2 in phi1 31.163 * [backup-simplify]: Simplify 1/2 into 1/2 31.163 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 31.163 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.163 * [taylor]: Taking taylor expansion of phi1 in phi1 31.163 * [backup-simplify]: Simplify 0 into 0 31.163 * [backup-simplify]: Simplify 1 into 1 31.164 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.164 * [taylor]: Taking taylor expansion of 1/2 in phi1 31.164 * [backup-simplify]: Simplify 1/2 into 1/2 31.164 * [backup-simplify]: Simplify (- 1/2) into -1/2 31.164 * [backup-simplify]: Simplify (+ 0 -1/2) into -1/2 31.164 * [taylor]: Taking taylor expansion of -1/2 in theta 31.165 * [backup-simplify]: Simplify -1/2 into -1/2 31.165 * [backup-simplify]: Simplify -1/2 into -1/2 31.165 * [backup-simplify]: Simplify (+ 0) into 0 31.165 * [backup-simplify]: Simplify (+ 0) into 0 31.166 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 31.167 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.167 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 31.168 * [backup-simplify]: Simplify (- 0) into 0 31.168 * [backup-simplify]: Simplify (+ 0 0) into 0 31.169 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 31.170 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.170 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos theta))) into (cos theta) 31.170 * [backup-simplify]: Simplify (- (cos theta)) into (- (cos theta)) 31.170 * [taylor]: Taking taylor expansion of (- (cos theta)) in theta 31.170 * [taylor]: Taking taylor expansion of (cos theta) in theta 31.170 * [taylor]: Taking taylor expansion of theta in theta 31.170 * [backup-simplify]: Simplify 0 into 0 31.170 * [backup-simplify]: Simplify 1 into 1 31.171 * [backup-simplify]: Simplify (- 1) into -1 31.171 * [backup-simplify]: Simplify -1 into -1 31.171 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* phi1 delta))) (+ (* -1/2 (pow (* 1 (* 1 delta)) 2)) 1)) into (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) 31.171 * [backup-simplify]: Simplify (- (cos (/ 1 delta)) (* (sin (/ 1 phi1)) (sin (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))))) into (- (cos (/ 1 delta)) (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) 31.171 * [approximate]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) in (delta phi1 theta) around 0 31.172 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) in theta 31.172 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 31.172 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.172 * [taylor]: Taking taylor expansion of delta in theta 31.172 * [backup-simplify]: Simplify delta into delta 31.172 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.172 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.172 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.172 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in theta 31.172 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 31.172 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 31.172 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 31.172 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 31.172 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 31.172 * [taylor]: Taking taylor expansion of theta in theta 31.172 * [backup-simplify]: Simplify 0 into 0 31.172 * [backup-simplify]: Simplify 1 into 1 31.173 * [backup-simplify]: Simplify (/ 1 1) into 1 31.173 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.173 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 31.173 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 31.173 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.173 * [taylor]: Taking taylor expansion of delta in theta 31.173 * [backup-simplify]: Simplify delta into delta 31.173 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.173 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.173 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.173 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 31.173 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.173 * [taylor]: Taking taylor expansion of phi1 in theta 31.173 * [backup-simplify]: Simplify phi1 into phi1 31.173 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.173 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.173 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.173 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 31.173 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 31.174 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.174 * [taylor]: Taking taylor expansion of phi1 in theta 31.174 * [backup-simplify]: Simplify phi1 into phi1 31.174 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.174 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.174 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.174 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 31.174 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.174 * [taylor]: Taking taylor expansion of delta in theta 31.174 * [backup-simplify]: Simplify delta into delta 31.174 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.174 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.174 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.174 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 31.174 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.174 * [taylor]: Taking taylor expansion of phi1 in theta 31.174 * [backup-simplify]: Simplify phi1 into phi1 31.174 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.174 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.174 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.174 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) in phi1 31.174 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 31.174 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.174 * [taylor]: Taking taylor expansion of delta in phi1 31.174 * [backup-simplify]: Simplify delta into delta 31.175 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.175 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.175 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.175 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in phi1 31.175 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 31.175 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 31.175 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 31.175 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 31.175 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 31.175 * [taylor]: Taking taylor expansion of theta in phi1 31.175 * [backup-simplify]: Simplify theta into theta 31.175 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.175 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.175 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.175 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 31.175 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 31.175 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.175 * [taylor]: Taking taylor expansion of delta in phi1 31.175 * [backup-simplify]: Simplify delta into delta 31.175 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.175 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.175 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.175 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 31.176 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.176 * [taylor]: Taking taylor expansion of phi1 in phi1 31.176 * [backup-simplify]: Simplify 0 into 0 31.176 * [backup-simplify]: Simplify 1 into 1 31.176 * [backup-simplify]: Simplify (/ 1 1) into 1 31.176 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.176 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 31.176 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 31.176 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.176 * [taylor]: Taking taylor expansion of phi1 in phi1 31.176 * [backup-simplify]: Simplify 0 into 0 31.176 * [backup-simplify]: Simplify 1 into 1 31.177 * [backup-simplify]: Simplify (/ 1 1) into 1 31.177 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.177 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 31.177 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.177 * [taylor]: Taking taylor expansion of delta in phi1 31.177 * [backup-simplify]: Simplify delta into delta 31.177 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.177 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.177 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.177 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 31.177 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.177 * [taylor]: Taking taylor expansion of phi1 in phi1 31.177 * [backup-simplify]: Simplify 0 into 0 31.177 * [backup-simplify]: Simplify 1 into 1 31.178 * [backup-simplify]: Simplify (/ 1 1) into 1 31.178 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.178 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) in delta 31.178 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 31.178 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.178 * [taylor]: Taking taylor expansion of delta in delta 31.178 * [backup-simplify]: Simplify 0 into 0 31.178 * [backup-simplify]: Simplify 1 into 1 31.178 * [backup-simplify]: Simplify (/ 1 1) into 1 31.178 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.178 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in delta 31.178 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 31.178 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 31.178 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 31.178 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 31.179 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 31.179 * [taylor]: Taking taylor expansion of theta in delta 31.179 * [backup-simplify]: Simplify theta into theta 31.179 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.179 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.179 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.179 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 31.179 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 31.179 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.179 * [taylor]: Taking taylor expansion of delta in delta 31.179 * [backup-simplify]: Simplify 0 into 0 31.179 * [backup-simplify]: Simplify 1 into 1 31.179 * [backup-simplify]: Simplify (/ 1 1) into 1 31.179 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.179 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 31.180 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.180 * [taylor]: Taking taylor expansion of phi1 in delta 31.180 * [backup-simplify]: Simplify phi1 into phi1 31.180 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.180 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.180 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.180 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 31.180 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 31.180 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.180 * [taylor]: Taking taylor expansion of phi1 in delta 31.180 * [backup-simplify]: Simplify phi1 into phi1 31.180 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.180 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.180 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.180 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 31.180 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.180 * [taylor]: Taking taylor expansion of delta in delta 31.180 * [backup-simplify]: Simplify 0 into 0 31.180 * [backup-simplify]: Simplify 1 into 1 31.181 * [backup-simplify]: Simplify (/ 1 1) into 1 31.181 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.181 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 31.181 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.181 * [taylor]: Taking taylor expansion of phi1 in delta 31.181 * [backup-simplify]: Simplify phi1 into phi1 31.181 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.181 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.181 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.181 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) in delta 31.181 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 31.181 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.181 * [taylor]: Taking taylor expansion of delta in delta 31.181 * [backup-simplify]: Simplify 0 into 0 31.181 * [backup-simplify]: Simplify 1 into 1 31.182 * [backup-simplify]: Simplify (/ 1 1) into 1 31.182 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.182 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in delta 31.182 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 31.182 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 31.182 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 31.182 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 31.182 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 31.182 * [taylor]: Taking taylor expansion of theta in delta 31.182 * [backup-simplify]: Simplify theta into theta 31.182 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.182 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.182 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.182 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 31.182 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 31.182 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.182 * [taylor]: Taking taylor expansion of delta in delta 31.182 * [backup-simplify]: Simplify 0 into 0 31.182 * [backup-simplify]: Simplify 1 into 1 31.183 * [backup-simplify]: Simplify (/ 1 1) into 1 31.183 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.183 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 31.183 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.183 * [taylor]: Taking taylor expansion of phi1 in delta 31.183 * [backup-simplify]: Simplify phi1 into phi1 31.183 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.183 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.183 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.183 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 31.183 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 31.183 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.183 * [taylor]: Taking taylor expansion of phi1 in delta 31.183 * [backup-simplify]: Simplify phi1 into phi1 31.183 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.184 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.184 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.184 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 31.184 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.184 * [taylor]: Taking taylor expansion of delta in delta 31.184 * [backup-simplify]: Simplify 0 into 0 31.184 * [backup-simplify]: Simplify 1 into 1 31.184 * [backup-simplify]: Simplify (/ 1 1) into 1 31.184 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.184 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 31.184 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.185 * [taylor]: Taking taylor expansion of phi1 in delta 31.185 * [backup-simplify]: Simplify phi1 into phi1 31.185 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.185 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.185 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.185 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 31.185 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 31.185 * [backup-simplify]: Simplify (- 0) into 0 31.186 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 31.186 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 31.186 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 31.186 * [backup-simplify]: Simplify (- 0) into 0 31.186 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 31.186 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (cos (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 delta))) 31.186 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 31.187 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 31.187 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 31.187 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 31.187 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 31.187 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) into (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 31.187 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 31.187 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 31.187 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 31.188 * [backup-simplify]: Simplify (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) into (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) 31.188 * [backup-simplify]: Simplify (- (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) into (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 31.188 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))))) into (- (cos (/ 1 delta)) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 31.188 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) in phi1 31.188 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 31.188 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.188 * [taylor]: Taking taylor expansion of delta in phi1 31.189 * [backup-simplify]: Simplify delta into delta 31.189 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.189 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.189 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.189 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) in phi1 31.189 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in phi1 31.189 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 31.189 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.189 * [taylor]: Taking taylor expansion of phi1 in phi1 31.189 * [backup-simplify]: Simplify 0 into 0 31.189 * [backup-simplify]: Simplify 1 into 1 31.189 * [backup-simplify]: Simplify (/ 1 1) into 1 31.189 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.189 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in phi1 31.189 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 31.189 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.189 * [taylor]: Taking taylor expansion of phi1 in phi1 31.189 * [backup-simplify]: Simplify 0 into 0 31.189 * [backup-simplify]: Simplify 1 into 1 31.190 * [backup-simplify]: Simplify (/ 1 1) into 1 31.190 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.190 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in phi1 31.190 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 31.190 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 31.190 * [taylor]: Taking taylor expansion of theta in phi1 31.190 * [backup-simplify]: Simplify theta into theta 31.190 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.190 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.190 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.190 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 31.190 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.190 * [taylor]: Taking taylor expansion of delta in phi1 31.190 * [backup-simplify]: Simplify delta into delta 31.190 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.190 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.190 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.190 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in phi1 31.190 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 31.190 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.190 * [taylor]: Taking taylor expansion of delta in phi1 31.190 * [backup-simplify]: Simplify delta into delta 31.190 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.190 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.190 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.190 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 31.190 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 31.190 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.190 * [taylor]: Taking taylor expansion of phi1 in phi1 31.190 * [backup-simplify]: Simplify 0 into 0 31.190 * [backup-simplify]: Simplify 1 into 1 31.191 * [backup-simplify]: Simplify (/ 1 1) into 1 31.191 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.191 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 31.191 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 31.191 * [backup-simplify]: Simplify (- 0) into 0 31.191 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 31.191 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 31.191 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 31.191 * [backup-simplify]: Simplify (- 0) into 0 31.191 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 31.192 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 31.192 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 31.192 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 31.192 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 31.192 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) 31.192 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) into (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 31.192 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 31.192 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 31.192 * [backup-simplify]: Simplify (- 0) into 0 31.192 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 31.192 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 31.193 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 31.193 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 31.193 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 31.194 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))))) into (- (cos (/ 1 delta)) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 31.194 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) in theta 31.194 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 31.194 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.194 * [taylor]: Taking taylor expansion of delta in theta 31.194 * [backup-simplify]: Simplify delta into delta 31.194 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.194 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.194 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.194 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) in theta 31.194 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) in theta 31.194 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 31.194 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.194 * [taylor]: Taking taylor expansion of phi1 in theta 31.194 * [backup-simplify]: Simplify phi1 into phi1 31.194 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.194 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.194 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.194 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) in theta 31.194 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 31.194 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.194 * [taylor]: Taking taylor expansion of delta in theta 31.194 * [backup-simplify]: Simplify delta into delta 31.194 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.194 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.194 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.194 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 phi1))) in theta 31.194 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 31.194 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 31.194 * [taylor]: Taking taylor expansion of theta in theta 31.194 * [backup-simplify]: Simplify 0 into 0 31.194 * [backup-simplify]: Simplify 1 into 1 31.195 * [backup-simplify]: Simplify (/ 1 1) into 1 31.195 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.195 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 31.195 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.195 * [taylor]: Taking taylor expansion of phi1 in theta 31.195 * [backup-simplify]: Simplify phi1 into phi1 31.195 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.195 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.195 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.195 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in theta 31.195 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 31.195 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.195 * [taylor]: Taking taylor expansion of delta in theta 31.195 * [backup-simplify]: Simplify delta into delta 31.195 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.195 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.195 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.195 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 31.195 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 31.195 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.195 * [taylor]: Taking taylor expansion of phi1 in theta 31.195 * [backup-simplify]: Simplify phi1 into phi1 31.195 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.195 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.195 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.195 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 31.196 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 31.196 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 31.196 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 31.196 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 31.196 * [backup-simplify]: Simplify (- 0) into 0 31.196 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 31.196 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 31.196 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 31.196 * [backup-simplify]: Simplify (- 0) into 0 31.197 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 31.197 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 31.197 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 31.197 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 31.197 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 31.197 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 31.197 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 31.197 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 phi1))) into (* (cos (/ 1 theta)) (sin (/ 1 phi1))) 31.197 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) into (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 31.197 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 31.197 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 31.197 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 31.198 * [backup-simplify]: Simplify (- 0) into 0 31.198 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 31.198 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 31.198 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 31.198 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 31.198 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (+ (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 31.199 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))))) into (- (cos (/ 1 delta)) (+ (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 31.199 * [backup-simplify]: Simplify (- (cos (/ 1 delta)) (+ (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) into (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 31.199 * [backup-simplify]: Simplify (+ 0) into 0 31.200 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 31.200 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.200 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.201 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 31.201 * [backup-simplify]: Simplify (+ 0 0) into 0 31.201 * [backup-simplify]: Simplify (+ 0) into 0 31.202 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 31.202 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.202 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.203 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 31.203 * [backup-simplify]: Simplify (- 0) into 0 31.203 * [backup-simplify]: Simplify (+ 0 0) into 0 31.203 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 31.203 * [backup-simplify]: Simplify (+ 0) into 0 31.204 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 31.204 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 31.204 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.205 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 31.205 * [backup-simplify]: Simplify (- 0) into 0 31.205 * [backup-simplify]: Simplify (+ 0 0) into 0 31.205 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta))))) into 0 31.205 * [backup-simplify]: Simplify (+ 0) into 0 31.206 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 31.206 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.206 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.207 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 31.207 * [backup-simplify]: Simplify (+ 0 0) into 0 31.207 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 31.207 * [backup-simplify]: Simplify (+ 0 0) into 0 31.207 * [backup-simplify]: Simplify (+ (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 31.208 * [backup-simplify]: Simplify (- 0) into 0 31.208 * [backup-simplify]: Simplify (+ 0 0) into 0 31.208 * [taylor]: Taking taylor expansion of 0 in phi1 31.208 * [backup-simplify]: Simplify 0 into 0 31.208 * [taylor]: Taking taylor expansion of 0 in theta 31.208 * [backup-simplify]: Simplify 0 into 0 31.208 * [backup-simplify]: Simplify 0 into 0 31.208 * [backup-simplify]: Simplify (+ 0) into 0 31.209 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 31.209 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.209 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.209 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 31.210 * [backup-simplify]: Simplify (- 0) into 0 31.210 * [backup-simplify]: Simplify (+ 0 0) into 0 31.210 * [backup-simplify]: Simplify (+ 0) into 0 31.210 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 31.211 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.211 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.211 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 31.212 * [backup-simplify]: Simplify (+ 0 0) into 0 31.212 * [backup-simplify]: Simplify (+ 0) into 0 31.212 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 31.212 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 31.213 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.213 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 31.213 * [backup-simplify]: Simplify (- 0) into 0 31.213 * [backup-simplify]: Simplify (+ 0 0) into 0 31.214 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 31.214 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 31.214 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))))) into 0 31.214 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 31.214 * [backup-simplify]: Simplify (+ 0) into 0 31.214 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 31.215 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.215 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.215 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 31.216 * [backup-simplify]: Simplify (- 0) into 0 31.216 * [backup-simplify]: Simplify (+ 0 0) into 0 31.216 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 31.216 * [backup-simplify]: Simplify (+ 0 0) into 0 31.216 * [backup-simplify]: Simplify (- 0) into 0 31.217 * [backup-simplify]: Simplify (+ 0 0) into 0 31.217 * [taylor]: Taking taylor expansion of 0 in theta 31.217 * [backup-simplify]: Simplify 0 into 0 31.217 * [backup-simplify]: Simplify 0 into 0 31.217 * [backup-simplify]: Simplify (+ 0) into 0 31.217 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 31.217 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.218 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.218 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 31.218 * [backup-simplify]: Simplify (- 0) into 0 31.219 * [backup-simplify]: Simplify (+ 0 0) into 0 31.219 * [backup-simplify]: Simplify (+ 0) into 0 31.219 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 31.219 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.220 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.220 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 31.220 * [backup-simplify]: Simplify (+ 0 0) into 0 31.220 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 31.221 * [backup-simplify]: Simplify (+ 0) into 0 31.221 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 31.221 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.221 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.222 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 31.222 * [backup-simplify]: Simplify (+ 0 0) into 0 31.222 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) into 0 31.222 * [backup-simplify]: Simplify (+ 0) into 0 31.223 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 31.223 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.223 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.224 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 31.224 * [backup-simplify]: Simplify (- 0) into 0 31.224 * [backup-simplify]: Simplify (+ 0 0) into 0 31.224 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 31.224 * [backup-simplify]: Simplify (+ 0) into 0 31.225 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 31.225 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.225 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.226 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 31.226 * [backup-simplify]: Simplify (+ 0 0) into 0 31.226 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 31.226 * [backup-simplify]: Simplify (+ 0) into 0 31.227 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 31.227 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.227 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.227 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 31.228 * [backup-simplify]: Simplify (- 0) into 0 31.228 * [backup-simplify]: Simplify (+ 0 0) into 0 31.228 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 31.228 * [backup-simplify]: Simplify (+ 0 0) into 0 31.228 * [backup-simplify]: Simplify (- 0) into 0 31.229 * [backup-simplify]: Simplify (+ 0 0) into 0 31.229 * [backup-simplify]: Simplify 0 into 0 31.229 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.230 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.230 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.230 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.231 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.231 * [backup-simplify]: Simplify (+ 0 0) into 0 31.231 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.232 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.232 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.232 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.233 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.233 * [backup-simplify]: Simplify (- 0) into 0 31.233 * [backup-simplify]: Simplify (+ 0 0) into 0 31.234 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 31.234 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.235 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.235 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.235 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.236 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.236 * [backup-simplify]: Simplify (- 0) into 0 31.236 * [backup-simplify]: Simplify (+ 0 0) into 0 31.237 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta)))))) into 0 31.237 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.238 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.238 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.238 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.239 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.239 * [backup-simplify]: Simplify (+ 0 0) into 0 31.239 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 31.239 * [backup-simplify]: Simplify (+ 0 0) into 0 31.240 * [backup-simplify]: Simplify (+ (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 31.241 * [backup-simplify]: Simplify (- 0) into 0 31.241 * [backup-simplify]: Simplify (+ 0 0) into 0 31.241 * [taylor]: Taking taylor expansion of 0 in phi1 31.241 * [backup-simplify]: Simplify 0 into 0 31.241 * [taylor]: Taking taylor expansion of 0 in theta 31.241 * [backup-simplify]: Simplify 0 into 0 31.241 * [backup-simplify]: Simplify 0 into 0 31.241 * [taylor]: Taking taylor expansion of 0 in theta 31.241 * [backup-simplify]: Simplify 0 into 0 31.241 * [backup-simplify]: Simplify 0 into 0 31.242 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.243 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.243 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.244 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.245 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.245 * [backup-simplify]: Simplify (- 0) into 0 31.245 * [backup-simplify]: Simplify (+ 0 0) into 0 31.246 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.247 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.247 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.248 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.248 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.248 * [backup-simplify]: Simplify (+ 0 0) into 0 31.249 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.249 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.250 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.250 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.250 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.251 * [backup-simplify]: Simplify (- 0) into 0 31.251 * [backup-simplify]: Simplify (+ 0 0) into 0 31.251 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 31.252 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 31.252 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))))) into 0 31.252 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 31.253 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.253 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.253 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.254 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.254 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.254 * [backup-simplify]: Simplify (- 0) into 0 31.255 * [backup-simplify]: Simplify (+ 0 0) into 0 31.255 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 1 phi1)) 2)))) into 0 31.255 * [backup-simplify]: Simplify (+ 0 0) into 0 31.256 * [backup-simplify]: Simplify (- 0) into 0 31.256 * [backup-simplify]: Simplify (+ 0 0) into 0 31.256 * [taylor]: Taking taylor expansion of 0 in theta 31.256 * [backup-simplify]: Simplify 0 into 0 31.256 * [backup-simplify]: Simplify 0 into 0 31.256 * [backup-simplify]: Simplify (- (cos (/ 1 (/ 1 delta))) (+ (* (sin (/ 1 (/ 1 delta))) (* (sin (/ 1 (/ 1 phi1))) (* (cos (/ 1 (/ 1 theta))) (cos (/ 1 (/ 1 phi1)))))) (* (pow (sin (/ 1 (/ 1 phi1))) 2) (cos (/ 1 (/ 1 delta)))))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (sin phi1) (* (cos theta) (cos phi1)))))) 31.257 * [backup-simplify]: Simplify (- (cos (/ 1 (- delta))) (* (sin (/ 1 (- phi1))) (sin (asin (fma (cos (/ 1 (- theta))) (* (cos (/ 1 (- phi1))) (sin (/ 1 (- delta)))) (* (cos (/ 1 (- delta))) (sin (/ 1 (- phi1))))))))) into (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) 31.257 * [approximate]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in (delta phi1 theta) around 0 31.257 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in theta 31.257 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 31.257 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.257 * [taylor]: Taking taylor expansion of -1 in theta 31.257 * [backup-simplify]: Simplify -1 into -1 31.257 * [taylor]: Taking taylor expansion of delta in theta 31.257 * [backup-simplify]: Simplify delta into delta 31.257 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.257 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.257 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.257 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 31.257 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 31.257 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.257 * [taylor]: Taking taylor expansion of -1 in theta 31.257 * [backup-simplify]: Simplify -1 into -1 31.257 * [taylor]: Taking taylor expansion of phi1 in theta 31.257 * [backup-simplify]: Simplify phi1 into phi1 31.257 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.257 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.257 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.257 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 31.257 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 31.257 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 31.257 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 31.257 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 31.257 * [taylor]: Taking taylor expansion of -1 in theta 31.257 * [backup-simplify]: Simplify -1 into -1 31.257 * [taylor]: Taking taylor expansion of theta in theta 31.257 * [backup-simplify]: Simplify 0 into 0 31.257 * [backup-simplify]: Simplify 1 into 1 31.258 * [backup-simplify]: Simplify (/ -1 1) into -1 31.258 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.258 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 31.258 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 31.258 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.258 * [taylor]: Taking taylor expansion of -1 in theta 31.258 * [backup-simplify]: Simplify -1 into -1 31.258 * [taylor]: Taking taylor expansion of phi1 in theta 31.258 * [backup-simplify]: Simplify phi1 into phi1 31.258 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.258 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.258 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.258 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 31.258 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.258 * [taylor]: Taking taylor expansion of -1 in theta 31.258 * [backup-simplify]: Simplify -1 into -1 31.258 * [taylor]: Taking taylor expansion of delta in theta 31.258 * [backup-simplify]: Simplify delta into delta 31.258 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.258 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.258 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.258 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 31.258 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 31.258 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.258 * [taylor]: Taking taylor expansion of -1 in theta 31.258 * [backup-simplify]: Simplify -1 into -1 31.258 * [taylor]: Taking taylor expansion of phi1 in theta 31.258 * [backup-simplify]: Simplify phi1 into phi1 31.258 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.258 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.258 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.258 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 31.258 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.258 * [taylor]: Taking taylor expansion of -1 in theta 31.258 * [backup-simplify]: Simplify -1 into -1 31.258 * [taylor]: Taking taylor expansion of delta in theta 31.258 * [backup-simplify]: Simplify delta into delta 31.258 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.258 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.258 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.259 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in phi1 31.259 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 31.259 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.259 * [taylor]: Taking taylor expansion of -1 in phi1 31.259 * [backup-simplify]: Simplify -1 into -1 31.259 * [taylor]: Taking taylor expansion of delta in phi1 31.259 * [backup-simplify]: Simplify delta into delta 31.259 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.259 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.259 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.259 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 31.259 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 31.259 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.259 * [taylor]: Taking taylor expansion of -1 in phi1 31.259 * [backup-simplify]: Simplify -1 into -1 31.259 * [taylor]: Taking taylor expansion of phi1 in phi1 31.259 * [backup-simplify]: Simplify 0 into 0 31.259 * [backup-simplify]: Simplify 1 into 1 31.259 * [backup-simplify]: Simplify (/ -1 1) into -1 31.259 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.259 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 31.259 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 31.259 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 31.259 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 31.259 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 31.259 * [taylor]: Taking taylor expansion of -1 in phi1 31.259 * [backup-simplify]: Simplify -1 into -1 31.259 * [taylor]: Taking taylor expansion of theta in phi1 31.259 * [backup-simplify]: Simplify theta into theta 31.259 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.259 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.260 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.260 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 31.260 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 31.260 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.260 * [taylor]: Taking taylor expansion of -1 in phi1 31.260 * [backup-simplify]: Simplify -1 into -1 31.260 * [taylor]: Taking taylor expansion of phi1 in phi1 31.260 * [backup-simplify]: Simplify 0 into 0 31.260 * [backup-simplify]: Simplify 1 into 1 31.262 * [backup-simplify]: Simplify (/ -1 1) into -1 31.262 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.262 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 31.262 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.262 * [taylor]: Taking taylor expansion of -1 in phi1 31.262 * [backup-simplify]: Simplify -1 into -1 31.262 * [taylor]: Taking taylor expansion of delta in phi1 31.262 * [backup-simplify]: Simplify delta into delta 31.262 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.262 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.262 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.262 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 31.262 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 31.262 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.262 * [taylor]: Taking taylor expansion of -1 in phi1 31.262 * [backup-simplify]: Simplify -1 into -1 31.262 * [taylor]: Taking taylor expansion of phi1 in phi1 31.262 * [backup-simplify]: Simplify 0 into 0 31.262 * [backup-simplify]: Simplify 1 into 1 31.263 * [backup-simplify]: Simplify (/ -1 1) into -1 31.263 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.263 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 31.263 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.263 * [taylor]: Taking taylor expansion of -1 in phi1 31.263 * [backup-simplify]: Simplify -1 into -1 31.263 * [taylor]: Taking taylor expansion of delta in phi1 31.263 * [backup-simplify]: Simplify delta into delta 31.263 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.263 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.263 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.263 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in delta 31.263 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 31.263 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.263 * [taylor]: Taking taylor expansion of -1 in delta 31.263 * [backup-simplify]: Simplify -1 into -1 31.263 * [taylor]: Taking taylor expansion of delta in delta 31.263 * [backup-simplify]: Simplify 0 into 0 31.263 * [backup-simplify]: Simplify 1 into 1 31.263 * [backup-simplify]: Simplify (/ -1 1) into -1 31.263 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.263 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 31.263 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 31.263 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.263 * [taylor]: Taking taylor expansion of -1 in delta 31.263 * [backup-simplify]: Simplify -1 into -1 31.263 * [taylor]: Taking taylor expansion of phi1 in delta 31.263 * [backup-simplify]: Simplify phi1 into phi1 31.264 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.264 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.264 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.264 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 31.264 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 31.264 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 31.264 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 31.264 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 31.264 * [taylor]: Taking taylor expansion of -1 in delta 31.264 * [backup-simplify]: Simplify -1 into -1 31.264 * [taylor]: Taking taylor expansion of theta in delta 31.264 * [backup-simplify]: Simplify theta into theta 31.264 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.264 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.264 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.264 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 31.264 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 31.264 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.264 * [taylor]: Taking taylor expansion of -1 in delta 31.264 * [backup-simplify]: Simplify -1 into -1 31.264 * [taylor]: Taking taylor expansion of phi1 in delta 31.264 * [backup-simplify]: Simplify phi1 into phi1 31.264 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.264 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.264 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.264 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 31.264 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.264 * [taylor]: Taking taylor expansion of -1 in delta 31.264 * [backup-simplify]: Simplify -1 into -1 31.264 * [taylor]: Taking taylor expansion of delta in delta 31.264 * [backup-simplify]: Simplify 0 into 0 31.264 * [backup-simplify]: Simplify 1 into 1 31.265 * [backup-simplify]: Simplify (/ -1 1) into -1 31.265 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.265 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 31.265 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 31.265 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.265 * [taylor]: Taking taylor expansion of -1 in delta 31.265 * [backup-simplify]: Simplify -1 into -1 31.265 * [taylor]: Taking taylor expansion of phi1 in delta 31.265 * [backup-simplify]: Simplify phi1 into phi1 31.265 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.265 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.265 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.265 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 31.265 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.265 * [taylor]: Taking taylor expansion of -1 in delta 31.265 * [backup-simplify]: Simplify -1 into -1 31.265 * [taylor]: Taking taylor expansion of delta in delta 31.265 * [backup-simplify]: Simplify 0 into 0 31.265 * [backup-simplify]: Simplify 1 into 1 31.265 * [backup-simplify]: Simplify (/ -1 1) into -1 31.265 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.265 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in delta 31.265 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 31.265 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.265 * [taylor]: Taking taylor expansion of -1 in delta 31.265 * [backup-simplify]: Simplify -1 into -1 31.265 * [taylor]: Taking taylor expansion of delta in delta 31.265 * [backup-simplify]: Simplify 0 into 0 31.265 * [backup-simplify]: Simplify 1 into 1 31.266 * [backup-simplify]: Simplify (/ -1 1) into -1 31.266 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.266 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 31.266 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 31.266 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.266 * [taylor]: Taking taylor expansion of -1 in delta 31.266 * [backup-simplify]: Simplify -1 into -1 31.266 * [taylor]: Taking taylor expansion of phi1 in delta 31.266 * [backup-simplify]: Simplify phi1 into phi1 31.266 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.266 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.266 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.266 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 31.266 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 31.266 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 31.266 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 31.266 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 31.266 * [taylor]: Taking taylor expansion of -1 in delta 31.266 * [backup-simplify]: Simplify -1 into -1 31.266 * [taylor]: Taking taylor expansion of theta in delta 31.266 * [backup-simplify]: Simplify theta into theta 31.266 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.266 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.266 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.266 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 31.266 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 31.266 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.266 * [taylor]: Taking taylor expansion of -1 in delta 31.266 * [backup-simplify]: Simplify -1 into -1 31.266 * [taylor]: Taking taylor expansion of phi1 in delta 31.266 * [backup-simplify]: Simplify phi1 into phi1 31.266 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.266 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.267 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.267 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 31.267 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.267 * [taylor]: Taking taylor expansion of -1 in delta 31.267 * [backup-simplify]: Simplify -1 into -1 31.267 * [taylor]: Taking taylor expansion of delta in delta 31.267 * [backup-simplify]: Simplify 0 into 0 31.267 * [backup-simplify]: Simplify 1 into 1 31.267 * [backup-simplify]: Simplify (/ -1 1) into -1 31.267 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.267 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 31.267 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 31.267 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.267 * [taylor]: Taking taylor expansion of -1 in delta 31.267 * [backup-simplify]: Simplify -1 into -1 31.267 * [taylor]: Taking taylor expansion of phi1 in delta 31.267 * [backup-simplify]: Simplify phi1 into phi1 31.267 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.267 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.267 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.267 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 31.267 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.267 * [taylor]: Taking taylor expansion of -1 in delta 31.267 * [backup-simplify]: Simplify -1 into -1 31.267 * [taylor]: Taking taylor expansion of delta in delta 31.267 * [backup-simplify]: Simplify 0 into 0 31.267 * [backup-simplify]: Simplify 1 into 1 31.268 * [backup-simplify]: Simplify (/ -1 1) into -1 31.268 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.268 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.268 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.268 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.268 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 31.268 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 31.268 * [backup-simplify]: Simplify (- 0) into 0 31.268 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 31.268 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 31.268 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 31.269 * [backup-simplify]: Simplify (- 0) into 0 31.269 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 31.269 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 31.269 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 31.269 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.269 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.269 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.269 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 31.269 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) into (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 31.269 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 31.270 * [backup-simplify]: Simplify (- (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 31.270 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 31.270 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) in phi1 31.270 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 31.270 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.270 * [taylor]: Taking taylor expansion of -1 in phi1 31.270 * [backup-simplify]: Simplify -1 into -1 31.270 * [taylor]: Taking taylor expansion of delta in phi1 31.270 * [backup-simplify]: Simplify delta into delta 31.270 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.270 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.270 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.270 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) in phi1 31.270 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in phi1 31.270 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 31.270 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 31.270 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.271 * [taylor]: Taking taylor expansion of -1 in phi1 31.271 * [backup-simplify]: Simplify -1 into -1 31.271 * [taylor]: Taking taylor expansion of phi1 in phi1 31.271 * [backup-simplify]: Simplify 0 into 0 31.271 * [backup-simplify]: Simplify 1 into 1 31.271 * [backup-simplify]: Simplify (/ -1 1) into -1 31.271 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.271 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 31.271 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.271 * [taylor]: Taking taylor expansion of -1 in phi1 31.271 * [backup-simplify]: Simplify -1 into -1 31.271 * [taylor]: Taking taylor expansion of delta in phi1 31.271 * [backup-simplify]: Simplify delta into delta 31.271 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.271 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.271 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.271 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) in phi1 31.271 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 31.271 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.271 * [taylor]: Taking taylor expansion of -1 in phi1 31.271 * [backup-simplify]: Simplify -1 into -1 31.271 * [taylor]: Taking taylor expansion of phi1 in phi1 31.271 * [backup-simplify]: Simplify 0 into 0 31.271 * [backup-simplify]: Simplify 1 into 1 31.272 * [backup-simplify]: Simplify (/ -1 1) into -1 31.272 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.272 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))) in phi1 31.272 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 31.272 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 31.272 * [taylor]: Taking taylor expansion of -1 in phi1 31.272 * [backup-simplify]: Simplify -1 into -1 31.272 * [taylor]: Taking taylor expansion of theta in phi1 31.272 * [backup-simplify]: Simplify theta into theta 31.272 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.272 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.272 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.272 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 phi1))) in phi1 31.272 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 31.272 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.272 * [taylor]: Taking taylor expansion of -1 in phi1 31.272 * [backup-simplify]: Simplify -1 into -1 31.272 * [taylor]: Taking taylor expansion of delta in phi1 31.272 * [backup-simplify]: Simplify delta into delta 31.272 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.272 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.272 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.272 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 31.272 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.272 * [taylor]: Taking taylor expansion of -1 in phi1 31.272 * [backup-simplify]: Simplify -1 into -1 31.272 * [taylor]: Taking taylor expansion of phi1 in phi1 31.272 * [backup-simplify]: Simplify 0 into 0 31.272 * [backup-simplify]: Simplify 1 into 1 31.272 * [backup-simplify]: Simplify (/ -1 1) into -1 31.273 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.273 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 31.273 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 31.273 * [backup-simplify]: Simplify (- 0) into 0 31.273 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 31.273 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 31.273 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 31.273 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 31.273 * [backup-simplify]: Simplify (- 0) into 0 31.273 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 31.274 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 31.274 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 31.274 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 31.274 * [backup-simplify]: Simplify (- 0) into 0 31.274 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 31.274 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 31.274 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 31.274 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 31.274 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 31.274 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 31.274 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) 31.275 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) 31.275 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 31.275 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 31.275 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) in theta 31.275 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 31.275 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.275 * [taylor]: Taking taylor expansion of -1 in theta 31.275 * [backup-simplify]: Simplify -1 into -1 31.275 * [taylor]: Taking taylor expansion of delta in theta 31.275 * [backup-simplify]: Simplify delta into delta 31.276 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.276 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.276 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.276 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) in theta 31.276 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in theta 31.276 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in theta 31.276 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 31.276 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.276 * [taylor]: Taking taylor expansion of -1 in theta 31.276 * [backup-simplify]: Simplify -1 into -1 31.276 * [taylor]: Taking taylor expansion of phi1 in theta 31.276 * [backup-simplify]: Simplify phi1 into phi1 31.276 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.276 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.276 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.276 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.276 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.276 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.276 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 31.276 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.276 * [taylor]: Taking taylor expansion of -1 in theta 31.276 * [backup-simplify]: Simplify -1 into -1 31.276 * [taylor]: Taking taylor expansion of delta in theta 31.276 * [backup-simplify]: Simplify delta into delta 31.276 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.276 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.276 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.276 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) in theta 31.276 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 31.276 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.276 * [taylor]: Taking taylor expansion of -1 in theta 31.276 * [backup-simplify]: Simplify -1 into -1 31.276 * [taylor]: Taking taylor expansion of phi1 in theta 31.276 * [backup-simplify]: Simplify phi1 into phi1 31.276 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.276 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.276 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.276 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))) in theta 31.276 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 31.276 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 31.277 * [taylor]: Taking taylor expansion of -1 in theta 31.277 * [backup-simplify]: Simplify -1 into -1 31.277 * [taylor]: Taking taylor expansion of theta in theta 31.277 * [backup-simplify]: Simplify 0 into 0 31.277 * [backup-simplify]: Simplify 1 into 1 31.277 * [backup-simplify]: Simplify (/ -1 1) into -1 31.277 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.277 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 phi1))) in theta 31.277 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 31.277 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.277 * [taylor]: Taking taylor expansion of -1 in theta 31.277 * [backup-simplify]: Simplify -1 into -1 31.277 * [taylor]: Taking taylor expansion of delta in theta 31.277 * [backup-simplify]: Simplify delta into delta 31.277 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.277 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.277 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.277 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 31.277 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.277 * [taylor]: Taking taylor expansion of -1 in theta 31.277 * [backup-simplify]: Simplify -1 into -1 31.277 * [taylor]: Taking taylor expansion of phi1 in theta 31.277 * [backup-simplify]: Simplify phi1 into phi1 31.277 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.277 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.277 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.278 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 31.278 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 31.278 * [backup-simplify]: Simplify (- 0) into 0 31.278 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 31.278 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 31.278 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 31.278 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 31.279 * [backup-simplify]: Simplify (- 0) into 0 31.279 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 31.279 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 31.279 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.279 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.279 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.279 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 31.279 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 31.279 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 31.279 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 31.279 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 31.280 * [backup-simplify]: Simplify (- 0) into 0 31.280 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 31.280 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 31.280 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 31.280 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) 31.280 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) 31.281 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 31.281 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 31.281 * [backup-simplify]: Simplify (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 31.282 * [backup-simplify]: Simplify (+ 0) into 0 31.282 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 31.282 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.282 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.283 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 31.283 * [backup-simplify]: Simplify (- 0) into 0 31.283 * [backup-simplify]: Simplify (+ 0 0) into 0 31.283 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 31.284 * [backup-simplify]: Simplify (+ 0) into 0 31.284 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 31.284 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 31.285 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.286 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 31.286 * [backup-simplify]: Simplify (- 0) into 0 31.287 * [backup-simplify]: Simplify (+ 0 0) into 0 31.287 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 31.287 * [backup-simplify]: Simplify (+ 0) into 0 31.288 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 31.288 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.289 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.289 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 31.290 * [backup-simplify]: Simplify (+ 0 0) into 0 31.290 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 31.290 * [backup-simplify]: Simplify (+ 0 0) into 0 31.291 * [backup-simplify]: Simplify (+ 0) into 0 31.291 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 31.291 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.292 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.293 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 31.293 * [backup-simplify]: Simplify (+ 0 0) into 0 31.293 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) into 0 31.294 * [backup-simplify]: Simplify (- 0) into 0 31.294 * [backup-simplify]: Simplify (+ 0 0) into 0 31.294 * [taylor]: Taking taylor expansion of 0 in phi1 31.294 * [backup-simplify]: Simplify 0 into 0 31.294 * [taylor]: Taking taylor expansion of 0 in theta 31.294 * [backup-simplify]: Simplify 0 into 0 31.294 * [backup-simplify]: Simplify 0 into 0 31.295 * [backup-simplify]: Simplify (+ 0) into 0 31.295 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 31.295 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.296 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.297 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 31.297 * [backup-simplify]: Simplify (- 0) into 0 31.297 * [backup-simplify]: Simplify (+ 0 0) into 0 31.298 * [backup-simplify]: Simplify (+ 0) into 0 31.298 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 31.298 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.299 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.299 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 31.300 * [backup-simplify]: Simplify (- 0) into 0 31.300 * [backup-simplify]: Simplify (+ 0 0) into 0 31.300 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 31.300 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 31.300 * [backup-simplify]: Simplify (+ 0) into 0 31.301 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 31.301 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.301 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.302 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 31.302 * [backup-simplify]: Simplify (+ 0 0) into 0 31.302 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 31.302 * [backup-simplify]: Simplify (+ 0) into 0 31.303 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 31.303 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 31.303 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.303 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 31.304 * [backup-simplify]: Simplify (- 0) into 0 31.304 * [backup-simplify]: Simplify (+ 0 0) into 0 31.304 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 31.304 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 31.304 * [backup-simplify]: Simplify (+ 0 0) into 0 31.305 * [backup-simplify]: Simplify (- 0) into 0 31.305 * [backup-simplify]: Simplify (+ 0 0) into 0 31.305 * [taylor]: Taking taylor expansion of 0 in theta 31.305 * [backup-simplify]: Simplify 0 into 0 31.305 * [backup-simplify]: Simplify 0 into 0 31.305 * [backup-simplify]: Simplify (+ 0) into 0 31.306 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 31.306 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.306 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.306 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 31.307 * [backup-simplify]: Simplify (- 0) into 0 31.307 * [backup-simplify]: Simplify (+ 0 0) into 0 31.307 * [backup-simplify]: Simplify (+ 0) into 0 31.308 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 31.308 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.308 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.308 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 31.309 * [backup-simplify]: Simplify (- 0) into 0 31.309 * [backup-simplify]: Simplify (+ 0 0) into 0 31.309 * [backup-simplify]: Simplify (+ 0) into 0 31.309 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 31.309 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.310 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.310 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 31.310 * [backup-simplify]: Simplify (+ 0 0) into 0 31.311 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 31.311 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 31.311 * [backup-simplify]: Simplify (+ 0) into 0 31.311 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 31.311 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.312 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.312 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 31.312 * [backup-simplify]: Simplify (- 0) into 0 31.313 * [backup-simplify]: Simplify (+ 0 0) into 0 31.313 * [backup-simplify]: Simplify (+ 0) into 0 31.313 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 31.313 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.314 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.314 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 31.314 * [backup-simplify]: Simplify (+ 0 0) into 0 31.314 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 31.314 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 31.315 * [backup-simplify]: Simplify (+ 0) into 0 31.315 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 31.315 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.316 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.316 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 31.316 * [backup-simplify]: Simplify (+ 0 0) into 0 31.316 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 31.316 * [backup-simplify]: Simplify (+ 0 0) into 0 31.317 * [backup-simplify]: Simplify (- 0) into 0 31.317 * [backup-simplify]: Simplify (+ 0 0) into 0 31.317 * [backup-simplify]: Simplify 0 into 0 31.317 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.318 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.318 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.319 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.319 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.319 * [backup-simplify]: Simplify (- 0) into 0 31.319 * [backup-simplify]: Simplify (+ 0 0) into 0 31.320 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 31.320 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.321 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.321 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.321 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.322 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.322 * [backup-simplify]: Simplify (- 0) into 0 31.322 * [backup-simplify]: Simplify (+ 0 0) into 0 31.322 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 31.323 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.323 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.323 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.324 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.324 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.324 * [backup-simplify]: Simplify (+ 0 0) into 0 31.325 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 31.325 * [backup-simplify]: Simplify (+ 0 0) into 0 31.326 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.326 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.326 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.327 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.327 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.327 * [backup-simplify]: Simplify (+ 0 0) into 0 31.328 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) into 0 31.328 * [backup-simplify]: Simplify (- 0) into 0 31.328 * [backup-simplify]: Simplify (+ 0 0) into 0 31.328 * [taylor]: Taking taylor expansion of 0 in phi1 31.328 * [backup-simplify]: Simplify 0 into 0 31.328 * [taylor]: Taking taylor expansion of 0 in theta 31.328 * [backup-simplify]: Simplify 0 into 0 31.328 * [backup-simplify]: Simplify 0 into 0 31.328 * [taylor]: Taking taylor expansion of 0 in theta 31.328 * [backup-simplify]: Simplify 0 into 0 31.328 * [backup-simplify]: Simplify 0 into 0 31.329 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.330 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.330 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.330 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.331 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.331 * [backup-simplify]: Simplify (- 0) into 0 31.331 * [backup-simplify]: Simplify (+ 0 0) into 0 31.332 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.333 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.333 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.334 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.334 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.335 * [backup-simplify]: Simplify (- 0) into 0 31.335 * [backup-simplify]: Simplify (+ 0 0) into 0 31.335 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 31.336 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 31.337 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.338 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.338 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.339 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.339 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.340 * [backup-simplify]: Simplify (+ 0 0) into 0 31.340 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 phi1))))) into 0 31.341 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.342 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.342 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.343 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.343 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.344 * [backup-simplify]: Simplify (- 0) into 0 31.344 * [backup-simplify]: Simplify (+ 0 0) into 0 31.345 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 31.346 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))))) into 0 31.346 * [backup-simplify]: Simplify (+ 0 0) into 0 31.347 * [backup-simplify]: Simplify (- 0) into 0 31.347 * [backup-simplify]: Simplify (+ 0 0) into 0 31.347 * [taylor]: Taking taylor expansion of 0 in theta 31.347 * [backup-simplify]: Simplify 0 into 0 31.347 * [backup-simplify]: Simplify 0 into 0 31.348 * [backup-simplify]: Simplify (- (cos (/ -1 (/ 1 (- delta)))) (+ (* (pow (sin (/ -1 (/ 1 (- phi1)))) 2) (cos (/ -1 (/ 1 (- delta))))) (* (sin (/ -1 (/ 1 (- phi1)))) (* (cos (/ -1 (/ 1 (- theta)))) (* (sin (/ -1 (/ 1 (- delta)))) (cos (/ -1 (/ 1 (- phi1))))))))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos theta) (* (sin delta) (cos phi1)))))) 31.348 * * * * [progress]: [ 2 / 4 ] generating series at (2 1 2 2 2 1) 31.348 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 31.348 * [approximate]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in (theta phi1 delta) around 0 31.348 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 31.349 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 31.349 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 31.349 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 31.349 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 31.349 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 31.349 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 31.349 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 31.349 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 31.350 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 31.350 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 31.350 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 31.350 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 31.350 * [taylor]: Taking taylor expansion of 0 in phi1 31.350 * [backup-simplify]: Simplify 0 into 0 31.350 * [taylor]: Taking taylor expansion of 0 in delta 31.350 * [backup-simplify]: Simplify 0 into 0 31.350 * [backup-simplify]: Simplify 0 into 0 31.350 * [taylor]: Taking taylor expansion of 0 in delta 31.350 * [backup-simplify]: Simplify 0 into 0 31.350 * [backup-simplify]: Simplify 0 into 0 31.350 * [backup-simplify]: Simplify 0 into 0 31.350 * [taylor]: Taking taylor expansion of 0 in phi1 31.350 * [backup-simplify]: Simplify 0 into 0 31.350 * [taylor]: Taking taylor expansion of 0 in delta 31.350 * [backup-simplify]: Simplify 0 into 0 31.350 * [backup-simplify]: Simplify 0 into 0 31.350 * [taylor]: Taking taylor expansion of 0 in delta 31.351 * [backup-simplify]: Simplify 0 into 0 31.351 * [backup-simplify]: Simplify 0 into 0 31.351 * [taylor]: Taking taylor expansion of 0 in delta 31.351 * [backup-simplify]: Simplify 0 into 0 31.351 * [backup-simplify]: Simplify 0 into 0 31.351 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 31.351 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) into (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) 31.351 * [approximate]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in (theta phi1 delta) around 0 31.351 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in delta 31.351 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) into (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) 31.351 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in phi1 31.352 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) into (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) 31.352 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in theta 31.352 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) into (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) 31.352 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in theta 31.352 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) into (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) 31.352 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in phi1 31.353 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) into (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) 31.353 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in delta 31.353 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) into (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) 31.353 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) into (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) 31.353 * [taylor]: Taking taylor expansion of 0 in phi1 31.353 * [backup-simplify]: Simplify 0 into 0 31.353 * [taylor]: Taking taylor expansion of 0 in delta 31.354 * [backup-simplify]: Simplify 0 into 0 31.354 * [backup-simplify]: Simplify 0 into 0 31.354 * [taylor]: Taking taylor expansion of 0 in delta 31.354 * [backup-simplify]: Simplify 0 into 0 31.354 * [backup-simplify]: Simplify 0 into 0 31.354 * [backup-simplify]: Simplify 0 into 0 31.354 * [taylor]: Taking taylor expansion of 0 in phi1 31.354 * [backup-simplify]: Simplify 0 into 0 31.354 * [taylor]: Taking taylor expansion of 0 in delta 31.354 * [backup-simplify]: Simplify 0 into 0 31.354 * [backup-simplify]: Simplify 0 into 0 31.354 * [taylor]: Taking taylor expansion of 0 in delta 31.354 * [backup-simplify]: Simplify 0 into 0 31.354 * [backup-simplify]: Simplify 0 into 0 31.354 * [taylor]: Taking taylor expansion of 0 in delta 31.354 * [backup-simplify]: Simplify 0 into 0 31.354 * [backup-simplify]: Simplify 0 into 0 31.354 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 (/ 1 theta))) (* (sin (/ 1 (/ 1 delta))) (cos (/ 1 (/ 1 phi1)))) (* (sin (/ 1 (/ 1 phi1))) (cos (/ 1 (/ 1 delta)))))) into (asin (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta)))) 31.355 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 (- theta))) (* (cos (/ 1 (- phi1))) (sin (/ 1 (- delta)))) (* (cos (/ 1 (- delta))) (sin (/ 1 (- phi1)))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 31.355 * [approximate]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in (theta phi1 delta) around 0 31.355 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 31.355 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 31.355 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 31.355 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 31.355 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 31.356 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 31.356 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 31.356 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 31.356 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 31.357 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 31.357 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 31.357 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 31.357 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 31.357 * [taylor]: Taking taylor expansion of 0 in phi1 31.357 * [backup-simplify]: Simplify 0 into 0 31.357 * [taylor]: Taking taylor expansion of 0 in delta 31.357 * [backup-simplify]: Simplify 0 into 0 31.357 * [backup-simplify]: Simplify 0 into 0 31.357 * [taylor]: Taking taylor expansion of 0 in delta 31.357 * [backup-simplify]: Simplify 0 into 0 31.357 * [backup-simplify]: Simplify 0 into 0 31.357 * [backup-simplify]: Simplify 0 into 0 31.358 * [taylor]: Taking taylor expansion of 0 in phi1 31.358 * [backup-simplify]: Simplify 0 into 0 31.358 * [taylor]: Taking taylor expansion of 0 in delta 31.358 * [backup-simplify]: Simplify 0 into 0 31.358 * [backup-simplify]: Simplify 0 into 0 31.358 * [taylor]: Taking taylor expansion of 0 in delta 31.358 * [backup-simplify]: Simplify 0 into 0 31.358 * [backup-simplify]: Simplify 0 into 0 31.358 * [taylor]: Taking taylor expansion of 0 in delta 31.358 * [backup-simplify]: Simplify 0 into 0 31.358 * [backup-simplify]: Simplify 0 into 0 31.358 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 (/ 1 (- theta)))) (* (cos (/ -1 (/ 1 (- phi1)))) (sin (/ -1 (/ 1 (- delta))))) (* (sin (/ -1 (/ 1 (- phi1)))) (cos (/ -1 (/ 1 (- delta))))))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 31.358 * * * * [progress]: [ 3 / 4 ] generating series at (2 1 1) 31.358 * [backup-simplify]: Simplify (* (sin delta) (* (cos phi1) (sin theta))) into (* (sin delta) (* (cos phi1) (sin theta))) 31.358 * [approximate]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in (delta phi1 theta) around 0 31.359 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in theta 31.359 * [taylor]: Taking taylor expansion of (sin delta) in theta 31.359 * [taylor]: Taking taylor expansion of delta in theta 31.359 * [backup-simplify]: Simplify delta into delta 31.359 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.359 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.359 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in theta 31.359 * [taylor]: Taking taylor expansion of (cos phi1) in theta 31.359 * [taylor]: Taking taylor expansion of phi1 in theta 31.359 * [backup-simplify]: Simplify phi1 into phi1 31.359 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.359 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.359 * [taylor]: Taking taylor expansion of (sin theta) in theta 31.359 * [taylor]: Taking taylor expansion of theta in theta 31.359 * [backup-simplify]: Simplify 0 into 0 31.359 * [backup-simplify]: Simplify 1 into 1 31.359 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in phi1 31.359 * [taylor]: Taking taylor expansion of (sin delta) in phi1 31.359 * [taylor]: Taking taylor expansion of delta in phi1 31.359 * [backup-simplify]: Simplify delta into delta 31.359 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.359 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.359 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in phi1 31.359 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 31.359 * [taylor]: Taking taylor expansion of phi1 in phi1 31.359 * [backup-simplify]: Simplify 0 into 0 31.359 * [backup-simplify]: Simplify 1 into 1 31.359 * [taylor]: Taking taylor expansion of (sin theta) in phi1 31.359 * [taylor]: Taking taylor expansion of theta in phi1 31.359 * [backup-simplify]: Simplify theta into theta 31.359 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.359 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.359 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in delta 31.359 * [taylor]: Taking taylor expansion of (sin delta) in delta 31.359 * [taylor]: Taking taylor expansion of delta in delta 31.359 * [backup-simplify]: Simplify 0 into 0 31.359 * [backup-simplify]: Simplify 1 into 1 31.359 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in delta 31.359 * [taylor]: Taking taylor expansion of (cos phi1) in delta 31.359 * [taylor]: Taking taylor expansion of phi1 in delta 31.359 * [backup-simplify]: Simplify phi1 into phi1 31.359 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.360 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.360 * [taylor]: Taking taylor expansion of (sin theta) in delta 31.360 * [taylor]: Taking taylor expansion of theta in delta 31.360 * [backup-simplify]: Simplify theta into theta 31.360 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.360 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.360 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in delta 31.360 * [taylor]: Taking taylor expansion of (sin delta) in delta 31.360 * [taylor]: Taking taylor expansion of delta in delta 31.360 * [backup-simplify]: Simplify 0 into 0 31.360 * [backup-simplify]: Simplify 1 into 1 31.360 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in delta 31.360 * [taylor]: Taking taylor expansion of (cos phi1) in delta 31.360 * [taylor]: Taking taylor expansion of phi1 in delta 31.360 * [backup-simplify]: Simplify phi1 into phi1 31.360 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.360 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.360 * [taylor]: Taking taylor expansion of (sin theta) in delta 31.360 * [taylor]: Taking taylor expansion of theta in delta 31.360 * [backup-simplify]: Simplify theta into theta 31.360 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.360 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.360 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 31.360 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 31.360 * [backup-simplify]: Simplify (- 0) into 0 31.360 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 31.361 * [backup-simplify]: Simplify (* (sin theta) 1) into (sin theta) 31.361 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 31.361 * [backup-simplify]: Simplify (+ (sin theta) 0) into (sin theta) 31.361 * [backup-simplify]: Simplify (* (cos phi1) (sin theta)) into (* (cos phi1) (sin theta)) 31.361 * [backup-simplify]: Simplify (* 0 (* (cos phi1) (sin theta))) into 0 31.361 * [taylor]: Taking taylor expansion of 0 in phi1 31.361 * [backup-simplify]: Simplify 0 into 0 31.361 * [taylor]: Taking taylor expansion of 0 in theta 31.361 * [backup-simplify]: Simplify 0 into 0 31.361 * [backup-simplify]: Simplify 0 into 0 31.361 * [backup-simplify]: Simplify (+ 0) into 0 31.361 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 1)) into 0 31.362 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.362 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 0)) into 0 31.362 * [backup-simplify]: Simplify (+ 0 0) into 0 31.363 * [backup-simplify]: Simplify (+ 0) into 0 31.363 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 31.363 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.364 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 31.364 * [backup-simplify]: Simplify (- 0) into 0 31.364 * [backup-simplify]: Simplify (+ 0 0) into 0 31.364 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 (sin theta))) into 0 31.365 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.365 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos phi1) (sin theta)))) into (* (cos phi1) (sin theta)) 31.365 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in phi1 31.365 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 31.365 * [taylor]: Taking taylor expansion of phi1 in phi1 31.365 * [backup-simplify]: Simplify 0 into 0 31.365 * [backup-simplify]: Simplify 1 into 1 31.365 * [taylor]: Taking taylor expansion of (sin theta) in phi1 31.365 * [taylor]: Taking taylor expansion of theta in phi1 31.365 * [backup-simplify]: Simplify theta into theta 31.365 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.365 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.365 * [backup-simplify]: Simplify (* (sin theta) 1) into (sin theta) 31.365 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 31.365 * [backup-simplify]: Simplify (+ (sin theta) 0) into (sin theta) 31.365 * [backup-simplify]: Simplify (* 1 (sin theta)) into (sin theta) 31.365 * [taylor]: Taking taylor expansion of (sin theta) in theta 31.365 * [taylor]: Taking taylor expansion of theta in theta 31.365 * [backup-simplify]: Simplify 0 into 0 31.365 * [backup-simplify]: Simplify 1 into 1 31.366 * [backup-simplify]: Simplify 0 into 0 31.366 * [taylor]: Taking taylor expansion of 0 in theta 31.366 * [backup-simplify]: Simplify 0 into 0 31.366 * [backup-simplify]: Simplify 0 into 0 31.366 * [backup-simplify]: Simplify 0 into 0 31.366 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.367 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 1))) into 0 31.367 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.367 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 0))) into 0 31.368 * [backup-simplify]: Simplify (+ 0 0) into 0 31.368 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.369 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 31.369 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.369 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 31.370 * [backup-simplify]: Simplify (- 0) into 0 31.370 * [backup-simplify]: Simplify (+ 0 0) into 0 31.370 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 (sin theta)))) into 0 31.371 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.373 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (cos phi1) (sin theta))))) into 0 31.373 * [taylor]: Taking taylor expansion of 0 in phi1 31.373 * [backup-simplify]: Simplify 0 into 0 31.373 * [taylor]: Taking taylor expansion of 0 in theta 31.373 * [backup-simplify]: Simplify 0 into 0 31.373 * [backup-simplify]: Simplify 0 into 0 31.374 * [backup-simplify]: Simplify (+ 0) into 0 31.374 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 1)) into 0 31.374 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.375 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 0)) into 0 31.375 * [backup-simplify]: Simplify (+ 0 0) into 0 31.375 * [backup-simplify]: Simplify (+ 0) into 0 31.375 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin theta))) into 0 31.375 * [taylor]: Taking taylor expansion of 0 in theta 31.375 * [backup-simplify]: Simplify 0 into 0 31.375 * [backup-simplify]: Simplify 0 into 0 31.375 * [backup-simplify]: Simplify 0 into 0 31.376 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) 31.376 * [approximate]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in (delta phi1 theta) around 0 31.376 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in theta 31.376 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 31.376 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.376 * [taylor]: Taking taylor expansion of phi1 in theta 31.376 * [backup-simplify]: Simplify phi1 into phi1 31.376 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.376 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.376 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.376 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in theta 31.376 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in theta 31.376 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 31.376 * [taylor]: Taking taylor expansion of theta in theta 31.376 * [backup-simplify]: Simplify 0 into 0 31.376 * [backup-simplify]: Simplify 1 into 1 31.376 * [backup-simplify]: Simplify (/ 1 1) into 1 31.376 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.376 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 31.376 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.376 * [taylor]: Taking taylor expansion of delta in theta 31.376 * [backup-simplify]: Simplify delta into delta 31.376 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.376 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.376 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.376 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in phi1 31.376 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 31.376 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.376 * [taylor]: Taking taylor expansion of phi1 in phi1 31.376 * [backup-simplify]: Simplify 0 into 0 31.376 * [backup-simplify]: Simplify 1 into 1 31.377 * [backup-simplify]: Simplify (/ 1 1) into 1 31.377 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.377 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in phi1 31.377 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in phi1 31.377 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 31.377 * [taylor]: Taking taylor expansion of theta in phi1 31.377 * [backup-simplify]: Simplify theta into theta 31.377 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.377 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.377 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.377 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 31.377 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.377 * [taylor]: Taking taylor expansion of delta in phi1 31.377 * [backup-simplify]: Simplify delta into delta 31.377 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.377 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.377 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.377 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in delta 31.377 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 31.377 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.377 * [taylor]: Taking taylor expansion of phi1 in delta 31.377 * [backup-simplify]: Simplify phi1 into phi1 31.377 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.377 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.377 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.377 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in delta 31.377 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in delta 31.377 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 31.377 * [taylor]: Taking taylor expansion of theta in delta 31.377 * [backup-simplify]: Simplify theta into theta 31.377 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.377 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.378 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.378 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 31.378 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.378 * [taylor]: Taking taylor expansion of delta in delta 31.378 * [backup-simplify]: Simplify 0 into 0 31.378 * [backup-simplify]: Simplify 1 into 1 31.378 * [backup-simplify]: Simplify (/ 1 1) into 1 31.378 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.378 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in delta 31.378 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 31.378 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.378 * [taylor]: Taking taylor expansion of phi1 in delta 31.378 * [backup-simplify]: Simplify phi1 into phi1 31.378 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.378 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.378 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.378 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in delta 31.378 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in delta 31.378 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 31.378 * [taylor]: Taking taylor expansion of theta in delta 31.378 * [backup-simplify]: Simplify theta into theta 31.378 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.378 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.378 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.378 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 31.378 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.378 * [taylor]: Taking taylor expansion of delta in delta 31.378 * [backup-simplify]: Simplify 0 into 0 31.378 * [backup-simplify]: Simplify 1 into 1 31.379 * [backup-simplify]: Simplify (/ 1 1) into 1 31.379 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.379 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 31.379 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 31.379 * [backup-simplify]: Simplify (- 0) into 0 31.379 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 31.379 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 1) into (sin (/ 1 theta)) 31.379 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 0) into 0 31.379 * [backup-simplify]: Simplify (+ (sin (/ 1 theta)) 0) into (sin (/ 1 theta)) 31.379 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (sin (/ 1 delta))) into (* (sin (/ 1 theta)) (sin (/ 1 delta))) 31.379 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) 31.379 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 31.380 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 31.380 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.380 * [taylor]: Taking taylor expansion of delta in phi1 31.380 * [backup-simplify]: Simplify delta into delta 31.380 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.380 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.380 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.380 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (cos (/ 1 phi1))) in phi1 31.380 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in phi1 31.380 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 31.380 * [taylor]: Taking taylor expansion of theta in phi1 31.380 * [backup-simplify]: Simplify theta into theta 31.380 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.380 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.380 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.380 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 31.380 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.380 * [taylor]: Taking taylor expansion of phi1 in phi1 31.380 * [backup-simplify]: Simplify 0 into 0 31.380 * [backup-simplify]: Simplify 1 into 1 31.380 * [backup-simplify]: Simplify (/ 1 1) into 1 31.380 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.380 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 31.380 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 31.380 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 31.380 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 1) into (sin (/ 1 theta)) 31.380 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 0) into 0 31.381 * [backup-simplify]: Simplify (+ (sin (/ 1 theta)) 0) into (sin (/ 1 theta)) 31.381 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (cos (/ 1 phi1))) into (* (sin (/ 1 theta)) (cos (/ 1 phi1))) 31.381 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) 31.381 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in theta 31.381 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 31.381 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.381 * [taylor]: Taking taylor expansion of phi1 in theta 31.381 * [backup-simplify]: Simplify phi1 into phi1 31.381 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.381 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.381 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.381 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in theta 31.381 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in theta 31.381 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 31.381 * [taylor]: Taking taylor expansion of theta in theta 31.381 * [backup-simplify]: Simplify 0 into 0 31.381 * [backup-simplify]: Simplify 1 into 1 31.381 * [backup-simplify]: Simplify (/ 1 1) into 1 31.381 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.381 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 31.381 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.381 * [taylor]: Taking taylor expansion of delta in theta 31.381 * [backup-simplify]: Simplify delta into delta 31.381 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.381 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.381 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.382 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 31.382 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 31.382 * [backup-simplify]: Simplify (- 0) into 0 31.382 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 31.382 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 31.382 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 31.382 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 31.382 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (sin (/ 1 delta))) into (* (sin (/ 1 theta)) (sin (/ 1 delta))) 31.382 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) 31.382 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) 31.383 * [backup-simplify]: Simplify (+ 0) into 0 31.383 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 1)) into 0 31.383 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 31.383 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.384 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 0)) into 0 31.384 * [backup-simplify]: Simplify (+ 0 0) into 0 31.384 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 31.384 * [backup-simplify]: Simplify (+ 0) into 0 31.385 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 31.385 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.385 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.385 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 31.386 * [backup-simplify]: Simplify (- 0) into 0 31.386 * [backup-simplify]: Simplify (+ 0 0) into 0 31.386 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 theta)) (sin (/ 1 delta))))) into 0 31.386 * [taylor]: Taking taylor expansion of 0 in phi1 31.386 * [backup-simplify]: Simplify 0 into 0 31.386 * [taylor]: Taking taylor expansion of 0 in theta 31.386 * [backup-simplify]: Simplify 0 into 0 31.386 * [backup-simplify]: Simplify 0 into 0 31.386 * [backup-simplify]: Simplify (+ 0) into 0 31.387 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 1)) into 0 31.387 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 31.387 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.388 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 0)) into 0 31.388 * [backup-simplify]: Simplify (+ 0 0) into 0 31.388 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 31.388 * [backup-simplify]: Simplify (+ 0) into 0 31.388 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 31.389 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.389 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.390 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 31.390 * [backup-simplify]: Simplify (+ 0 0) into 0 31.390 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (sin (/ 1 theta)) (cos (/ 1 phi1))))) into 0 31.390 * [taylor]: Taking taylor expansion of 0 in theta 31.390 * [backup-simplify]: Simplify 0 into 0 31.390 * [backup-simplify]: Simplify 0 into 0 31.390 * [backup-simplify]: Simplify (+ 0) into 0 31.391 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 31.391 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.391 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.392 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 31.392 * [backup-simplify]: Simplify (+ 0 0) into 0 31.392 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 31.392 * [backup-simplify]: Simplify (+ 0) into 0 31.392 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 31.393 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.393 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.393 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 31.394 * [backup-simplify]: Simplify (- 0) into 0 31.394 * [backup-simplify]: Simplify (+ 0 0) into 0 31.394 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 theta)) (sin (/ 1 delta))))) into 0 31.394 * [backup-simplify]: Simplify 0 into 0 31.394 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.395 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.395 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.396 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.396 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.397 * [backup-simplify]: Simplify (+ 0 0) into 0 31.397 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 31.398 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.399 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.399 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.400 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.400 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.401 * [backup-simplify]: Simplify (- 0) into 0 31.401 * [backup-simplify]: Simplify (+ 0 0) into 0 31.401 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 theta)) (sin (/ 1 delta)))))) into 0 31.401 * [taylor]: Taking taylor expansion of 0 in phi1 31.402 * [backup-simplify]: Simplify 0 into 0 31.402 * [taylor]: Taking taylor expansion of 0 in theta 31.402 * [backup-simplify]: Simplify 0 into 0 31.402 * [backup-simplify]: Simplify 0 into 0 31.402 * [taylor]: Taking taylor expansion of 0 in theta 31.402 * [backup-simplify]: Simplify 0 into 0 31.402 * [backup-simplify]: Simplify 0 into 0 31.403 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.403 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.404 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.404 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.405 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.405 * [backup-simplify]: Simplify (+ 0 0) into 0 31.406 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 31.407 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.408 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.408 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.409 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.409 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.409 * [backup-simplify]: Simplify (+ 0 0) into 0 31.410 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 31.410 * [taylor]: Taking taylor expansion of 0 in theta 31.410 * [backup-simplify]: Simplify 0 into 0 31.410 * [backup-simplify]: Simplify 0 into 0 31.410 * [backup-simplify]: Simplify (* (cos (/ 1 (/ 1 phi1))) (* (sin (/ 1 (/ 1 theta))) (sin (/ 1 (/ 1 delta))))) into (* (cos phi1) (* (sin theta) (sin delta))) 31.411 * [backup-simplify]: Simplify (* (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (sin (/ 1 (- theta))))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) 31.411 * [approximate]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in (delta phi1 theta) around 0 31.411 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in theta 31.411 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 31.411 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.411 * [taylor]: Taking taylor expansion of -1 in theta 31.411 * [backup-simplify]: Simplify -1 into -1 31.411 * [taylor]: Taking taylor expansion of phi1 in theta 31.411 * [backup-simplify]: Simplify phi1 into phi1 31.411 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.411 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.411 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.411 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in theta 31.411 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in theta 31.411 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 31.411 * [taylor]: Taking taylor expansion of -1 in theta 31.411 * [backup-simplify]: Simplify -1 into -1 31.411 * [taylor]: Taking taylor expansion of theta in theta 31.411 * [backup-simplify]: Simplify 0 into 0 31.411 * [backup-simplify]: Simplify 1 into 1 31.412 * [backup-simplify]: Simplify (/ -1 1) into -1 31.412 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.412 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 31.412 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.412 * [taylor]: Taking taylor expansion of -1 in theta 31.412 * [backup-simplify]: Simplify -1 into -1 31.412 * [taylor]: Taking taylor expansion of delta in theta 31.412 * [backup-simplify]: Simplify delta into delta 31.412 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.412 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.412 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.412 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in phi1 31.412 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 31.412 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.412 * [taylor]: Taking taylor expansion of -1 in phi1 31.412 * [backup-simplify]: Simplify -1 into -1 31.412 * [taylor]: Taking taylor expansion of phi1 in phi1 31.412 * [backup-simplify]: Simplify 0 into 0 31.412 * [backup-simplify]: Simplify 1 into 1 31.413 * [backup-simplify]: Simplify (/ -1 1) into -1 31.413 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.413 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in phi1 31.413 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in phi1 31.413 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 31.413 * [taylor]: Taking taylor expansion of -1 in phi1 31.413 * [backup-simplify]: Simplify -1 into -1 31.413 * [taylor]: Taking taylor expansion of theta in phi1 31.413 * [backup-simplify]: Simplify theta into theta 31.413 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.413 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.413 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.413 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 31.413 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.413 * [taylor]: Taking taylor expansion of -1 in phi1 31.413 * [backup-simplify]: Simplify -1 into -1 31.413 * [taylor]: Taking taylor expansion of delta in phi1 31.413 * [backup-simplify]: Simplify delta into delta 31.413 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.413 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.414 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.414 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in delta 31.414 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 31.414 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.414 * [taylor]: Taking taylor expansion of -1 in delta 31.414 * [backup-simplify]: Simplify -1 into -1 31.414 * [taylor]: Taking taylor expansion of phi1 in delta 31.414 * [backup-simplify]: Simplify phi1 into phi1 31.414 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.414 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.414 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.414 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in delta 31.414 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in delta 31.414 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 31.414 * [taylor]: Taking taylor expansion of -1 in delta 31.414 * [backup-simplify]: Simplify -1 into -1 31.414 * [taylor]: Taking taylor expansion of theta in delta 31.414 * [backup-simplify]: Simplify theta into theta 31.414 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.414 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.414 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.414 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 31.414 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.414 * [taylor]: Taking taylor expansion of -1 in delta 31.414 * [backup-simplify]: Simplify -1 into -1 31.414 * [taylor]: Taking taylor expansion of delta in delta 31.414 * [backup-simplify]: Simplify 0 into 0 31.414 * [backup-simplify]: Simplify 1 into 1 31.415 * [backup-simplify]: Simplify (/ -1 1) into -1 31.415 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.415 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in delta 31.415 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 31.415 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.415 * [taylor]: Taking taylor expansion of -1 in delta 31.415 * [backup-simplify]: Simplify -1 into -1 31.415 * [taylor]: Taking taylor expansion of phi1 in delta 31.415 * [backup-simplify]: Simplify phi1 into phi1 31.415 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.415 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.416 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.416 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in delta 31.416 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in delta 31.416 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 31.416 * [taylor]: Taking taylor expansion of -1 in delta 31.416 * [backup-simplify]: Simplify -1 into -1 31.416 * [taylor]: Taking taylor expansion of theta in delta 31.416 * [backup-simplify]: Simplify theta into theta 31.416 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.416 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.416 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.416 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 31.416 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.416 * [taylor]: Taking taylor expansion of -1 in delta 31.416 * [backup-simplify]: Simplify -1 into -1 31.416 * [taylor]: Taking taylor expansion of delta in delta 31.416 * [backup-simplify]: Simplify 0 into 0 31.416 * [backup-simplify]: Simplify 1 into 1 31.417 * [backup-simplify]: Simplify (/ -1 1) into -1 31.417 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.417 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 31.417 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 31.417 * [backup-simplify]: Simplify (- 0) into 0 31.417 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 31.417 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 1) into (sin (/ -1 theta)) 31.418 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 0) into 0 31.418 * [backup-simplify]: Simplify (+ (sin (/ -1 theta)) 0) into (sin (/ -1 theta)) 31.418 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (sin (/ -1 theta))) 31.418 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) 31.418 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) in phi1 31.418 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 31.418 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.418 * [taylor]: Taking taylor expansion of -1 in phi1 31.418 * [backup-simplify]: Simplify -1 into -1 31.418 * [taylor]: Taking taylor expansion of phi1 in phi1 31.418 * [backup-simplify]: Simplify 0 into 0 31.418 * [backup-simplify]: Simplify 1 into 1 31.419 * [backup-simplify]: Simplify (/ -1 1) into -1 31.419 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.419 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (sin (/ -1 theta))) in phi1 31.419 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 31.419 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.419 * [taylor]: Taking taylor expansion of -1 in phi1 31.419 * [backup-simplify]: Simplify -1 into -1 31.419 * [taylor]: Taking taylor expansion of delta in phi1 31.419 * [backup-simplify]: Simplify delta into delta 31.419 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.419 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.419 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.419 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in phi1 31.419 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 31.419 * [taylor]: Taking taylor expansion of -1 in phi1 31.419 * [backup-simplify]: Simplify -1 into -1 31.419 * [taylor]: Taking taylor expansion of theta in phi1 31.419 * [backup-simplify]: Simplify theta into theta 31.419 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.419 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.419 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.419 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 31.420 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 31.420 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 31.420 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 1) into (sin (/ -1 theta)) 31.420 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 0) into 0 31.420 * [backup-simplify]: Simplify (+ (sin (/ -1 theta)) 0) into (sin (/ -1 theta)) 31.420 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (sin (/ -1 theta))) into (* (sin (/ -1 theta)) (sin (/ -1 delta))) 31.420 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) 31.420 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in theta 31.420 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 31.420 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.420 * [taylor]: Taking taylor expansion of -1 in theta 31.420 * [backup-simplify]: Simplify -1 into -1 31.420 * [taylor]: Taking taylor expansion of phi1 in theta 31.420 * [backup-simplify]: Simplify phi1 into phi1 31.420 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.420 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.421 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.421 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in theta 31.421 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in theta 31.421 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 31.421 * [taylor]: Taking taylor expansion of -1 in theta 31.421 * [backup-simplify]: Simplify -1 into -1 31.421 * [taylor]: Taking taylor expansion of theta in theta 31.421 * [backup-simplify]: Simplify 0 into 0 31.421 * [backup-simplify]: Simplify 1 into 1 31.421 * [backup-simplify]: Simplify (/ -1 1) into -1 31.421 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.421 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 31.421 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.421 * [taylor]: Taking taylor expansion of -1 in theta 31.421 * [backup-simplify]: Simplify -1 into -1 31.421 * [taylor]: Taking taylor expansion of delta in theta 31.421 * [backup-simplify]: Simplify delta into delta 31.422 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.422 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.422 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.422 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 31.422 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 31.422 * [backup-simplify]: Simplify (- 0) into 0 31.422 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 31.422 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 31.422 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 31.423 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 31.423 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (sin (/ -1 theta))) 31.423 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) 31.423 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) 31.423 * [backup-simplify]: Simplify (+ 0) into 0 31.424 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 1)) into 0 31.424 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 31.425 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.425 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 0)) into 0 31.426 * [backup-simplify]: Simplify (+ 0 0) into 0 31.426 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 31.426 * [backup-simplify]: Simplify (+ 0) into 0 31.427 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 31.427 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.428 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.428 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 31.428 * [backup-simplify]: Simplify (- 0) into 0 31.429 * [backup-simplify]: Simplify (+ 0 0) into 0 31.429 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (sin (/ -1 theta))))) into 0 31.429 * [taylor]: Taking taylor expansion of 0 in phi1 31.429 * [backup-simplify]: Simplify 0 into 0 31.429 * [taylor]: Taking taylor expansion of 0 in theta 31.429 * [backup-simplify]: Simplify 0 into 0 31.429 * [backup-simplify]: Simplify 0 into 0 31.430 * [backup-simplify]: Simplify (+ 0) into 0 31.430 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 1)) into 0 31.430 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 31.431 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.431 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 0)) into 0 31.432 * [backup-simplify]: Simplify (+ 0 0) into 0 31.432 * [backup-simplify]: Simplify (+ 0) into 0 31.433 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 31.433 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.434 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.434 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 31.435 * [backup-simplify]: Simplify (+ 0 0) into 0 31.435 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (sin (/ -1 theta)))) into 0 31.435 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 theta)) (sin (/ -1 delta))))) into 0 31.435 * [taylor]: Taking taylor expansion of 0 in theta 31.435 * [backup-simplify]: Simplify 0 into 0 31.435 * [backup-simplify]: Simplify 0 into 0 31.435 * [backup-simplify]: Simplify (+ 0) into 0 31.436 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 31.436 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.437 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.437 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 31.438 * [backup-simplify]: Simplify (+ 0 0) into 0 31.438 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 31.438 * [backup-simplify]: Simplify (+ 0) into 0 31.439 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 31.439 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.440 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.440 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 31.440 * [backup-simplify]: Simplify (- 0) into 0 31.441 * [backup-simplify]: Simplify (+ 0 0) into 0 31.441 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (sin (/ -1 theta))))) into 0 31.441 * [backup-simplify]: Simplify 0 into 0 31.442 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.443 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.443 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.444 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.444 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.444 * [backup-simplify]: Simplify (+ 0 0) into 0 31.445 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 31.446 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.446 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.447 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.447 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.448 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.448 * [backup-simplify]: Simplify (- 0) into 0 31.449 * [backup-simplify]: Simplify (+ 0 0) into 0 31.449 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -1 delta)) (sin (/ -1 theta)))))) into 0 31.449 * [taylor]: Taking taylor expansion of 0 in phi1 31.449 * [backup-simplify]: Simplify 0 into 0 31.449 * [taylor]: Taking taylor expansion of 0 in theta 31.449 * [backup-simplify]: Simplify 0 into 0 31.449 * [backup-simplify]: Simplify 0 into 0 31.450 * [taylor]: Taking taylor expansion of 0 in theta 31.450 * [backup-simplify]: Simplify 0 into 0 31.450 * [backup-simplify]: Simplify 0 into 0 31.450 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.451 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.451 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.452 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.453 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.453 * [backup-simplify]: Simplify (+ 0 0) into 0 31.454 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.455 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.455 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.456 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.456 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.457 * [backup-simplify]: Simplify (+ 0 0) into 0 31.457 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 theta))))) into 0 31.458 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -1 theta)) (sin (/ -1 delta)))))) into 0 31.458 * [taylor]: Taking taylor expansion of 0 in theta 31.458 * [backup-simplify]: Simplify 0 into 0 31.458 * [backup-simplify]: Simplify 0 into 0 31.458 * [backup-simplify]: Simplify (* (cos (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- delta)))) (sin (/ -1 (/ 1 (- theta)))))) into (* (cos phi1) (* (sin delta) (sin theta))) 31.458 * * * * [progress]: [ 4 / 4 ] generating series at (2 1 2 2) 31.459 * [backup-simplify]: Simplify (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) into (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 31.459 * [approximate]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in (phi1 theta delta) around 0 31.459 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 31.459 * [taylor]: Taking taylor expansion of (sin phi1) in delta 31.459 * [taylor]: Taking taylor expansion of phi1 in delta 31.459 * [backup-simplify]: Simplify phi1 into phi1 31.459 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.459 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.459 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 31.459 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 31.459 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 31.459 * [taylor]: Taking taylor expansion of (cos theta) in delta 31.459 * [taylor]: Taking taylor expansion of theta in delta 31.459 * [backup-simplify]: Simplify theta into theta 31.459 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.459 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.459 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 31.459 * [taylor]: Taking taylor expansion of (cos phi1) in delta 31.459 * [taylor]: Taking taylor expansion of phi1 in delta 31.459 * [backup-simplify]: Simplify phi1 into phi1 31.459 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.460 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.460 * [taylor]: Taking taylor expansion of (sin delta) in delta 31.460 * [taylor]: Taking taylor expansion of delta in delta 31.460 * [backup-simplify]: Simplify 0 into 0 31.460 * [backup-simplify]: Simplify 1 into 1 31.460 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 31.460 * [taylor]: Taking taylor expansion of (sin phi1) in delta 31.460 * [taylor]: Taking taylor expansion of phi1 in delta 31.460 * [backup-simplify]: Simplify phi1 into phi1 31.460 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.460 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.460 * [taylor]: Taking taylor expansion of (cos delta) in delta 31.460 * [taylor]: Taking taylor expansion of delta in delta 31.460 * [backup-simplify]: Simplify 0 into 0 31.460 * [backup-simplify]: Simplify 1 into 1 31.460 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 31.460 * [taylor]: Taking taylor expansion of (sin phi1) in theta 31.460 * [taylor]: Taking taylor expansion of phi1 in theta 31.460 * [backup-simplify]: Simplify phi1 into phi1 31.460 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.460 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.460 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 31.460 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 31.460 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 31.460 * [taylor]: Taking taylor expansion of (cos theta) in theta 31.460 * [taylor]: Taking taylor expansion of theta in theta 31.460 * [backup-simplify]: Simplify 0 into 0 31.460 * [backup-simplify]: Simplify 1 into 1 31.460 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 31.460 * [taylor]: Taking taylor expansion of (cos phi1) in theta 31.460 * [taylor]: Taking taylor expansion of phi1 in theta 31.460 * [backup-simplify]: Simplify phi1 into phi1 31.460 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.461 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.461 * [taylor]: Taking taylor expansion of (sin delta) in theta 31.461 * [taylor]: Taking taylor expansion of delta in theta 31.461 * [backup-simplify]: Simplify delta into delta 31.461 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.461 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.461 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 31.461 * [taylor]: Taking taylor expansion of (sin phi1) in theta 31.461 * [taylor]: Taking taylor expansion of phi1 in theta 31.461 * [backup-simplify]: Simplify phi1 into phi1 31.461 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.461 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.461 * [taylor]: Taking taylor expansion of (cos delta) in theta 31.461 * [taylor]: Taking taylor expansion of delta in theta 31.461 * [backup-simplify]: Simplify delta into delta 31.461 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.461 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.461 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 31.461 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.461 * [taylor]: Taking taylor expansion of phi1 in phi1 31.461 * [backup-simplify]: Simplify 0 into 0 31.461 * [backup-simplify]: Simplify 1 into 1 31.461 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 31.461 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 31.461 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 31.461 * [taylor]: Taking taylor expansion of (cos theta) in phi1 31.461 * [taylor]: Taking taylor expansion of theta in phi1 31.461 * [backup-simplify]: Simplify theta into theta 31.461 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.461 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.461 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 31.461 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 31.462 * [taylor]: Taking taylor expansion of phi1 in phi1 31.462 * [backup-simplify]: Simplify 0 into 0 31.462 * [backup-simplify]: Simplify 1 into 1 31.462 * [taylor]: Taking taylor expansion of (sin delta) in phi1 31.462 * [taylor]: Taking taylor expansion of delta in phi1 31.462 * [backup-simplify]: Simplify delta into delta 31.462 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.462 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.462 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 31.462 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.462 * [taylor]: Taking taylor expansion of phi1 in phi1 31.462 * [backup-simplify]: Simplify 0 into 0 31.462 * [backup-simplify]: Simplify 1 into 1 31.462 * [taylor]: Taking taylor expansion of (cos delta) in phi1 31.462 * [taylor]: Taking taylor expansion of delta in phi1 31.462 * [backup-simplify]: Simplify delta into delta 31.462 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.462 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.462 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 31.462 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.462 * [taylor]: Taking taylor expansion of phi1 in phi1 31.462 * [backup-simplify]: Simplify 0 into 0 31.462 * [backup-simplify]: Simplify 1 into 1 31.462 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 31.462 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 31.462 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 31.462 * [taylor]: Taking taylor expansion of (cos theta) in phi1 31.462 * [taylor]: Taking taylor expansion of theta in phi1 31.462 * [backup-simplify]: Simplify theta into theta 31.462 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.462 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.462 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 31.462 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 31.463 * [taylor]: Taking taylor expansion of phi1 in phi1 31.463 * [backup-simplify]: Simplify 0 into 0 31.463 * [backup-simplify]: Simplify 1 into 1 31.463 * [taylor]: Taking taylor expansion of (sin delta) in phi1 31.463 * [taylor]: Taking taylor expansion of delta in phi1 31.463 * [backup-simplify]: Simplify delta into delta 31.463 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.463 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.463 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 31.463 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.463 * [taylor]: Taking taylor expansion of phi1 in phi1 31.463 * [backup-simplify]: Simplify 0 into 0 31.463 * [backup-simplify]: Simplify 1 into 1 31.463 * [taylor]: Taking taylor expansion of (cos delta) in phi1 31.463 * [taylor]: Taking taylor expansion of delta in phi1 31.463 * [backup-simplify]: Simplify delta into delta 31.463 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.463 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.463 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 31.463 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 31.464 * [backup-simplify]: Simplify (- 0) into 0 31.464 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 31.464 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 31.464 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 31.464 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 31.464 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 31.464 * [backup-simplify]: Simplify (* (cos theta) (sin delta)) into (* (cos theta) (sin delta)) 31.464 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 31.464 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 31.465 * [backup-simplify]: Simplify (- 0) into 0 31.465 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 31.465 * [backup-simplify]: Simplify (* 0 (cos delta)) into 0 31.465 * [backup-simplify]: Simplify (+ (* (cos theta) (sin delta)) 0) into (* (cos theta) (sin delta)) 31.465 * [backup-simplify]: Simplify (* 0 (* (cos theta) (sin delta))) into 0 31.465 * [taylor]: Taking taylor expansion of 0 in theta 31.465 * [backup-simplify]: Simplify 0 into 0 31.465 * [taylor]: Taking taylor expansion of 0 in delta 31.465 * [backup-simplify]: Simplify 0 into 0 31.465 * [backup-simplify]: Simplify 0 into 0 31.466 * [backup-simplify]: Simplify (+ 0) into 0 31.467 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 31.467 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.468 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 31.468 * [backup-simplify]: Simplify (+ 0 0) into 0 31.468 * [backup-simplify]: Simplify (+ 0) into 0 31.468 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin delta))) into 0 31.469 * [backup-simplify]: Simplify (+ 0) into 0 31.469 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 31.469 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.470 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 31.470 * [backup-simplify]: Simplify (- 0) into 0 31.470 * [backup-simplify]: Simplify (+ 0 0) into 0 31.470 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 (sin delta))) into 0 31.470 * [backup-simplify]: Simplify (+ 0) into 0 31.471 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 31.471 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.472 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 31.472 * [backup-simplify]: Simplify (- 0) into 0 31.472 * [backup-simplify]: Simplify (+ 0 0) into 0 31.472 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.473 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos delta))) into (cos delta) 31.473 * [backup-simplify]: Simplify (+ 0 (cos delta)) into (cos delta) 31.473 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.473 * [backup-simplify]: Simplify (+ (* 0 (cos delta)) (* 1 (* (cos theta) (sin delta)))) into (* (cos theta) (sin delta)) 31.473 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in theta 31.473 * [taylor]: Taking taylor expansion of (cos theta) in theta 31.473 * [taylor]: Taking taylor expansion of theta in theta 31.473 * [backup-simplify]: Simplify 0 into 0 31.473 * [backup-simplify]: Simplify 1 into 1 31.473 * [taylor]: Taking taylor expansion of (sin delta) in theta 31.473 * [taylor]: Taking taylor expansion of delta in theta 31.473 * [backup-simplify]: Simplify delta into delta 31.473 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.473 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.474 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 31.474 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 31.474 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 31.474 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 31.474 * [taylor]: Taking taylor expansion of (sin delta) in delta 31.474 * [taylor]: Taking taylor expansion of delta in delta 31.474 * [backup-simplify]: Simplify 0 into 0 31.474 * [backup-simplify]: Simplify 1 into 1 31.474 * [backup-simplify]: Simplify 0 into 0 31.474 * [taylor]: Taking taylor expansion of 0 in delta 31.474 * [backup-simplify]: Simplify 0 into 0 31.474 * [backup-simplify]: Simplify 0 into 0 31.474 * [backup-simplify]: Simplify 0 into 0 31.474 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.475 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 31.475 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.476 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 31.476 * [backup-simplify]: Simplify (+ 0 0) into 0 31.476 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 31.477 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (sin delta)))) into (- (* 1/2 (sin delta))) 31.477 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.478 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 31.478 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.479 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 31.479 * [backup-simplify]: Simplify (- 0) into 0 31.479 * [backup-simplify]: Simplify (+ 0 0) into 0 31.480 * [backup-simplify]: Simplify (+ (* (cos theta) (- (* 1/2 (sin delta)))) (+ (* 0 0) (* 0 (sin delta)))) into (- (* 1/2 (* (cos theta) (sin delta)))) 31.480 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.480 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 1))) into 0 31.481 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.481 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 0))) into 0 31.482 * [backup-simplify]: Simplify (- 0) into 0 31.482 * [backup-simplify]: Simplify (+ 0 0) into 0 31.482 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.483 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (cos delta)))) into 0 31.483 * [backup-simplify]: Simplify (+ (- (* 1/2 (* (cos theta) (sin delta)))) 0) into (- (* 1/2 (* (cos theta) (sin delta)))) 31.483 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.484 * [backup-simplify]: Simplify (+ (* 0 (- (* 1/2 (* (cos theta) (sin delta))))) (+ (* 1 (cos delta)) (* 0 (* (cos theta) (sin delta))))) into (cos delta) 31.484 * [taylor]: Taking taylor expansion of (cos delta) in theta 31.484 * [taylor]: Taking taylor expansion of delta in theta 31.484 * [backup-simplify]: Simplify delta into delta 31.484 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.484 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.484 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 31.484 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 31.484 * [backup-simplify]: Simplify (- 0) into 0 31.484 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 31.484 * [taylor]: Taking taylor expansion of (cos delta) in delta 31.484 * [taylor]: Taking taylor expansion of delta in delta 31.484 * [backup-simplify]: Simplify 0 into 0 31.484 * [backup-simplify]: Simplify 1 into 1 31.484 * [backup-simplify]: Simplify 1 into 1 31.484 * [backup-simplify]: Simplify (+ 0) into 0 31.485 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 31.485 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.486 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 31.486 * [backup-simplify]: Simplify (+ 0 0) into 0 31.486 * [backup-simplify]: Simplify (+ 0) into 0 31.486 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin delta))) into 0 31.486 * [taylor]: Taking taylor expansion of 0 in delta 31.486 * [backup-simplify]: Simplify 0 into 0 31.486 * [backup-simplify]: Simplify 0 into 0 31.486 * [taylor]: Taking taylor expansion of 0 in delta 31.487 * [backup-simplify]: Simplify 0 into 0 31.487 * [backup-simplify]: Simplify 0 into 0 31.487 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.487 * [backup-simplify]: Simplify 1 into 1 31.487 * [backup-simplify]: Simplify 0 into 0 31.487 * [backup-simplify]: Simplify 0 into 0 31.488 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 31.488 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 31.489 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 31.490 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 31.490 * [backup-simplify]: Simplify (+ 0 0) into 0 31.491 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 1 1) 1) (/ (pow 0 1) 1)) 0) into 0 31.491 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* -1/2 0) (* 0 (sin delta))))) into 0 31.492 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 31.492 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 31.498 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 31.498 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 31.499 * [backup-simplify]: Simplify (- 0) into 0 31.499 * [backup-simplify]: Simplify (+ 0 0) into 0 31.499 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 (- (* 1/2 (sin delta)))) (+ (* 0 0) (* 0 (sin delta))))) into 0 31.500 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 31.502 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 31.503 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 31.504 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 31.504 * [backup-simplify]: Simplify (- 0) into 0 31.505 * [backup-simplify]: Simplify (+ 0 0) into 0 31.506 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into -1/6 31.508 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* -1/6 (cos delta))))) into (- (* 1/6 (cos delta))) 31.508 * [backup-simplify]: Simplify (+ 0 (- (* 1/6 (cos delta)))) into (- (* 1/6 (cos delta))) 31.509 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into -1/6 31.510 * [backup-simplify]: Simplify (+ (* 0 (- (* 1/6 (cos delta)))) (+ (* 1 (- (* 1/2 (* (cos theta) (sin delta))))) (+ (* 0 (cos delta)) (* -1/6 (* (cos theta) (sin delta)))))) into (- (* 2/3 (* (cos theta) (sin delta)))) 31.510 * [taylor]: Taking taylor expansion of (- (* 2/3 (* (cos theta) (sin delta)))) in theta 31.510 * [taylor]: Taking taylor expansion of (* 2/3 (* (cos theta) (sin delta))) in theta 31.510 * [taylor]: Taking taylor expansion of 2/3 in theta 31.510 * [backup-simplify]: Simplify 2/3 into 2/3 31.510 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in theta 31.510 * [taylor]: Taking taylor expansion of (cos theta) in theta 31.510 * [taylor]: Taking taylor expansion of theta in theta 31.510 * [backup-simplify]: Simplify 0 into 0 31.510 * [backup-simplify]: Simplify 1 into 1 31.510 * [taylor]: Taking taylor expansion of (sin delta) in theta 31.510 * [taylor]: Taking taylor expansion of delta in theta 31.510 * [backup-simplify]: Simplify delta into delta 31.510 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.510 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.510 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 31.511 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 31.511 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 31.511 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 31.511 * [backup-simplify]: Simplify (* 2/3 (sin delta)) into (* 2/3 (sin delta)) 31.511 * [backup-simplify]: Simplify (- (* 2/3 (sin delta))) into (- (* 2/3 (sin delta))) 31.511 * [taylor]: Taking taylor expansion of (- (* 2/3 (sin delta))) in delta 31.511 * [taylor]: Taking taylor expansion of (* 2/3 (sin delta)) in delta 31.511 * [taylor]: Taking taylor expansion of 2/3 in delta 31.511 * [backup-simplify]: Simplify 2/3 into 2/3 31.511 * [taylor]: Taking taylor expansion of (sin delta) in delta 31.511 * [taylor]: Taking taylor expansion of delta in delta 31.511 * [backup-simplify]: Simplify 0 into 0 31.511 * [backup-simplify]: Simplify 1 into 1 31.512 * [backup-simplify]: Simplify (* 2/3 0) into 0 31.512 * [backup-simplify]: Simplify (- 0) into 0 31.512 * [backup-simplify]: Simplify 0 into 0 31.512 * [backup-simplify]: Simplify (+ 0) into 0 31.513 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 31.514 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.514 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 31.515 * [backup-simplify]: Simplify (- 0) into 0 31.515 * [backup-simplify]: Simplify (+ 0 0) into 0 31.515 * [taylor]: Taking taylor expansion of 0 in delta 31.515 * [backup-simplify]: Simplify 0 into 0 31.515 * [backup-simplify]: Simplify 0 into 0 31.516 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.516 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 31.517 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.517 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 31.517 * [backup-simplify]: Simplify (+ 0 0) into 0 31.518 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 31.518 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (sin delta)))) into (- (* 1/2 (sin delta))) 31.518 * [taylor]: Taking taylor expansion of (- (* 1/2 (sin delta))) in delta 31.518 * [taylor]: Taking taylor expansion of (* 1/2 (sin delta)) in delta 31.518 * [taylor]: Taking taylor expansion of 1/2 in delta 31.518 * [backup-simplify]: Simplify 1/2 into 1/2 31.518 * [taylor]: Taking taylor expansion of (sin delta) in delta 31.518 * [taylor]: Taking taylor expansion of delta in delta 31.518 * [backup-simplify]: Simplify 0 into 0 31.518 * [backup-simplify]: Simplify 1 into 1 31.519 * [backup-simplify]: Simplify (* 1/2 0) into 0 31.519 * [backup-simplify]: Simplify (- 0) into 0 31.519 * [backup-simplify]: Simplify 0 into 0 31.519 * [taylor]: Taking taylor expansion of 0 in delta 31.519 * [backup-simplify]: Simplify 0 into 0 31.519 * [backup-simplify]: Simplify 0 into 0 31.519 * [backup-simplify]: Simplify (+ (* 1 (* delta (* 1 phi1))) (* 1 (pow (* 1 (* 1 phi1)) 2))) into (+ (* phi1 delta) (pow phi1 2)) 31.519 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) into (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) 31.519 * [approximate]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in (phi1 theta delta) around 0 31.519 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in delta 31.519 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 31.520 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 31.520 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 31.520 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 31.520 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 31.520 * [taylor]: Taking taylor expansion of theta in delta 31.520 * [backup-simplify]: Simplify theta into theta 31.520 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.520 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.520 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.520 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 31.520 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 31.520 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.520 * [taylor]: Taking taylor expansion of delta in delta 31.520 * [backup-simplify]: Simplify 0 into 0 31.520 * [backup-simplify]: Simplify 1 into 1 31.520 * [backup-simplify]: Simplify (/ 1 1) into 1 31.520 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.520 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 31.520 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.520 * [taylor]: Taking taylor expansion of phi1 in delta 31.520 * [backup-simplify]: Simplify phi1 into phi1 31.520 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.520 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.520 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.520 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 31.520 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 31.520 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.520 * [taylor]: Taking taylor expansion of phi1 in delta 31.520 * [backup-simplify]: Simplify phi1 into phi1 31.520 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.520 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.521 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.521 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 31.521 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.521 * [taylor]: Taking taylor expansion of delta in delta 31.521 * [backup-simplify]: Simplify 0 into 0 31.521 * [backup-simplify]: Simplify 1 into 1 31.521 * [backup-simplify]: Simplify (/ 1 1) into 1 31.521 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.521 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 31.521 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.521 * [taylor]: Taking taylor expansion of phi1 in delta 31.521 * [backup-simplify]: Simplify phi1 into phi1 31.521 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.521 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.521 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.521 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in theta 31.521 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 31.521 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 31.521 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 31.521 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 31.521 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 31.521 * [taylor]: Taking taylor expansion of theta in theta 31.521 * [backup-simplify]: Simplify 0 into 0 31.521 * [backup-simplify]: Simplify 1 into 1 31.522 * [backup-simplify]: Simplify (/ 1 1) into 1 31.522 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.522 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 31.522 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 31.522 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.522 * [taylor]: Taking taylor expansion of delta in theta 31.522 * [backup-simplify]: Simplify delta into delta 31.522 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.522 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.522 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.522 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 31.522 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.522 * [taylor]: Taking taylor expansion of phi1 in theta 31.522 * [backup-simplify]: Simplify phi1 into phi1 31.522 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.522 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.522 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.522 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 31.522 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 31.522 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.522 * [taylor]: Taking taylor expansion of phi1 in theta 31.522 * [backup-simplify]: Simplify phi1 into phi1 31.522 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.522 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.522 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.522 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 31.522 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.522 * [taylor]: Taking taylor expansion of delta in theta 31.522 * [backup-simplify]: Simplify delta into delta 31.522 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.522 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.522 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.522 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 31.522 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.522 * [taylor]: Taking taylor expansion of phi1 in theta 31.522 * [backup-simplify]: Simplify phi1 into phi1 31.522 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.523 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.523 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.523 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in phi1 31.523 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 31.523 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 31.523 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 31.523 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 31.523 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 31.523 * [taylor]: Taking taylor expansion of theta in phi1 31.523 * [backup-simplify]: Simplify theta into theta 31.523 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.523 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.523 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.523 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 31.523 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 31.523 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.523 * [taylor]: Taking taylor expansion of delta in phi1 31.523 * [backup-simplify]: Simplify delta into delta 31.523 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.523 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.523 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.523 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 31.523 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.523 * [taylor]: Taking taylor expansion of phi1 in phi1 31.523 * [backup-simplify]: Simplify 0 into 0 31.523 * [backup-simplify]: Simplify 1 into 1 31.523 * [backup-simplify]: Simplify (/ 1 1) into 1 31.523 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.523 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 31.523 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 31.524 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.524 * [taylor]: Taking taylor expansion of phi1 in phi1 31.524 * [backup-simplify]: Simplify 0 into 0 31.524 * [backup-simplify]: Simplify 1 into 1 31.524 * [backup-simplify]: Simplify (/ 1 1) into 1 31.524 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.524 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 31.524 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.524 * [taylor]: Taking taylor expansion of delta in phi1 31.524 * [backup-simplify]: Simplify delta into delta 31.524 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.524 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.524 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.524 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 31.524 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.524 * [taylor]: Taking taylor expansion of phi1 in phi1 31.524 * [backup-simplify]: Simplify 0 into 0 31.524 * [backup-simplify]: Simplify 1 into 1 31.524 * [backup-simplify]: Simplify (/ 1 1) into 1 31.524 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.524 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in phi1 31.524 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 31.525 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 31.525 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 31.525 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 31.525 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 31.525 * [taylor]: Taking taylor expansion of theta in phi1 31.525 * [backup-simplify]: Simplify theta into theta 31.525 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.525 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.525 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.525 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 31.525 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 31.525 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.525 * [taylor]: Taking taylor expansion of delta in phi1 31.525 * [backup-simplify]: Simplify delta into delta 31.525 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.525 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.525 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.525 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 31.525 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.525 * [taylor]: Taking taylor expansion of phi1 in phi1 31.525 * [backup-simplify]: Simplify 0 into 0 31.525 * [backup-simplify]: Simplify 1 into 1 31.525 * [backup-simplify]: Simplify (/ 1 1) into 1 31.525 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.525 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 31.525 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 31.525 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.525 * [taylor]: Taking taylor expansion of phi1 in phi1 31.525 * [backup-simplify]: Simplify 0 into 0 31.525 * [backup-simplify]: Simplify 1 into 1 31.526 * [backup-simplify]: Simplify (/ 1 1) into 1 31.526 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.526 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 31.526 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.526 * [taylor]: Taking taylor expansion of delta in phi1 31.526 * [backup-simplify]: Simplify delta into delta 31.526 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.526 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.526 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.526 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 31.526 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.526 * [taylor]: Taking taylor expansion of phi1 in phi1 31.526 * [backup-simplify]: Simplify 0 into 0 31.526 * [backup-simplify]: Simplify 1 into 1 31.527 * [backup-simplify]: Simplify (/ 1 1) into 1 31.527 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.527 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 31.527 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 31.527 * [backup-simplify]: Simplify (- 0) into 0 31.527 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 31.527 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 31.527 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 31.527 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 31.527 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (cos (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 delta))) 31.527 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 31.528 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 31.528 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 31.528 * [backup-simplify]: Simplify (- 0) into 0 31.528 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 31.528 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 31.528 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) into (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 31.528 * [backup-simplify]: Simplify (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) into (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) 31.528 * [taylor]: Taking taylor expansion of (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in theta 31.528 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in theta 31.528 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in theta 31.529 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 31.529 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.529 * [taylor]: Taking taylor expansion of phi1 in theta 31.529 * [backup-simplify]: Simplify phi1 into phi1 31.529 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.529 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.529 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.529 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in theta 31.529 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 31.529 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 31.529 * [taylor]: Taking taylor expansion of theta in theta 31.529 * [backup-simplify]: Simplify 0 into 0 31.529 * [backup-simplify]: Simplify 1 into 1 31.529 * [backup-simplify]: Simplify (/ 1 1) into 1 31.529 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.529 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 31.529 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.529 * [taylor]: Taking taylor expansion of delta in theta 31.529 * [backup-simplify]: Simplify delta into delta 31.529 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.529 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.529 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.529 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in theta 31.529 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 31.529 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.529 * [taylor]: Taking taylor expansion of delta in theta 31.529 * [backup-simplify]: Simplify delta into delta 31.529 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.529 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.529 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.529 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 31.530 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.530 * [taylor]: Taking taylor expansion of phi1 in theta 31.530 * [backup-simplify]: Simplify phi1 into phi1 31.530 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.530 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.530 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.530 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 31.530 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.530 * [taylor]: Taking taylor expansion of phi1 in theta 31.530 * [backup-simplify]: Simplify phi1 into phi1 31.530 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.530 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.530 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.530 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 31.530 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 31.530 * [backup-simplify]: Simplify (- 0) into 0 31.530 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 31.530 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 31.530 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 31.530 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 31.531 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 31.531 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 31.531 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 31.531 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 31.531 * [backup-simplify]: Simplify (- 0) into 0 31.531 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 31.531 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 31.531 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 31.531 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 31.531 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 31.531 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) into (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 31.532 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 31.532 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 31.532 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 31.532 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) 31.532 * [taylor]: Taking taylor expansion of (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) in delta 31.532 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in delta 31.532 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 31.532 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 31.532 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.532 * [taylor]: Taking taylor expansion of phi1 in delta 31.532 * [backup-simplify]: Simplify phi1 into phi1 31.532 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.532 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.532 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.532 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 31.532 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.532 * [taylor]: Taking taylor expansion of delta in delta 31.532 * [backup-simplify]: Simplify 0 into 0 31.532 * [backup-simplify]: Simplify 1 into 1 31.532 * [backup-simplify]: Simplify (/ 1 1) into 1 31.532 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.533 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 31.533 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 31.533 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.533 * [taylor]: Taking taylor expansion of delta in delta 31.533 * [backup-simplify]: Simplify 0 into 0 31.533 * [backup-simplify]: Simplify 1 into 1 31.533 * [backup-simplify]: Simplify (/ 1 1) into 1 31.533 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.533 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 31.533 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 31.533 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 31.533 * [taylor]: Taking taylor expansion of theta in delta 31.533 * [backup-simplify]: Simplify theta into theta 31.533 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.533 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.533 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.533 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 31.533 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.533 * [taylor]: Taking taylor expansion of phi1 in delta 31.533 * [backup-simplify]: Simplify phi1 into phi1 31.533 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.533 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.533 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.533 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 31.533 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.533 * [taylor]: Taking taylor expansion of phi1 in delta 31.533 * [backup-simplify]: Simplify phi1 into phi1 31.533 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.533 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.533 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.534 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 31.534 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 31.534 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 31.534 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 31.534 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 31.534 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 31.534 * [backup-simplify]: Simplify (- 0) into 0 31.534 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 31.534 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 31.534 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 31.535 * [backup-simplify]: Simplify (- 0) into 0 31.535 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 31.535 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 31.535 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 31.535 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 31.535 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 31.535 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 31.535 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 31.535 * [backup-simplify]: Simplify (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) into (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) 31.536 * [backup-simplify]: Simplify (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) into (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) 31.536 * [backup-simplify]: Simplify (+ 0) into 0 31.536 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 31.536 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.537 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.537 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 31.537 * [backup-simplify]: Simplify (+ 0 0) into 0 31.537 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 31.538 * [backup-simplify]: Simplify (+ 0) into 0 31.538 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 31.538 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 31.539 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.539 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 31.539 * [backup-simplify]: Simplify (- 0) into 0 31.539 * [backup-simplify]: Simplify (+ 0 0) into 0 31.539 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta))))) into 0 31.540 * [backup-simplify]: Simplify (+ 0) into 0 31.540 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 31.540 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.541 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.541 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 31.541 * [backup-simplify]: Simplify (- 0) into 0 31.541 * [backup-simplify]: Simplify (+ 0 0) into 0 31.541 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 31.542 * [backup-simplify]: Simplify (+ 0 0) into 0 31.542 * [backup-simplify]: Simplify (+ (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 31.542 * [taylor]: Taking taylor expansion of 0 in theta 31.542 * [backup-simplify]: Simplify 0 into 0 31.542 * [taylor]: Taking taylor expansion of 0 in delta 31.542 * [backup-simplify]: Simplify 0 into 0 31.542 * [backup-simplify]: Simplify 0 into 0 31.542 * [backup-simplify]: Simplify (+ 0) into 0 31.543 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 31.543 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.543 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.544 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 31.544 * [backup-simplify]: Simplify (+ 0 0) into 0 31.544 * [backup-simplify]: Simplify (+ 0) into 0 31.545 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 31.545 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.545 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.546 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 31.546 * [backup-simplify]: Simplify (+ 0 0) into 0 31.546 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 31.546 * [backup-simplify]: Simplify (+ 0) into 0 31.547 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 31.547 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.547 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.548 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 31.548 * [backup-simplify]: Simplify (- 0) into 0 31.548 * [backup-simplify]: Simplify (+ 0 0) into 0 31.548 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 31.549 * [backup-simplify]: Simplify (+ 0) into 0 31.549 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 31.549 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.549 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.550 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 31.550 * [backup-simplify]: Simplify (+ 0 0) into 0 31.550 * [backup-simplify]: Simplify (+ 0) into 0 31.551 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 31.551 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.551 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.551 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 31.552 * [backup-simplify]: Simplify (- 0) into 0 31.552 * [backup-simplify]: Simplify (+ 0 0) into 0 31.552 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 31.553 * [backup-simplify]: Simplify (+ 0 0) into 0 31.553 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 31.553 * [taylor]: Taking taylor expansion of 0 in delta 31.553 * [backup-simplify]: Simplify 0 into 0 31.553 * [backup-simplify]: Simplify 0 into 0 31.554 * [backup-simplify]: Simplify (+ 0) into 0 31.554 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 31.554 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.555 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.555 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 31.556 * [backup-simplify]: Simplify (+ 0 0) into 0 31.556 * [backup-simplify]: Simplify (+ 0) into 0 31.557 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 31.557 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.558 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.558 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 31.558 * [backup-simplify]: Simplify (+ 0 0) into 0 31.559 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 31.559 * [backup-simplify]: Simplify (+ 0) into 0 31.559 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 31.560 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.560 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.561 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 31.561 * [backup-simplify]: Simplify (- 0) into 0 31.562 * [backup-simplify]: Simplify (+ 0 0) into 0 31.562 * [backup-simplify]: Simplify (+ 0) into 0 31.562 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 31.563 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 31.563 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.564 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 31.564 * [backup-simplify]: Simplify (- 0) into 0 31.565 * [backup-simplify]: Simplify (+ 0 0) into 0 31.565 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 31.565 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 31.565 * [backup-simplify]: Simplify (+ 0 0) into 0 31.566 * [backup-simplify]: Simplify (+ (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 0) (* 0 (sin (/ 1 phi1)))) into 0 31.566 * [backup-simplify]: Simplify 0 into 0 31.567 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.568 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.568 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.569 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.569 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.569 * [backup-simplify]: Simplify (+ 0 0) into 0 31.570 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 31.571 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.572 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.572 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.573 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.574 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.574 * [backup-simplify]: Simplify (- 0) into 0 31.574 * [backup-simplify]: Simplify (+ 0 0) into 0 31.575 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta)))))) into 0 31.576 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.577 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.577 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.578 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.578 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.579 * [backup-simplify]: Simplify (- 0) into 0 31.579 * [backup-simplify]: Simplify (+ 0 0) into 0 31.580 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 31.580 * [backup-simplify]: Simplify (+ 0 0) into 0 31.581 * [backup-simplify]: Simplify (+ (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 31.581 * [taylor]: Taking taylor expansion of 0 in theta 31.581 * [backup-simplify]: Simplify 0 into 0 31.581 * [taylor]: Taking taylor expansion of 0 in delta 31.581 * [backup-simplify]: Simplify 0 into 0 31.581 * [backup-simplify]: Simplify 0 into 0 31.581 * [taylor]: Taking taylor expansion of 0 in delta 31.581 * [backup-simplify]: Simplify 0 into 0 31.581 * [backup-simplify]: Simplify 0 into 0 31.582 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.583 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.583 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.584 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.584 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.585 * [backup-simplify]: Simplify (+ 0 0) into 0 31.586 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.586 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.587 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.587 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.588 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.588 * [backup-simplify]: Simplify (+ 0 0) into 0 31.589 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 31.590 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.591 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.591 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.592 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.592 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.593 * [backup-simplify]: Simplify (- 0) into 0 31.593 * [backup-simplify]: Simplify (+ 0 0) into 0 31.594 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 31.594 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.595 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.595 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.596 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.596 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.596 * [backup-simplify]: Simplify (+ 0 0) into 0 31.597 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.597 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.598 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.598 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.598 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.599 * [backup-simplify]: Simplify (- 0) into 0 31.599 * [backup-simplify]: Simplify (+ 0 0) into 0 31.599 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 31.599 * [backup-simplify]: Simplify (+ 0 0) into 0 31.600 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 31.600 * [taylor]: Taking taylor expansion of 0 in delta 31.600 * [backup-simplify]: Simplify 0 into 0 31.600 * [backup-simplify]: Simplify 0 into 0 31.600 * [backup-simplify]: Simplify (* (+ (* (cos (/ 1 (/ 1 phi1))) (* (cos (/ 1 (/ 1 theta))) (sin (/ 1 (/ 1 delta))))) (* (cos (/ 1 (/ 1 delta))) (sin (/ 1 (/ 1 phi1))))) (sin (/ 1 (/ 1 phi1)))) into (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta))))) 31.600 * [backup-simplify]: Simplify (* (sin (/ 1 (- phi1))) (sin (asin (fma (cos (/ 1 (- theta))) (* (cos (/ 1 (- phi1))) (sin (/ 1 (- delta)))) (* (cos (/ 1 (- delta))) (sin (/ 1 (- phi1)))))))) into (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 31.601 * [approximate]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in (phi1 theta delta) around 0 31.601 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 31.601 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 31.601 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.601 * [taylor]: Taking taylor expansion of -1 in delta 31.601 * [backup-simplify]: Simplify -1 into -1 31.601 * [taylor]: Taking taylor expansion of phi1 in delta 31.601 * [backup-simplify]: Simplify phi1 into phi1 31.601 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.601 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.601 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.601 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 31.601 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 31.601 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 31.601 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 31.601 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 31.601 * [taylor]: Taking taylor expansion of -1 in delta 31.601 * [backup-simplify]: Simplify -1 into -1 31.601 * [taylor]: Taking taylor expansion of theta in delta 31.601 * [backup-simplify]: Simplify theta into theta 31.601 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.601 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.601 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.601 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 31.601 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 31.601 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.601 * [taylor]: Taking taylor expansion of -1 in delta 31.601 * [backup-simplify]: Simplify -1 into -1 31.601 * [taylor]: Taking taylor expansion of phi1 in delta 31.601 * [backup-simplify]: Simplify phi1 into phi1 31.601 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.601 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.601 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.601 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 31.601 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.601 * [taylor]: Taking taylor expansion of -1 in delta 31.601 * [backup-simplify]: Simplify -1 into -1 31.601 * [taylor]: Taking taylor expansion of delta in delta 31.601 * [backup-simplify]: Simplify 0 into 0 31.601 * [backup-simplify]: Simplify 1 into 1 31.602 * [backup-simplify]: Simplify (/ -1 1) into -1 31.602 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.602 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 31.602 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 31.602 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.602 * [taylor]: Taking taylor expansion of -1 in delta 31.602 * [backup-simplify]: Simplify -1 into -1 31.602 * [taylor]: Taking taylor expansion of phi1 in delta 31.602 * [backup-simplify]: Simplify phi1 into phi1 31.602 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.602 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.602 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.602 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 31.602 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.602 * [taylor]: Taking taylor expansion of -1 in delta 31.602 * [backup-simplify]: Simplify -1 into -1 31.602 * [taylor]: Taking taylor expansion of delta in delta 31.602 * [backup-simplify]: Simplify 0 into 0 31.602 * [backup-simplify]: Simplify 1 into 1 31.602 * [backup-simplify]: Simplify (/ -1 1) into -1 31.602 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.602 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 31.602 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 31.602 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.602 * [taylor]: Taking taylor expansion of -1 in theta 31.602 * [backup-simplify]: Simplify -1 into -1 31.602 * [taylor]: Taking taylor expansion of phi1 in theta 31.602 * [backup-simplify]: Simplify phi1 into phi1 31.603 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.603 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.603 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.603 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 31.603 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 31.603 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 31.603 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 31.603 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 31.603 * [taylor]: Taking taylor expansion of -1 in theta 31.603 * [backup-simplify]: Simplify -1 into -1 31.603 * [taylor]: Taking taylor expansion of theta in theta 31.603 * [backup-simplify]: Simplify 0 into 0 31.603 * [backup-simplify]: Simplify 1 into 1 31.603 * [backup-simplify]: Simplify (/ -1 1) into -1 31.603 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.603 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 31.603 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 31.603 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.603 * [taylor]: Taking taylor expansion of -1 in theta 31.603 * [backup-simplify]: Simplify -1 into -1 31.603 * [taylor]: Taking taylor expansion of phi1 in theta 31.603 * [backup-simplify]: Simplify phi1 into phi1 31.603 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.603 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.603 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.603 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 31.603 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.603 * [taylor]: Taking taylor expansion of -1 in theta 31.603 * [backup-simplify]: Simplify -1 into -1 31.603 * [taylor]: Taking taylor expansion of delta in theta 31.603 * [backup-simplify]: Simplify delta into delta 31.603 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.604 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.604 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.604 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 31.604 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 31.604 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.604 * [taylor]: Taking taylor expansion of -1 in theta 31.604 * [backup-simplify]: Simplify -1 into -1 31.604 * [taylor]: Taking taylor expansion of phi1 in theta 31.604 * [backup-simplify]: Simplify phi1 into phi1 31.604 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.604 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.604 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.604 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 31.604 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.604 * [taylor]: Taking taylor expansion of -1 in theta 31.604 * [backup-simplify]: Simplify -1 into -1 31.604 * [taylor]: Taking taylor expansion of delta in theta 31.604 * [backup-simplify]: Simplify delta into delta 31.604 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.604 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.604 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.604 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 31.604 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 31.604 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.604 * [taylor]: Taking taylor expansion of -1 in phi1 31.604 * [backup-simplify]: Simplify -1 into -1 31.604 * [taylor]: Taking taylor expansion of phi1 in phi1 31.604 * [backup-simplify]: Simplify 0 into 0 31.604 * [backup-simplify]: Simplify 1 into 1 31.604 * [backup-simplify]: Simplify (/ -1 1) into -1 31.604 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.604 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 31.605 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 31.605 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 31.605 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 31.605 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 31.605 * [taylor]: Taking taylor expansion of -1 in phi1 31.605 * [backup-simplify]: Simplify -1 into -1 31.605 * [taylor]: Taking taylor expansion of theta in phi1 31.605 * [backup-simplify]: Simplify theta into theta 31.605 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.605 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.605 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.605 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 31.605 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 31.605 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.605 * [taylor]: Taking taylor expansion of -1 in phi1 31.605 * [backup-simplify]: Simplify -1 into -1 31.605 * [taylor]: Taking taylor expansion of phi1 in phi1 31.605 * [backup-simplify]: Simplify 0 into 0 31.605 * [backup-simplify]: Simplify 1 into 1 31.605 * [backup-simplify]: Simplify (/ -1 1) into -1 31.605 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.605 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 31.605 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.605 * [taylor]: Taking taylor expansion of -1 in phi1 31.605 * [backup-simplify]: Simplify -1 into -1 31.605 * [taylor]: Taking taylor expansion of delta in phi1 31.605 * [backup-simplify]: Simplify delta into delta 31.605 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.606 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.606 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.606 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 31.606 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 31.606 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.606 * [taylor]: Taking taylor expansion of -1 in phi1 31.606 * [backup-simplify]: Simplify -1 into -1 31.606 * [taylor]: Taking taylor expansion of phi1 in phi1 31.606 * [backup-simplify]: Simplify 0 into 0 31.606 * [backup-simplify]: Simplify 1 into 1 31.606 * [backup-simplify]: Simplify (/ -1 1) into -1 31.606 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.606 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 31.606 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.606 * [taylor]: Taking taylor expansion of -1 in phi1 31.606 * [backup-simplify]: Simplify -1 into -1 31.606 * [taylor]: Taking taylor expansion of delta in phi1 31.606 * [backup-simplify]: Simplify delta into delta 31.606 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.606 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.606 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.606 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 31.606 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 31.606 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.606 * [taylor]: Taking taylor expansion of -1 in phi1 31.606 * [backup-simplify]: Simplify -1 into -1 31.606 * [taylor]: Taking taylor expansion of phi1 in phi1 31.606 * [backup-simplify]: Simplify 0 into 0 31.606 * [backup-simplify]: Simplify 1 into 1 31.607 * [backup-simplify]: Simplify (/ -1 1) into -1 31.607 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.607 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 31.607 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 31.607 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 31.607 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 31.607 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 31.607 * [taylor]: Taking taylor expansion of -1 in phi1 31.607 * [backup-simplify]: Simplify -1 into -1 31.607 * [taylor]: Taking taylor expansion of theta in phi1 31.607 * [backup-simplify]: Simplify theta into theta 31.607 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.607 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.607 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.607 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 31.607 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 31.607 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.607 * [taylor]: Taking taylor expansion of -1 in phi1 31.607 * [backup-simplify]: Simplify -1 into -1 31.607 * [taylor]: Taking taylor expansion of phi1 in phi1 31.607 * [backup-simplify]: Simplify 0 into 0 31.607 * [backup-simplify]: Simplify 1 into 1 31.607 * [backup-simplify]: Simplify (/ -1 1) into -1 31.607 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.608 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 31.608 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.608 * [taylor]: Taking taylor expansion of -1 in phi1 31.608 * [backup-simplify]: Simplify -1 into -1 31.608 * [taylor]: Taking taylor expansion of delta in phi1 31.608 * [backup-simplify]: Simplify delta into delta 31.608 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.608 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.608 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.608 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 31.608 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 31.608 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.608 * [taylor]: Taking taylor expansion of -1 in phi1 31.608 * [backup-simplify]: Simplify -1 into -1 31.608 * [taylor]: Taking taylor expansion of phi1 in phi1 31.608 * [backup-simplify]: Simplify 0 into 0 31.608 * [backup-simplify]: Simplify 1 into 1 31.608 * [backup-simplify]: Simplify (/ -1 1) into -1 31.608 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.608 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 31.608 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.608 * [taylor]: Taking taylor expansion of -1 in phi1 31.608 * [backup-simplify]: Simplify -1 into -1 31.608 * [taylor]: Taking taylor expansion of delta in phi1 31.608 * [backup-simplify]: Simplify delta into delta 31.608 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.608 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.608 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.608 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 31.609 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 31.609 * [backup-simplify]: Simplify (- 0) into 0 31.609 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 31.609 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 31.609 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 31.609 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 31.609 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 31.609 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 31.609 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 31.609 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 31.610 * [backup-simplify]: Simplify (- 0) into 0 31.610 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 31.610 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 31.610 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) into (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 31.610 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 31.610 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 31.610 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 31.610 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.610 * [taylor]: Taking taylor expansion of -1 in theta 31.610 * [backup-simplify]: Simplify -1 into -1 31.610 * [taylor]: Taking taylor expansion of phi1 in theta 31.610 * [backup-simplify]: Simplify phi1 into phi1 31.610 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.610 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.610 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.610 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 31.610 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) in theta 31.610 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 31.610 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.610 * [taylor]: Taking taylor expansion of -1 in theta 31.610 * [backup-simplify]: Simplify -1 into -1 31.610 * [taylor]: Taking taylor expansion of phi1 in theta 31.610 * [backup-simplify]: Simplify phi1 into phi1 31.610 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.611 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.611 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.611 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 theta))) in theta 31.611 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 31.611 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.611 * [taylor]: Taking taylor expansion of -1 in theta 31.611 * [backup-simplify]: Simplify -1 into -1 31.611 * [taylor]: Taking taylor expansion of delta in theta 31.611 * [backup-simplify]: Simplify delta into delta 31.611 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.611 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.611 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.611 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 31.611 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 31.611 * [taylor]: Taking taylor expansion of -1 in theta 31.611 * [backup-simplify]: Simplify -1 into -1 31.611 * [taylor]: Taking taylor expansion of theta in theta 31.611 * [backup-simplify]: Simplify 0 into 0 31.611 * [backup-simplify]: Simplify 1 into 1 31.611 * [backup-simplify]: Simplify (/ -1 1) into -1 31.611 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.611 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 31.611 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 31.611 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.611 * [taylor]: Taking taylor expansion of -1 in theta 31.611 * [backup-simplify]: Simplify -1 into -1 31.611 * [taylor]: Taking taylor expansion of phi1 in theta 31.611 * [backup-simplify]: Simplify phi1 into phi1 31.611 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.611 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.611 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.611 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 31.611 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.611 * [taylor]: Taking taylor expansion of -1 in theta 31.612 * [backup-simplify]: Simplify -1 into -1 31.612 * [taylor]: Taking taylor expansion of delta in theta 31.612 * [backup-simplify]: Simplify delta into delta 31.612 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.612 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.612 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.612 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.612 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.612 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.612 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 31.612 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 31.612 * [backup-simplify]: Simplify (- 0) into 0 31.612 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 31.612 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 31.612 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 31.612 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 31.612 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 theta))) into (* (cos (/ -1 theta)) (sin (/ -1 delta))) 31.613 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 31.613 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.613 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.613 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.613 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 31.613 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 31.613 * [backup-simplify]: Simplify (- 0) into 0 31.613 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 31.613 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 31.613 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) into (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) 31.614 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 31.614 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in delta 31.614 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 31.614 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.614 * [taylor]: Taking taylor expansion of -1 in delta 31.614 * [backup-simplify]: Simplify -1 into -1 31.614 * [taylor]: Taking taylor expansion of phi1 in delta 31.614 * [backup-simplify]: Simplify phi1 into phi1 31.614 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.614 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.614 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.614 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in delta 31.614 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 31.614 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 31.614 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.614 * [taylor]: Taking taylor expansion of -1 in delta 31.614 * [backup-simplify]: Simplify -1 into -1 31.614 * [taylor]: Taking taylor expansion of phi1 in delta 31.614 * [backup-simplify]: Simplify phi1 into phi1 31.614 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.614 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.614 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.614 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 31.614 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.614 * [taylor]: Taking taylor expansion of -1 in delta 31.614 * [backup-simplify]: Simplify -1 into -1 31.614 * [taylor]: Taking taylor expansion of delta in delta 31.614 * [backup-simplify]: Simplify 0 into 0 31.614 * [backup-simplify]: Simplify 1 into 1 31.614 * [backup-simplify]: Simplify (/ -1 1) into -1 31.615 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.615 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in delta 31.615 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 31.615 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.615 * [taylor]: Taking taylor expansion of -1 in delta 31.615 * [backup-simplify]: Simplify -1 into -1 31.615 * [taylor]: Taking taylor expansion of phi1 in delta 31.615 * [backup-simplify]: Simplify phi1 into phi1 31.615 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.615 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.615 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.615 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in delta 31.615 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 31.615 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 31.615 * [taylor]: Taking taylor expansion of -1 in delta 31.615 * [backup-simplify]: Simplify -1 into -1 31.615 * [taylor]: Taking taylor expansion of theta in delta 31.615 * [backup-simplify]: Simplify theta into theta 31.615 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.615 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.615 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.615 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 31.615 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.615 * [taylor]: Taking taylor expansion of -1 in delta 31.615 * [backup-simplify]: Simplify -1 into -1 31.615 * [taylor]: Taking taylor expansion of delta in delta 31.615 * [backup-simplify]: Simplify 0 into 0 31.615 * [backup-simplify]: Simplify 1 into 1 31.616 * [backup-simplify]: Simplify (/ -1 1) into -1 31.616 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.616 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.616 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.616 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.616 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.616 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.616 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.616 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 31.616 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 31.616 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 31.617 * [backup-simplify]: Simplify (- 0) into 0 31.617 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 31.617 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 31.617 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 31.617 * [backup-simplify]: Simplify (- 0) into 0 31.617 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 31.617 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (cos (/ -1 theta))) 31.617 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 31.617 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 31.618 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 31.618 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 31.622 * [backup-simplify]: Simplify (+ 0) into 0 31.623 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 31.623 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.623 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.624 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 31.624 * [backup-simplify]: Simplify (+ 0 0) into 0 31.624 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 31.624 * [backup-simplify]: Simplify (+ 0) into 0 31.625 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 31.625 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 31.625 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.626 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 31.626 * [backup-simplify]: Simplify (- 0) into 0 31.626 * [backup-simplify]: Simplify (+ 0 0) into 0 31.626 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 31.626 * [backup-simplify]: Simplify (+ 0) into 0 31.627 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 31.627 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.628 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.628 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 31.629 * [backup-simplify]: Simplify (- 0) into 0 31.629 * [backup-simplify]: Simplify (+ 0 0) into 0 31.629 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 31.630 * [backup-simplify]: Simplify (+ 0 0) into 0 31.630 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) into 0 31.630 * [taylor]: Taking taylor expansion of 0 in theta 31.630 * [backup-simplify]: Simplify 0 into 0 31.630 * [taylor]: Taking taylor expansion of 0 in delta 31.630 * [backup-simplify]: Simplify 0 into 0 31.630 * [backup-simplify]: Simplify 0 into 0 31.631 * [backup-simplify]: Simplify (+ 0) into 0 31.631 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 31.632 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.632 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.633 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 31.633 * [backup-simplify]: Simplify (+ 0 0) into 0 31.633 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 theta)))) into 0 31.634 * [backup-simplify]: Simplify (+ 0) into 0 31.634 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 31.634 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.635 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.636 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 31.636 * [backup-simplify]: Simplify (- 0) into 0 31.636 * [backup-simplify]: Simplify (+ 0 0) into 0 31.637 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into 0 31.637 * [backup-simplify]: Simplify (+ 0) into 0 31.638 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 31.638 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.639 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.639 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 31.640 * [backup-simplify]: Simplify (- 0) into 0 31.640 * [backup-simplify]: Simplify (+ 0 0) into 0 31.640 * [backup-simplify]: Simplify (+ 0) into 0 31.641 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 31.641 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.642 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.642 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 31.643 * [backup-simplify]: Simplify (+ 0 0) into 0 31.643 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 31.643 * [backup-simplify]: Simplify (+ 0 0) into 0 31.643 * [backup-simplify]: Simplify (+ 0) into 0 31.644 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 31.644 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.644 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.645 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 31.645 * [backup-simplify]: Simplify (+ 0 0) into 0 31.645 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 31.645 * [taylor]: Taking taylor expansion of 0 in delta 31.645 * [backup-simplify]: Simplify 0 into 0 31.645 * [backup-simplify]: Simplify 0 into 0 31.645 * [backup-simplify]: Simplify (+ 0) into 0 31.646 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 31.646 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.646 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.647 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 31.647 * [backup-simplify]: Simplify (+ 0 0) into 0 31.647 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 31.647 * [backup-simplify]: Simplify (+ 0) into 0 31.648 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 31.648 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 31.648 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.648 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 31.649 * [backup-simplify]: Simplify (- 0) into 0 31.649 * [backup-simplify]: Simplify (+ 0 0) into 0 31.649 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 31.649 * [backup-simplify]: Simplify (+ 0) into 0 31.650 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 31.650 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.650 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.650 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 31.651 * [backup-simplify]: Simplify (- 0) into 0 31.651 * [backup-simplify]: Simplify (+ 0 0) into 0 31.651 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into 0 31.651 * [backup-simplify]: Simplify (+ 0 0) into 0 31.651 * [backup-simplify]: Simplify (+ 0) into 0 31.652 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 31.652 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.652 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.653 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 31.653 * [backup-simplify]: Simplify (+ 0 0) into 0 31.653 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) into 0 31.653 * [backup-simplify]: Simplify 0 into 0 31.654 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.654 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.654 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.655 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.655 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.655 * [backup-simplify]: Simplify (+ 0 0) into 0 31.656 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 31.656 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.657 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.657 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.657 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.658 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.658 * [backup-simplify]: Simplify (- 0) into 0 31.658 * [backup-simplify]: Simplify (+ 0 0) into 0 31.658 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 31.659 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.659 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.660 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.660 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.660 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.661 * [backup-simplify]: Simplify (- 0) into 0 31.661 * [backup-simplify]: Simplify (+ 0 0) into 0 31.661 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 31.661 * [backup-simplify]: Simplify (+ 0 0) into 0 31.662 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) into 0 31.662 * [taylor]: Taking taylor expansion of 0 in theta 31.662 * [backup-simplify]: Simplify 0 into 0 31.662 * [taylor]: Taking taylor expansion of 0 in delta 31.662 * [backup-simplify]: Simplify 0 into 0 31.662 * [backup-simplify]: Simplify 0 into 0 31.662 * [taylor]: Taking taylor expansion of 0 in delta 31.662 * [backup-simplify]: Simplify 0 into 0 31.662 * [backup-simplify]: Simplify 0 into 0 31.663 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.663 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.663 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.664 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.664 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.664 * [backup-simplify]: Simplify (+ 0 0) into 0 31.665 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 31.665 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.666 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.666 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.666 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.667 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.667 * [backup-simplify]: Simplify (- 0) into 0 31.667 * [backup-simplify]: Simplify (+ 0 0) into 0 31.667 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 31.668 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.668 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.668 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.669 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.669 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.669 * [backup-simplify]: Simplify (- 0) into 0 31.670 * [backup-simplify]: Simplify (+ 0 0) into 0 31.670 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.671 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.671 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.671 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.672 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.672 * [backup-simplify]: Simplify (+ 0 0) into 0 31.673 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 31.673 * [backup-simplify]: Simplify (+ 0 0) into 0 31.674 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.675 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.675 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.676 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.676 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.677 * [backup-simplify]: Simplify (+ 0 0) into 0 31.678 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))))) into 0 31.678 * [taylor]: Taking taylor expansion of 0 in delta 31.678 * [backup-simplify]: Simplify 0 into 0 31.678 * [backup-simplify]: Simplify 0 into 0 31.679 * [backup-simplify]: Simplify (* (sin (/ -1 (/ 1 (- phi1)))) (+ (* (cos (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- delta)))) (cos (/ -1 (/ 1 (- theta)))))) (* (sin (/ -1 (/ 1 (- phi1)))) (cos (/ -1 (/ 1 (- delta))))))) into (* (sin phi1) (+ (* (cos phi1) (* (sin delta) (cos theta))) (* (sin phi1) (cos delta)))) 31.679 * * * [progress]: simplifying candidates 31.679 * * * * [progress]: [ 1 / 87 ] simplifiying candidate # 31.679 * [simplify]: Simplifying (fma (* (cbrt (cos delta)) (cbrt (cos delta))) (cbrt (cos delta)) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))) 31.679 * * [simplify]: iters left: 6 (18 enodes) 31.687 * * [simplify]: iters left: 5 (65 enodes) 31.705 * * [simplify]: iters left: 4 (84 enodes) 31.730 * * [simplify]: iters left: 3 (104 enodes) 31.755 * * [simplify]: iters left: 2 (111 enodes) 31.771 * * [simplify]: iters left: 1 (137 enodes) 31.800 * * [simplify]: Extracting #0: cost 1 inf + 0 31.800 * * [simplify]: Extracting #1: cost 11 inf + 0 31.801 * * [simplify]: Extracting #2: cost 26 inf + 0 31.801 * * [simplify]: Extracting #3: cost 26 inf + 165 31.801 * * [simplify]: Extracting #4: cost 34 inf + 389 31.802 * * [simplify]: Extracting #5: cost 36 inf + 2245 31.803 * * [simplify]: Extracting #6: cost 25 inf + 5855 31.806 * * [simplify]: Extracting #7: cost 5 inf + 14523 31.811 * * [simplify]: Extracting #8: cost 0 inf + 17473 31.815 * [simplify]: Simplified to (- (cos delta) (* (sin (asin (fma (* (cos phi1) (sin delta)) (cos theta) (* (cos delta) (sin phi1))))) (sin phi1))) 31.815 * [simplify]: Simplified (2 1 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (+ (- (cos delta) (* (sin (asin (fma (* (cos phi1) (sin delta)) (cos theta) (* (cos delta) (sin phi1))))) (sin phi1))) (fma (- (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin phi1) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1))))) lambda1)) 31.816 * [simplify]: Simplifying (fma (- (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin phi1) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1))) 31.816 * * [simplify]: iters left: 6 (16 enodes) 31.823 * * [simplify]: iters left: 5 (55 enodes) 31.835 * * [simplify]: iters left: 4 (70 enodes) 31.846 * * [simplify]: iters left: 3 (95 enodes) 31.861 * * [simplify]: iters left: 2 (101 enodes) 31.881 * * [simplify]: Extracting #0: cost 1 inf + 0 31.881 * * [simplify]: Extracting #1: cost 0 inf + 1 31.882 * [simplify]: Simplified to 0 31.882 * [simplify]: Simplified (2 1 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (+ (fma (* (cbrt (cos delta)) (cbrt (cos delta))) (cbrt (cos delta)) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))) 0)) lambda1)) 31.882 * * * * [progress]: [ 2 / 87 ] simplifiying candidate # 31.882 * [simplify]: Simplifying (fma (sqrt (cos delta)) (sqrt (cos delta)) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))) 31.882 * * [simplify]: iters left: 6 (17 enodes) 31.889 * * [simplify]: iters left: 5 (62 enodes) 31.906 * * [simplify]: iters left: 4 (77 enodes) 31.926 * * [simplify]: iters left: 3 (95 enodes) 31.951 * * [simplify]: iters left: 2 (101 enodes) 31.976 * * [simplify]: Extracting #0: cost 1 inf + 0 31.976 * * [simplify]: Extracting #1: cost 6 inf + 0 31.976 * * [simplify]: Extracting #2: cost 15 inf + 0 31.976 * * [simplify]: Extracting #3: cost 20 inf + 1 31.976 * * [simplify]: Extracting #4: cost 20 inf + 63 31.976 * * [simplify]: Extracting #5: cost 25 inf + 387 31.977 * * [simplify]: Extracting #6: cost 28 inf + 1096 31.977 * * [simplify]: Extracting #7: cost 21 inf + 2069 31.979 * * [simplify]: Extracting #8: cost 9 inf + 5808 31.982 * * [simplify]: Extracting #9: cost 1 inf + 11072 31.985 * * [simplify]: Extracting #10: cost 0 inf + 11715 31.990 * [simplify]: Simplified to (- (cos delta) (* (sin phi1) (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))))) 31.990 * [simplify]: Simplified (2 1 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (+ (- (cos delta) (* (sin phi1) (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))))) (fma (- (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin phi1) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1))))) lambda1)) 31.991 * [simplify]: Simplifying (fma (- (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin phi1) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1))) 31.991 * * [simplify]: iters left: 6 (16 enodes) 31.997 * * [simplify]: iters left: 5 (55 enodes) 32.013 * * [simplify]: iters left: 4 (70 enodes) 32.033 * * [simplify]: iters left: 3 (95 enodes) 32.058 * * [simplify]: iters left: 2 (101 enodes) 32.076 * * [simplify]: Extracting #0: cost 1 inf + 0 32.076 * * [simplify]: Extracting #1: cost 0 inf + 1 32.076 * [simplify]: Simplified to 0 32.077 * [simplify]: Simplified (2 1 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (+ (fma (sqrt (cos delta)) (sqrt (cos delta)) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))) 0)) lambda1)) 32.077 * * * * [progress]: [ 3 / 87 ] simplifiying candidate # 32.077 * [simplify]: Simplifying (fma 1 (cos delta) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))) 32.077 * * [simplify]: iters left: 6 (17 enodes) 32.081 * * [simplify]: iters left: 5 (64 enodes) 32.091 * * [simplify]: iters left: 4 (82 enodes) 32.115 * * [simplify]: iters left: 3 (105 enodes) 32.144 * * [simplify]: iters left: 2 (106 enodes) 32.159 * * [simplify]: iters left: 1 (128 enodes) 32.182 * * [simplify]: Extracting #0: cost 1 inf + 0 32.182 * * [simplify]: Extracting #1: cost 10 inf + 0 32.182 * * [simplify]: Extracting #2: cost 20 inf + 1 32.182 * * [simplify]: Extracting #3: cost 19 inf + 4 32.183 * * [simplify]: Extracting #4: cost 25 inf + 187 32.183 * * [simplify]: Extracting #5: cost 27 inf + 896 32.184 * * [simplify]: Extracting #6: cost 18 inf + 1789 32.185 * * [simplify]: Extracting #7: cost 11 inf + 4223 32.188 * * [simplify]: Extracting #8: cost 2 inf + 9745 32.193 * * [simplify]: Extracting #9: cost 0 inf + 11111 32.197 * [simplify]: Simplified to (- (cos delta) (* (sin phi1) (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (cos delta) (sin phi1))))))) 32.197 * [simplify]: Simplified (2 1 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (+ (- (cos delta) (* (sin phi1) (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (cos delta) (sin phi1))))))) (fma (- (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin phi1) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1))))) lambda1)) 32.198 * [simplify]: Simplifying (fma (- (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin phi1) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1))) 32.198 * * [simplify]: iters left: 6 (16 enodes) 32.205 * * [simplify]: iters left: 5 (55 enodes) 32.220 * * [simplify]: iters left: 4 (70 enodes) 32.243 * * [simplify]: iters left: 3 (95 enodes) 32.262 * * [simplify]: iters left: 2 (101 enodes) 32.281 * * [simplify]: Extracting #0: cost 1 inf + 0 32.281 * * [simplify]: Extracting #1: cost 0 inf + 1 32.281 * [simplify]: Simplified to 0 32.281 * [simplify]: Simplified (2 1 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (+ (fma 1 (cos delta) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))) 0)) lambda1)) 32.281 * * * * [progress]: [ 4 / 87 ] simplifiying candidate # 32.281 * * * * [progress]: [ 5 / 87 ] simplifiying candidate # 32.281 * * * * [progress]: [ 6 / 87 ] simplifiying candidate # 32.281 * [simplify]: Simplifying (* (cbrt (cos delta)) (cbrt (cos delta))) 32.282 * * [simplify]: iters left: 4 (4 enodes) 32.282 * * [simplify]: iters left: 3 (12 enodes) 32.284 * * [simplify]: Extracting #0: cost 1 inf + 0 32.284 * * [simplify]: Extracting #1: cost 3 inf + 0 32.284 * * [simplify]: Extracting #2: cost 5 inf + 0 32.284 * * [simplify]: Extracting #3: cost 7 inf + 0 32.284 * * [simplify]: Extracting #4: cost 6 inf + 1 32.284 * * [simplify]: Extracting #5: cost 0 inf + 767 32.284 * [simplify]: Simplified to (* (cbrt (cos delta)) (cbrt (cos delta))) 32.284 * [simplify]: Simplified (2 1 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (fma (* (cbrt (cos delta)) (cbrt (cos delta))) (cbrt (cos delta)) (- (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))))) lambda1)) 32.284 * * * * [progress]: [ 7 / 87 ] simplifiying candidate # 32.285 * [simplify]: Simplifying (sqrt (cos delta)) 32.285 * * [simplify]: iters left: 2 (3 enodes) 32.285 * * [simplify]: iters left: 1 (9 enodes) 32.286 * * [simplify]: Extracting #0: cost 1 inf + 0 32.286 * * [simplify]: Extracting #1: cost 3 inf + 0 32.286 * * [simplify]: Extracting #2: cost 5 inf + 0 32.286 * * [simplify]: Extracting #3: cost 4 inf + 1 32.287 * * [simplify]: Extracting #4: cost 0 inf + 325 32.287 * [simplify]: Simplified to (sqrt (cos delta)) 32.287 * [simplify]: Simplified (2 1 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (fma (sqrt (cos delta)) (sqrt (cos delta)) (- (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))))) lambda1)) 32.287 * * * * [progress]: [ 8 / 87 ] simplifiying candidate # 32.287 * * * * [progress]: [ 9 / 87 ] simplifiying candidate # 32.287 * [simplify]: Simplifying (/ (exp (cos delta)) (exp (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) 32.287 * * [simplify]: iters left: 6 (17 enodes) 32.290 * * [simplify]: iters left: 5 (60 enodes) 32.299 * * [simplify]: iters left: 4 (80 enodes) 32.314 * * [simplify]: iters left: 3 (119 enodes) 32.346 * * [simplify]: iters left: 2 (169 enodes) 32.377 * * [simplify]: iters left: 1 (274 enodes) 32.447 * * [simplify]: Extracting #0: cost 1 inf + 0 32.447 * * [simplify]: Extracting #1: cost 48 inf + 0 32.448 * * [simplify]: Extracting #2: cost 128 inf + 1 32.448 * * [simplify]: Extracting #3: cost 179 inf + 3 32.449 * * [simplify]: Extracting #4: cost 178 inf + 684 32.449 * * [simplify]: Extracting #5: cost 177 inf + 1869 32.450 * * [simplify]: Extracting #6: cost 174 inf + 3513 32.452 * * [simplify]: Extracting #7: cost 150 inf + 14771 32.460 * * [simplify]: Extracting #8: cost 85 inf + 67888 32.478 * * [simplify]: Extracting #9: cost 3 inf + 153557 32.507 * * [simplify]: Extracting #10: cost 0 inf + 155583 32.535 * [simplify]: Simplified to (exp (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) 32.535 * [simplify]: Simplified (2 1 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (log (exp (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1)) 32.535 * * * * [progress]: [ 10 / 87 ] simplifiying candidate # 32.535 * * * * [progress]: [ 11 / 87 ] simplifiying candidate # 32.535 * * * * [progress]: [ 12 / 87 ] simplifiying candidate # 32.535 * * * * [progress]: [ 13 / 87 ] simplifiying candidate # 32.536 * * * * [progress]: [ 14 / 87 ] simplifiying candidate # 32.536 * * * * [progress]: [ 15 / 87 ] simplifiying candidate # 32.536 * * * * [progress]: [ 16 / 87 ] simplifiying candidate # 32.536 * * * * [progress]: [ 17 / 87 ] simplifiying candidate # 32.536 * * * * [progress]: [ 18 / 87 ] simplifiying candidate # 32.536 * * * * [progress]: [ 19 / 87 ] simplifiying candidate # 32.536 * * * * [progress]: [ 20 / 87 ] simplifiying candidate # 32.536 * * * * [progress]: [ 21 / 87 ] simplifiying candidate #real (real->posit16 (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 32.536 * * * * [progress]: [ 22 / 87 ] simplifiying candidate # 32.536 * * * * [progress]: [ 23 / 87 ] simplifiying candidate # 32.536 * * * * [progress]: [ 24 / 87 ] simplifiying candidate # 32.536 * * * * [progress]: [ 25 / 87 ] simplifiying candidate # 32.536 * * * * [progress]: [ 26 / 87 ] simplifiying candidate # 32.536 * * * * [progress]: [ 27 / 87 ] simplifiying candidate # 32.536 * * * * [progress]: [ 28 / 87 ] simplifiying candidate # 32.536 * * * * [progress]: [ 29 / 87 ] simplifiying candidate # 32.537 * * * * [progress]: [ 30 / 87 ] simplifiying candidate # 32.537 * * * * [progress]: [ 31 / 87 ] simplifiying candidate # 32.537 * * * * [progress]: [ 32 / 87 ] simplifiying candidate #real (real->posit16 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 32.537 * * * * [progress]: [ 33 / 87 ] simplifiying candidate # 32.537 * * * * [progress]: [ 34 / 87 ] simplifiying candidate # 32.537 * * * * [progress]: [ 35 / 87 ] simplifiying candidate # 32.537 * [simplify]: Simplifying (* (sin delta) (* (cos phi1) (sin theta))) 32.537 * * [simplify]: iters left: 5 (8 enodes) 32.539 * * [simplify]: iters left: 4 (28 enodes) 32.543 * * [simplify]: iters left: 3 (36 enodes) 32.548 * * [simplify]: iters left: 2 (42 enodes) 32.558 * * [simplify]: Extracting #0: cost 1 inf + 0 32.558 * * [simplify]: Extracting #1: cost 8 inf + 0 32.558 * * [simplify]: Extracting #2: cost 17 inf + 0 32.558 * * [simplify]: Extracting #3: cost 12 inf + 125 32.558 * * [simplify]: Extracting #4: cost 5 inf + 1057 32.559 * * [simplify]: Extracting #5: cost 1 inf + 1705 32.559 * * [simplify]: Extracting #6: cost 0 inf + 1867 32.560 * [simplify]: Simplified to (* (* (cos phi1) (sin theta)) (sin delta)) 32.560 * [simplify]: Simplified (2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (pow (* (* (cos phi1) (sin theta)) (sin delta)) 1) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 32.560 * * * * [progress]: [ 36 / 87 ] simplifiying candidate # 32.560 * [simplify]: Simplifying (* (sin delta) (* (cos phi1) (sin theta))) 32.560 * * [simplify]: iters left: 5 (8 enodes) 32.563 * * [simplify]: iters left: 4 (28 enodes) 32.569 * * [simplify]: iters left: 3 (36 enodes) 32.574 * * [simplify]: iters left: 2 (42 enodes) 32.579 * * [simplify]: Extracting #0: cost 1 inf + 0 32.579 * * [simplify]: Extracting #1: cost 8 inf + 0 32.579 * * [simplify]: Extracting #2: cost 17 inf + 0 32.579 * * [simplify]: Extracting #3: cost 12 inf + 125 32.580 * * [simplify]: Extracting #4: cost 5 inf + 1057 32.580 * * [simplify]: Extracting #5: cost 1 inf + 1705 32.580 * * [simplify]: Extracting #6: cost 0 inf + 1867 32.580 * [simplify]: Simplified to (* (* (cos phi1) (sin theta)) (sin delta)) 32.580 * [simplify]: Simplified (2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (pow (* (* (cos phi1) (sin theta)) (sin delta)) 1) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 32.581 * * * * [progress]: [ 37 / 87 ] simplifiying candidate # 32.581 * * * * [progress]: [ 38 / 87 ] simplifiying candidate # 32.581 * [simplify]: Simplifying (+ (log (sin delta)) (+ (log (cos phi1)) (log (sin theta)))) 32.581 * * [simplify]: iters left: 6 (11 enodes) 32.583 * * [simplify]: iters left: 5 (37 enodes) 32.588 * * [simplify]: iters left: 4 (45 enodes) 32.594 * * [simplify]: iters left: 3 (51 enodes) 32.603 * * [simplify]: Extracting #0: cost 1 inf + 0 32.603 * * [simplify]: Extracting #1: cost 8 inf + 0 32.604 * * [simplify]: Extracting #2: cost 17 inf + 0 32.604 * * [simplify]: Extracting #3: cost 23 inf + 0 32.604 * * [simplify]: Extracting #4: cost 19 inf + 64 32.604 * * [simplify]: Extracting #5: cost 12 inf + 701 32.604 * * [simplify]: Extracting #6: cost 5 inf + 2061 32.605 * * [simplify]: Extracting #7: cost 0 inf + 3913 32.606 * [simplify]: Simplified to (+ (+ (log (sin theta)) (log (sin delta))) (log (cos phi1))) 32.606 * [simplify]: Simplified (2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (exp (+ (+ (log (sin theta)) (log (sin delta))) (log (cos phi1)))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 32.606 * * * * [progress]: [ 39 / 87 ] simplifiying candidate # 32.606 * [simplify]: Simplifying (+ (log (sin delta)) (log (* (cos phi1) (sin theta)))) 32.607 * * [simplify]: iters left: 6 (10 enodes) 32.610 * * [simplify]: iters left: 5 (35 enodes) 32.618 * * [simplify]: iters left: 4 (44 enodes) 32.628 * * [simplify]: iters left: 3 (52 enodes) 32.640 * * [simplify]: Extracting #0: cost 1 inf + 0 32.640 * * [simplify]: Extracting #1: cost 8 inf + 0 32.640 * * [simplify]: Extracting #2: cost 18 inf + 0 32.640 * * [simplify]: Extracting #3: cost 25 inf + 0 32.640 * * [simplify]: Extracting #4: cost 19 inf + 186 32.641 * * [simplify]: Extracting #5: cost 6 inf + 2285 32.641 * * [simplify]: Extracting #6: cost 0 inf + 3957 32.642 * [simplify]: Simplified to (+ (log (* (sin theta) (cos phi1))) (log (sin delta))) 32.642 * [simplify]: Simplified (2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (exp (+ (log (* (sin theta) (cos phi1))) (log (sin delta)))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 32.642 * * * * [progress]: [ 40 / 87 ] simplifiying candidate # 32.643 * * * * [progress]: [ 41 / 87 ] simplifiying candidate # 32.643 * * * * [progress]: [ 42 / 87 ] simplifiying candidate # 32.643 * [simplify]: Simplifying (* (* (* (sin delta) (sin delta)) (sin delta)) (* (* (* (cos phi1) (cos phi1)) (cos phi1)) (* (* (sin theta) (sin theta)) (sin theta)))) 32.643 * * [simplify]: iters left: 6 (14 enodes) 32.649 * * [simplify]: iters left: 5 (55 enodes) 32.660 * * [simplify]: iters left: 4 (129 enodes) 32.713 * * [simplify]: iters left: 3 (377 enodes) 32.981 * * [simplify]: Extracting #0: cost 1 inf + 0 32.981 * * [simplify]: Extracting #1: cost 90 inf + 0 32.983 * * [simplify]: Extracting #2: cost 262 inf + 0 32.989 * * [simplify]: Extracting #3: cost 196 inf + 16716 33.017 * * [simplify]: Extracting #4: cost 15 inf + 84091 33.038 * * [simplify]: Extracting #5: cost 0 inf + 86905 33.060 * * [simplify]: Extracting #6: cost 0 inf + 86505 33.094 * [simplify]: Simplified to (* (* (sin theta) (* (* (* (cos phi1) (sin delta)) (* (cos phi1) (sin delta))) (* (cos phi1) (sin delta)))) (* (sin theta) (sin theta))) 33.094 * [simplify]: Simplified (2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (cbrt (* (* (sin theta) (* (* (* (cos phi1) (sin delta)) (* (cos phi1) (sin delta))) (* (cos phi1) (sin delta)))) (* (sin theta) (sin theta)))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 33.094 * * * * [progress]: [ 43 / 87 ] simplifiying candidate # 33.095 * [simplify]: Simplifying (* (* (* (sin delta) (sin delta)) (sin delta)) (* (* (* (cos phi1) (sin theta)) (* (cos phi1) (sin theta))) (* (cos phi1) (sin theta)))) 33.095 * * [simplify]: iters left: 6 (12 enodes) 33.100 * * [simplify]: iters left: 5 (53 enodes) 33.110 * * [simplify]: iters left: 4 (136 enodes) 33.161 * * [simplify]: iters left: 3 (434 enodes) 33.524 * * [simplify]: Extracting #0: cost 1 inf + 0 33.524 * * [simplify]: Extracting #1: cost 83 inf + 0 33.525 * * [simplify]: Extracting #2: cost 211 inf + 0 33.528 * * [simplify]: Extracting #3: cost 163 inf + 12279 33.546 * * [simplify]: Extracting #4: cost 24 inf + 56995 33.564 * * [simplify]: Extracting #5: cost 0 inf + 64809 33.580 * * [simplify]: Extracting #6: cost 0 inf + 64409 33.597 * * [simplify]: Extracting #7: cost 0 inf + 64369 33.615 * [simplify]: Simplified to (* (* (* (sin theta) (cos phi1)) (sin delta)) (* (* (* (sin theta) (cos phi1)) (sin delta)) (* (* (sin theta) (cos phi1)) (sin delta)))) 33.615 * [simplify]: Simplified (2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (cbrt (* (* (* (sin theta) (cos phi1)) (sin delta)) (* (* (* (sin theta) (cos phi1)) (sin delta)) (* (* (sin theta) (cos phi1)) (sin delta))))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 33.615 * * * * [progress]: [ 44 / 87 ] simplifiying candidate # 33.615 * * * * [progress]: [ 45 / 87 ] simplifiying candidate # 33.615 * * * * [progress]: [ 46 / 87 ] simplifiying candidate # 33.615 * * * * [progress]: [ 47 / 87 ] simplifiying candidate # 33.615 * * * * [progress]: [ 48 / 87 ] simplifiying candidate # 33.616 * [simplify]: Simplifying (sin theta) 33.616 * * [simplify]: iters left: 1 (2 enodes) 33.616 * * [simplify]: Extracting #0: cost 1 inf + 0 33.616 * * [simplify]: Extracting #1: cost 3 inf + 0 33.616 * * [simplify]: Extracting #2: cost 2 inf + 1 33.616 * * [simplify]: Extracting #3: cost 0 inf + 123 33.616 * [simplify]: Simplified to (sin theta) 33.616 * [simplify]: Simplified (2 1 1 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (* (sin delta) (cos phi1)) (sin theta)) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 33.616 * * * * [progress]: [ 49 / 87 ] simplifiying candidate # 33.616 * [simplify]: Simplifying (* (cbrt (sin delta)) (cbrt (sin delta))) 33.617 * * [simplify]: iters left: 4 (4 enodes) 33.617 * * [simplify]: iters left: 3 (12 enodes) 33.620 * * [simplify]: Extracting #0: cost 1 inf + 0 33.620 * * [simplify]: Extracting #1: cost 3 inf + 0 33.620 * * [simplify]: Extracting #2: cost 5 inf + 0 33.620 * * [simplify]: Extracting #3: cost 7 inf + 0 33.620 * * [simplify]: Extracting #4: cost 6 inf + 1 33.620 * * [simplify]: Extracting #5: cost 0 inf + 767 33.620 * [simplify]: Simplified to (* (cbrt (sin delta)) (cbrt (sin delta))) 33.621 * [simplify]: Simplified (2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (* (cbrt (sin delta)) (cbrt (sin delta))) (* (cbrt (sin delta)) (* (cos phi1) (sin theta)))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 33.621 * * * * [progress]: [ 50 / 87 ] simplifiying candidate # 33.621 * [simplify]: Simplifying (sqrt (sin delta)) 33.621 * * [simplify]: iters left: 2 (3 enodes) 33.622 * * [simplify]: iters left: 1 (9 enodes) 33.623 * * [simplify]: Extracting #0: cost 1 inf + 0 33.623 * * [simplify]: Extracting #1: cost 3 inf + 0 33.623 * * [simplify]: Extracting #2: cost 5 inf + 0 33.623 * * [simplify]: Extracting #3: cost 4 inf + 1 33.623 * * [simplify]: Extracting #4: cost 0 inf + 325 33.623 * [simplify]: Simplified to (sqrt (sin delta)) 33.623 * [simplify]: Simplified (2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sqrt (sin delta)) (* (sqrt (sin delta)) (* (cos phi1) (sin theta)))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 33.623 * * * * [progress]: [ 51 / 87 ] simplifiying candidate # 33.623 * * * * [progress]: [ 52 / 87 ] simplifiying candidate #real (real->posit16 (* (sin delta) (* (cos phi1) (sin theta))))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1))> 33.623 * * * * [progress]: [ 53 / 87 ] simplifiying candidate # 33.623 * * * * [progress]: [ 54 / 87 ] simplifiying candidate # 33.623 * * * * [progress]: [ 55 / 87 ] simplifiying candidate # 33.623 * * * * [progress]: [ 56 / 87 ] simplifiying candidate # 33.624 * [simplify]: Simplifying (- (cos (- phi1 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (cos (+ phi1 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) 33.624 * * [simplify]: iters left: 6 (17 enodes) 33.627 * * [simplify]: iters left: 5 (60 enodes) 33.636 * * [simplify]: iters left: 4 (74 enodes) 33.646 * * [simplify]: iters left: 3 (87 enodes) 33.660 * * [simplify]: Extracting #0: cost 1 inf + 0 33.660 * * [simplify]: Extracting #1: cost 5 inf + 0 33.660 * * [simplify]: Extracting #2: cost 10 inf + 0 33.660 * * [simplify]: Extracting #3: cost 15 inf + 0 33.660 * * [simplify]: Extracting #4: cost 17 inf + 1 33.660 * * [simplify]: Extracting #5: cost 28 inf + 1 33.660 * * [simplify]: Extracting #6: cost 38 inf + 123 33.660 * * [simplify]: Extracting #7: cost 32 inf + 369 33.660 * * [simplify]: Extracting #8: cost 20 inf + 2010 33.661 * * [simplify]: Extracting #9: cost 13 inf + 5080 33.663 * * [simplify]: Extracting #10: cost 3 inf + 11290 33.664 * * [simplify]: Extracting #11: cost 0 inf + 13399 33.666 * [simplify]: Simplified to (- (cos (- phi1 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (cos (+ phi1 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) 33.666 * [simplify]: Simplified (2 1 2 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (/ (- (cos (- phi1 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (cos (+ phi1 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) 2))) lambda1)) 33.666 * * * * [progress]: [ 57 / 87 ] simplifiying candidate # 33.667 * [simplify]: Simplifying (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) 33.667 * * [simplify]: iters left: 6 (14 enodes) 33.670 * * [simplify]: iters left: 5 (47 enodes) 33.676 * * [simplify]: iters left: 4 (55 enodes) 33.684 * * [simplify]: iters left: 3 (68 enodes) 33.693 * * [simplify]: Extracting #0: cost 1 inf + 0 33.693 * * [simplify]: Extracting #1: cost 4 inf + 0 33.693 * * [simplify]: Extracting #2: cost 8 inf + 0 33.693 * * [simplify]: Extracting #3: cost 9 inf + 1 33.693 * * [simplify]: Extracting #4: cost 17 inf + 123 33.693 * * [simplify]: Extracting #5: cost 27 inf + 184 33.693 * * [simplify]: Extracting #6: cost 21 inf + 531 33.694 * * [simplify]: Extracting #7: cost 12 inf + 1888 33.694 * * [simplify]: Extracting #8: cost 2 inf + 5643 33.695 * * [simplify]: Extracting #9: cost 0 inf + 6889 33.696 * [simplify]: Simplified to (* (sin phi1) (sin (asin (fma (cos theta) (* (sin delta) (cos phi1)) (* (cos delta) (sin phi1)))))) 33.696 * [simplify]: Simplified (2 1 2 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (pow (* (sin phi1) (sin (asin (fma (cos theta) (* (sin delta) (cos phi1)) (* (cos delta) (sin phi1)))))) 1))) lambda1)) 33.696 * * * * [progress]: [ 58 / 87 ] simplifiying candidate # 33.696 * * * * [progress]: [ 59 / 87 ] simplifiying candidate # 33.696 * [simplify]: Simplifying (+ (log (sin phi1)) (log (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) 33.697 * * [simplify]: iters left: 6 (16 enodes) 33.701 * * [simplify]: iters left: 5 (53 enodes) 33.709 * * [simplify]: iters left: 4 (61 enodes) 33.726 * * [simplify]: iters left: 3 (74 enodes) 33.740 * * [simplify]: Extracting #0: cost 1 inf + 0 33.740 * * [simplify]: Extracting #1: cost 4 inf + 0 33.740 * * [simplify]: Extracting #2: cost 8 inf + 0 33.740 * * [simplify]: Extracting #3: cost 12 inf + 0 33.740 * * [simplify]: Extracting #4: cost 13 inf + 1 33.741 * * [simplify]: Extracting #5: cost 21 inf + 123 33.741 * * [simplify]: Extracting #6: cost 29 inf + 446 33.741 * * [simplify]: Extracting #7: cost 17 inf + 1563 33.742 * * [simplify]: Extracting #8: cost 5 inf + 5262 33.743 * * [simplify]: Extracting #9: cost 0 inf + 8777 33.744 * [simplify]: Simplified to (+ (log (sin (asin (fma (sin phi1) (cos delta) (* (* (sin delta) (cos theta)) (cos phi1)))))) (log (sin phi1))) 33.744 * [simplify]: Simplified (2 1 2 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (exp (+ (log (sin (asin (fma (sin phi1) (cos delta) (* (* (sin delta) (cos theta)) (cos phi1)))))) (log (sin phi1)))))) lambda1)) 33.744 * * * * [progress]: [ 60 / 87 ] simplifiying candidate # 33.744 * * * * [progress]: [ 61 / 87 ] simplifiying candidate # 33.744 * * * * [progress]: [ 62 / 87 ] simplifiying candidate # 33.744 * [simplify]: Simplifying (* (* (* (sin phi1) (sin phi1)) (sin phi1)) (* (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) 33.744 * * [simplify]: iters left: 6 (18 enodes) 33.748 * * [simplify]: iters left: 5 (65 enodes) 33.759 * * [simplify]: iters left: 4 (102 enodes) 33.779 * * [simplify]: iters left: 3 (170 enodes) 33.839 * * [simplify]: iters left: 2 (256 enodes) 33.905 * * [simplify]: iters left: 1 (416 enodes) 34.076 * * [simplify]: Extracting #0: cost 1 inf + 0 34.076 * * [simplify]: Extracting #1: cost 50 inf + 0 34.077 * * [simplify]: Extracting #2: cost 154 inf + 1 34.078 * * [simplify]: Extracting #3: cost 157 inf + 851 34.080 * * [simplify]: Extracting #4: cost 158 inf + 3289 34.082 * * [simplify]: Extracting #5: cost 165 inf + 4397 34.088 * * [simplify]: Extracting #6: cost 129 inf + 23954 34.124 * * [simplify]: Extracting #7: cost 17 inf + 129774 34.153 * * [simplify]: Extracting #8: cost 0 inf + 145896 34.178 * [simplify]: Simplified to (* (* (* (sin phi1) (sin (asin (fma (* (cos phi1) (sin delta)) (cos theta) (* (cos delta) (sin phi1)))))) (* (sin phi1) (sin (asin (fma (* (cos phi1) (sin delta)) (cos theta) (* (cos delta) (sin phi1))))))) (* (sin phi1) (sin (asin (fma (* (cos phi1) (sin delta)) (cos theta) (* (cos delta) (sin phi1))))))) 34.178 * [simplify]: Simplified (2 1 2 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (cbrt (* (* (* (sin phi1) (sin (asin (fma (* (cos phi1) (sin delta)) (cos theta) (* (cos delta) (sin phi1)))))) (* (sin phi1) (sin (asin (fma (* (cos phi1) (sin delta)) (cos theta) (* (cos delta) (sin phi1))))))) (* (sin phi1) (sin (asin (fma (* (cos phi1) (sin delta)) (cos theta) (* (cos delta) (sin phi1)))))))))) lambda1)) 34.179 * * * * [progress]: [ 63 / 87 ] simplifiying candidate # 34.179 * * * * [progress]: [ 64 / 87 ] simplifiying candidate # 34.179 * * * * [progress]: [ 65 / 87 ] simplifiying candidate # 34.179 * * * * [progress]: [ 66 / 87 ] simplifiying candidate # 34.179 * * * * [progress]: [ 67 / 87 ] simplifiying candidate # 34.180 * [simplify]: Simplifying (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) 34.180 * * [simplify]: iters left: 6 (16 enodes) 34.186 * * [simplify]: iters left: 5 (53 enodes) 34.201 * * [simplify]: iters left: 4 (61 enodes) 34.218 * * [simplify]: iters left: 3 (74 enodes) 34.238 * * [simplify]: Extracting #0: cost 1 inf + 0 34.238 * * [simplify]: Extracting #1: cost 4 inf + 0 34.238 * * [simplify]: Extracting #2: cost 8 inf + 0 34.238 * * [simplify]: Extracting #3: cost 12 inf + 0 34.238 * * [simplify]: Extracting #4: cost 13 inf + 1 34.238 * * [simplify]: Extracting #5: cost 21 inf + 123 34.238 * * [simplify]: Extracting #6: cost 29 inf + 386 34.239 * * [simplify]: Extracting #7: cost 17 inf + 1503 34.240 * * [simplify]: Extracting #8: cost 5 inf + 5202 34.242 * * [simplify]: Extracting #9: cost 0 inf + 8537 34.244 * [simplify]: Simplified to (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (sin phi1) (cos delta) (* (* (sin delta) (cos theta)) (cos phi1))))))) 34.244 * [simplify]: Simplified (2 1 2 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (sin phi1) (cos delta) (* (* (sin delta) (cos theta)) (cos phi1))))))) (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1)) 34.245 * [simplify]: Simplifying (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) 34.245 * * [simplify]: iters left: 6 (16 enodes) 34.251 * * [simplify]: iters left: 5 (53 enodes) 34.268 * * [simplify]: iters left: 4 (61 enodes) 34.285 * * [simplify]: iters left: 3 (74 enodes) 34.302 * * [simplify]: Extracting #0: cost 1 inf + 0 34.302 * * [simplify]: Extracting #1: cost 4 inf + 0 34.302 * * [simplify]: Extracting #2: cost 8 inf + 0 34.302 * * [simplify]: Extracting #3: cost 12 inf + 0 34.302 * * [simplify]: Extracting #4: cost 13 inf + 1 34.302 * * [simplify]: Extracting #5: cost 21 inf + 123 34.302 * * [simplify]: Extracting #6: cost 29 inf + 386 34.303 * * [simplify]: Extracting #7: cost 17 inf + 1503 34.303 * * [simplify]: Extracting #8: cost 5 inf + 5202 34.304 * * [simplify]: Extracting #9: cost 0 inf + 8537 34.305 * [simplify]: Simplified to (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (sin phi1) (cos delta) (* (* (sin delta) (cos theta)) (cos phi1))))))) 34.306 * [simplify]: Simplified (2 1 2 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (sin phi1) (cos delta) (* (* (sin delta) (cos theta)) (cos phi1)))))))))) lambda1)) 34.306 * * * * [progress]: [ 68 / 87 ] simplifiying candidate # 34.306 * [simplify]: Simplifying (cbrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) 34.306 * * [simplify]: iters left: 6 (14 enodes) 34.309 * * [simplify]: iters left: 5 (46 enodes) 34.316 * * [simplify]: iters left: 4 (54 enodes) 34.323 * * [simplify]: iters left: 3 (67 enodes) 34.332 * * [simplify]: Extracting #0: cost 1 inf + 0 34.332 * * [simplify]: Extracting #1: cost 3 inf + 0 34.332 * * [simplify]: Extracting #2: cost 5 inf + 0 34.332 * * [simplify]: Extracting #3: cost 7 inf + 0 34.332 * * [simplify]: Extracting #4: cost 18 inf + 0 34.333 * * [simplify]: Extracting #5: cost 31 inf + 0 34.333 * * [simplify]: Extracting #6: cost 21 inf + 430 34.333 * * [simplify]: Extracting #7: cost 9 inf + 2273 34.335 * * [simplify]: Extracting #8: cost 2 inf + 5683 34.336 * * [simplify]: Extracting #9: cost 0 inf + 6969 34.338 * [simplify]: Simplified to (cbrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) 34.338 * [simplify]: Simplified (2 1 2 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (* (sin phi1) (* (cbrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (cbrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) (cbrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))))) lambda1)) 34.339 * * * * [progress]: [ 69 / 87 ] simplifiying candidate # 34.339 * [simplify]: Simplifying (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) 34.339 * * [simplify]: iters left: 6 (14 enodes) 34.344 * * [simplify]: iters left: 5 (46 enodes) 34.357 * * [simplify]: iters left: 4 (54 enodes) 34.372 * * [simplify]: iters left: 3 (67 enodes) 34.390 * * [simplify]: Extracting #0: cost 1 inf + 0 34.390 * * [simplify]: Extracting #1: cost 3 inf + 0 34.390 * * [simplify]: Extracting #2: cost 5 inf + 0 34.390 * * [simplify]: Extracting #3: cost 7 inf + 0 34.390 * * [simplify]: Extracting #4: cost 18 inf + 0 34.390 * * [simplify]: Extracting #5: cost 31 inf + 0 34.391 * * [simplify]: Extracting #6: cost 21 inf + 430 34.391 * * [simplify]: Extracting #7: cost 9 inf + 2273 34.392 * * [simplify]: Extracting #8: cost 2 inf + 5643 34.394 * * [simplify]: Extracting #9: cost 0 inf + 6889 34.396 * [simplify]: Simplified to (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) 34.396 * [simplify]: Simplified (2 1 2 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (* (sin phi1) (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))))) lambda1)) 34.396 * * * * [progress]: [ 70 / 87 ] simplifiying candidate # 34.397 * [simplify]: Simplifying (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) 34.397 * * [simplify]: iters left: 6 (13 enodes) 34.402 * * [simplify]: iters left: 5 (43 enodes) 34.413 * * [simplify]: iters left: 4 (51 enodes) 34.424 * * [simplify]: iters left: 3 (64 enodes) 34.432 * * [simplify]: Extracting #0: cost 1 inf + 0 34.432 * * [simplify]: Extracting #1: cost 3 inf + 0 34.432 * * [simplify]: Extracting #2: cost 5 inf + 0 34.433 * * [simplify]: Extracting #3: cost 16 inf + 0 34.433 * * [simplify]: Extracting #4: cost 29 inf + 0 34.433 * * [simplify]: Extracting #5: cost 17 inf + 1158 34.433 * * [simplify]: Extracting #6: cost 10 inf + 1888 34.434 * * [simplify]: Extracting #7: cost 3 inf + 4019 34.435 * * [simplify]: Extracting #8: cost 0 inf + 5603 34.436 * [simplify]: Simplified to (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) 34.436 * [simplify]: Simplified (2 1 2 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (* (sin phi1) 1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 34.436 * * * * [progress]: [ 71 / 87 ] simplifiying candidate # 34.436 * [simplify]: Simplifying (* (cbrt (sin phi1)) (cbrt (sin phi1))) 34.436 * * [simplify]: iters left: 4 (4 enodes) 34.437 * * [simplify]: iters left: 3 (12 enodes) 34.439 * * [simplify]: Extracting #0: cost 1 inf + 0 34.439 * * [simplify]: Extracting #1: cost 3 inf + 0 34.439 * * [simplify]: Extracting #2: cost 5 inf + 0 34.439 * * [simplify]: Extracting #3: cost 7 inf + 0 34.439 * * [simplify]: Extracting #4: cost 6 inf + 1 34.439 * * [simplify]: Extracting #5: cost 0 inf + 767 34.439 * [simplify]: Simplified to (* (cbrt (sin phi1)) (cbrt (sin phi1))) 34.439 * [simplify]: Simplified (2 1 2 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (* (cbrt (sin phi1)) (cbrt (sin phi1))) (* (cbrt (sin phi1)) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))))) lambda1)) 34.439 * * * * [progress]: [ 72 / 87 ] simplifiying candidate # 34.440 * [simplify]: Simplifying (sqrt (sin phi1)) 34.440 * * [simplify]: iters left: 2 (3 enodes) 34.440 * * [simplify]: iters left: 1 (9 enodes) 34.441 * * [simplify]: Extracting #0: cost 1 inf + 0 34.441 * * [simplify]: Extracting #1: cost 3 inf + 0 34.441 * * [simplify]: Extracting #2: cost 5 inf + 0 34.441 * * [simplify]: Extracting #3: cost 4 inf + 1 34.441 * * [simplify]: Extracting #4: cost 0 inf + 325 34.442 * [simplify]: Simplified to (sqrt (sin phi1)) 34.442 * [simplify]: Simplified (2 1 2 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sqrt (sin phi1)) (* (sqrt (sin phi1)) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))))) lambda1)) 34.442 * * * * [progress]: [ 73 / 87 ] simplifiying candidate # 34.442 * * * * [progress]: [ 74 / 87 ] simplifiying candidate #real (real->posit16 (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 34.442 * * * * [progress]: [ 75 / 87 ] simplifiying candidate # 34.442 * * * * [progress]: [ 76 / 87 ] simplifiying candidate # 34.442 * [simplify]: Simplifying (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) 34.442 * * [simplify]: iters left: 6 (10 enodes) 34.446 * * [simplify]: iters left: 5 (44 enodes) 34.454 * * [simplify]: iters left: 4 (66 enodes) 34.477 * * [simplify]: iters left: 3 (115 enodes) 34.523 * * [simplify]: iters left: 2 (226 enodes) 34.579 * * [simplify]: iters left: 1 (314 enodes) 34.646 * * [simplify]: Extracting #0: cost 1 inf + 0 34.646 * * [simplify]: Extracting #1: cost 29 inf + 0 34.647 * * [simplify]: Extracting #2: cost 43 inf + 390 34.648 * * [simplify]: Extracting #3: cost 15 inf + 2617 34.650 * * [simplify]: Extracting #4: cost 2 inf + 4019 34.655 * * [simplify]: Extracting #5: cost 0 inf + 4155 34.658 * [simplify]: Simplified to (- 1 (* (fma delta 1/2 phi1) delta)) 34.659 * [simplify]: Simplified (2 1 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- 1 (* (fma delta 1/2 phi1) delta))) lambda1)) 34.659 * * * * [progress]: [ 77 / 87 ] simplifiying candidate # 34.659 * [simplify]: Simplifying (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (sin phi1) (* (cos theta) (cos phi1)))))) 34.659 * * [simplify]: iters left: 6 (16 enodes) 34.668 * * [simplify]: iters left: 5 (67 enodes) 34.692 * * [simplify]: iters left: 4 (124 enodes) 34.717 * * [simplify]: iters left: 3 (263 enodes) 34.803 * * [simplify]: Extracting #0: cost 1 inf + 0 34.804 * * [simplify]: Extracting #1: cost 44 inf + 0 34.805 * * [simplify]: Extracting #2: cost 133 inf + 0 34.806 * * [simplify]: Extracting #3: cost 129 inf + 1057 34.814 * * [simplify]: Extracting #4: cost 38 inf + 23638 34.831 * * [simplify]: Extracting #5: cost 2 inf + 34441 34.852 * * [simplify]: Extracting #6: cost 0 inf + 34985 34.869 * [simplify]: Simplified to (- (cos delta) (* (sin phi1) (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta))))) 34.869 * [simplify]: Simplified (2 1 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta)))))) lambda1)) 34.869 * * * * [progress]: [ 78 / 87 ] simplifiying candidate # 34.870 * [simplify]: Simplifying (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos theta) (* (sin delta) (cos phi1)))))) 34.870 * * [simplify]: iters left: 6 (16 enodes) 34.878 * * [simplify]: iters left: 5 (67 enodes) 34.895 * * [simplify]: iters left: 4 (124 enodes) 34.923 * * [simplify]: iters left: 3 (263 enodes) 35.002 * * [simplify]: Extracting #0: cost 1 inf + 0 35.002 * * [simplify]: Extracting #1: cost 44 inf + 0 35.003 * * [simplify]: Extracting #2: cost 140 inf + 0 35.004 * * [simplify]: Extracting #3: cost 134 inf + 1137 35.007 * * [simplify]: Extracting #4: cost 39 inf + 24533 35.024 * * [simplify]: Extracting #5: cost 0 inf + 36983 35.045 * * [simplify]: Extracting #6: cost 0 inf + 36903 35.063 * [simplify]: Simplified to (- (cos delta) (* (sin phi1) (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta))))) 35.063 * [simplify]: Simplified (2 1 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta)))))) lambda1)) 35.063 * * * * [progress]: [ 79 / 87 ] simplifiying candidate # 35.063 * [simplify]: Simplifying (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 35.064 * * [simplify]: iters left: 5 (12 enodes) 35.068 * * [simplify]: iters left: 4 (40 enodes) 35.079 * * [simplify]: iters left: 3 (48 enodes) 35.093 * * [simplify]: iters left: 2 (61 enodes) 35.108 * * [simplify]: Extracting #0: cost 1 inf + 0 35.109 * * [simplify]: Extracting #1: cost 3 inf + 0 35.109 * * [simplify]: Extracting #2: cost 14 inf + 0 35.109 * * [simplify]: Extracting #3: cost 27 inf + 0 35.109 * * [simplify]: Extracting #4: cost 16 inf + 592 35.110 * * [simplify]: Extracting #5: cost 1 inf + 4134 35.111 * * [simplify]: Extracting #6: cost 0 inf + 4397 35.112 * [simplify]: Simplified to (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 35.112 * [simplify]: Simplified (2 1 2 2 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))))))) lambda1)) 35.112 * * * * [progress]: [ 80 / 87 ] simplifiying candidate # 35.112 * [simplify]: Simplifying (asin (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta)))) 35.112 * * [simplify]: iters left: 5 (12 enodes) 35.115 * * [simplify]: iters left: 4 (40 enodes) 35.121 * * [simplify]: iters left: 3 (48 enodes) 35.128 * * [simplify]: iters left: 2 (61 enodes) 35.136 * * [simplify]: Extracting #0: cost 1 inf + 0 35.136 * * [simplify]: Extracting #1: cost 3 inf + 0 35.136 * * [simplify]: Extracting #2: cost 14 inf + 0 35.136 * * [simplify]: Extracting #3: cost 27 inf + 0 35.137 * * [simplify]: Extracting #4: cost 19 inf + 308 35.137 * * [simplify]: Extracting #5: cost 6 inf + 2010 35.138 * * [simplify]: Extracting #6: cost 0 inf + 4397 35.138 * [simplify]: Simplified to (asin (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta)))) 35.138 * [simplify]: Simplified (2 1 2 2 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta)))))))) lambda1)) 35.138 * * * * [progress]: [ 81 / 87 ] simplifiying candidate # 35.139 * [simplify]: Simplifying (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 35.139 * * [simplify]: iters left: 5 (12 enodes) 35.141 * * [simplify]: iters left: 4 (40 enodes) 35.147 * * [simplify]: iters left: 3 (48 enodes) 35.155 * * [simplify]: iters left: 2 (61 enodes) 35.162 * * [simplify]: Extracting #0: cost 1 inf + 0 35.162 * * [simplify]: Extracting #1: cost 3 inf + 0 35.163 * * [simplify]: Extracting #2: cost 14 inf + 0 35.163 * * [simplify]: Extracting #3: cost 27 inf + 0 35.163 * * [simplify]: Extracting #4: cost 16 inf + 592 35.163 * * [simplify]: Extracting #5: cost 1 inf + 4134 35.164 * * [simplify]: Extracting #6: cost 0 inf + 4397 35.164 * [simplify]: Simplified to (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 35.165 * [simplify]: Simplified (2 1 2 2 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))))))) lambda1)) 35.165 * * * * [progress]: [ 82 / 87 ] simplifiying candidate # 35.165 * [simplify]: Simplifying 0 35.165 * * [simplify]: iters left: 0 (1 enodes) 35.166 * * [simplify]: Extracting #0: cost 1 inf + 0 35.166 * * [simplify]: Extracting #1: cost 0 inf + 1 35.166 * [simplify]: Simplified to 0 35.166 * [simplify]: Simplified (2 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 0 (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 35.166 * * * * [progress]: [ 83 / 87 ] simplifiying candidate # 35.166 * [simplify]: Simplifying (* (cos phi1) (* (sin theta) (sin delta))) 35.166 * * [simplify]: iters left: 5 (8 enodes) 35.168 * * [simplify]: iters left: 4 (28 enodes) 35.173 * * [simplify]: iters left: 3 (36 enodes) 35.178 * * [simplify]: iters left: 2 (42 enodes) 35.183 * * [simplify]: Extracting #0: cost 1 inf + 0 35.183 * * [simplify]: Extracting #1: cost 8 inf + 0 35.183 * * [simplify]: Extracting #2: cost 17 inf + 0 35.183 * * [simplify]: Extracting #3: cost 12 inf + 125 35.183 * * [simplify]: Extracting #4: cost 5 inf + 1057 35.183 * * [simplify]: Extracting #5: cost 1 inf + 1705 35.183 * * [simplify]: Extracting #6: cost 0 inf + 1867 35.184 * [simplify]: Simplified to (* (* (sin theta) (sin delta)) (cos phi1)) 35.184 * [simplify]: Simplified (2 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 35.184 * * * * [progress]: [ 84 / 87 ] simplifiying candidate # 35.184 * [simplify]: Simplifying (* (cos phi1) (* (sin delta) (sin theta))) 35.184 * * [simplify]: iters left: 5 (8 enodes) 35.186 * * [simplify]: iters left: 4 (28 enodes) 35.190 * * [simplify]: iters left: 3 (36 enodes) 35.195 * * [simplify]: iters left: 2 (42 enodes) 35.200 * * [simplify]: Extracting #0: cost 1 inf + 0 35.200 * * [simplify]: Extracting #1: cost 8 inf + 0 35.201 * * [simplify]: Extracting #2: cost 17 inf + 0 35.201 * * [simplify]: Extracting #3: cost 12 inf + 125 35.201 * * [simplify]: Extracting #4: cost 5 inf + 1057 35.201 * * [simplify]: Extracting #5: cost 1 inf + 1705 35.201 * * [simplify]: Extracting #6: cost 0 inf + 1867 35.202 * [simplify]: Simplified to (* (* (sin delta) (sin theta)) (cos phi1)) 35.202 * [simplify]: Simplified (2 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (* (sin delta) (sin theta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 35.202 * * * * [progress]: [ 85 / 87 ] simplifiying candidate # 35.202 * [simplify]: Simplifying (+ (* phi1 delta) (pow phi1 2)) 35.202 * * [simplify]: iters left: 4 (6 enodes) 35.205 * * [simplify]: iters left: 3 (26 enodes) 35.209 * * [simplify]: iters left: 2 (37 enodes) 35.215 * * [simplify]: iters left: 1 (44 enodes) 35.222 * * [simplify]: Extracting #0: cost 1 inf + 0 35.222 * * [simplify]: Extracting #1: cost 7 inf + 0 35.222 * * [simplify]: Extracting #2: cost 9 inf + 2 35.222 * * [simplify]: Extracting #3: cost 2 inf + 308 35.222 * * [simplify]: Extracting #4: cost 0 inf + 432 35.223 * * [simplify]: Extracting #5: cost 0 inf + 417 35.223 * [simplify]: Simplified to (* (+ delta phi1) phi1) 35.223 * [simplify]: Simplified (2 1 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (+ delta phi1) phi1))) lambda1)) 35.223 * * * * [progress]: [ 86 / 87 ] simplifiying candidate # 35.223 * [simplify]: Simplifying (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta))))) 35.223 * * [simplify]: iters left: 6 (13 enodes) 35.226 * * [simplify]: iters left: 5 (53 enodes) 35.243 * * [simplify]: iters left: 4 (90 enodes) 35.258 * * [simplify]: iters left: 3 (146 enodes) 35.278 * * [simplify]: iters left: 2 (161 enodes) 35.310 * * [simplify]: Extracting #0: cost 1 inf + 0 35.310 * * [simplify]: Extracting #1: cost 18 inf + 0 35.310 * * [simplify]: Extracting #2: cost 40 inf + 0 35.310 * * [simplify]: Extracting #3: cost 38 inf + 307 35.311 * * [simplify]: Extracting #4: cost 20 inf + 2595 35.312 * * [simplify]: Extracting #5: cost 2 inf + 7503 35.314 * * [simplify]: Extracting #6: cost 0 inf + 8143 35.316 * [simplify]: Simplified to (* (fma (* (cos theta) (cos phi1)) (sin delta) (* (cos delta) (sin phi1))) (sin phi1)) 35.316 * [simplify]: Simplified (2 1 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (fma (* (cos theta) (cos phi1)) (sin delta) (* (cos delta) (sin phi1))) (sin phi1)))) lambda1)) 35.316 * * * * [progress]: [ 87 / 87 ] simplifiying candidate # 35.316 * [simplify]: Simplifying (* (sin phi1) (+ (* (cos phi1) (* (sin delta) (cos theta))) (* (sin phi1) (cos delta)))) 35.316 * * [simplify]: iters left: 6 (13 enodes) 35.321 * * [simplify]: iters left: 5 (53 enodes) 35.330 * * [simplify]: iters left: 4 (90 enodes) 35.347 * * [simplify]: iters left: 3 (144 enodes) 35.386 * * [simplify]: iters left: 2 (159 enodes) 35.422 * * [simplify]: Extracting #0: cost 1 inf + 0 35.422 * * [simplify]: Extracting #1: cost 18 inf + 0 35.422 * * [simplify]: Extracting #2: cost 41 inf + 0 35.422 * * [simplify]: Extracting #3: cost 39 inf + 186 35.424 * * [simplify]: Extracting #4: cost 8 inf + 6304 35.427 * * [simplify]: Extracting #5: cost 1 inf + 7780 35.432 * * [simplify]: Extracting #6: cost 0 inf + 8143 35.435 * [simplify]: Simplified to (* (fma (* (cos theta) (sin delta)) (cos phi1) (* (sin phi1) (cos delta))) (sin phi1)) 35.435 * [simplify]: Simplified (2 1 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (fma (* (cos theta) (sin delta)) (cos phi1) (* (sin phi1) (cos delta))) (sin phi1)))) lambda1)) 35.436 * * * [progress]: adding candidates to table 37.308 * [progress]: [Phase 3 of 3] Extracting. 37.315 * [simplify]: Simplifying (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1) 37.315 * * [simplify]: iters left: 6 (21 enodes) 37.316 * * [simplify]: iters left: 5 (27 enodes) 37.317 * * [simplify]: Extracting #0: cost 1 inf + 0 37.317 * * [simplify]: Extracting #1: cost 3 inf + 0 37.317 * * [simplify]: Extracting #2: cost 4 inf + 1 37.317 * * [simplify]: Extracting #3: cost 8 inf + 1 37.317 * * [simplify]: Extracting #4: cost 13 inf + 1 37.317 * * [simplify]: Extracting #5: cost 15 inf + 2 37.317 * * [simplify]: Extracting #6: cost 9 inf + 309 37.317 * * [simplify]: Extracting #7: cost 10 inf + 734 37.317 * * [simplify]: Extracting #8: cost 6 inf + 1557 37.318 * * [simplify]: Extracting #9: cost 4 inf + 2703 37.318 * * [simplify]: Extracting #10: cost 3 inf + 3346 37.318 * * [simplify]: Extracting #11: cost 0 inf + 5996 37.319 * [simplify]: Simplified to (+ lambda1 (atan2 (* (* (cos phi1) (sin theta)) (sin delta)) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))))))))