0.002 * [progress]: [Phase 1 of 3] Setting up. 0.003 * * * [progress]: [1/2] Preparing points 28.517 * * * [progress]: [2/2] Setting up program. 28.524 * [progress]: [Phase 2 of 3] Improving. 28.524 * * * * [progress]: [ 1 / 1 ] simplifiying candidate # 28.524 * [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))))))))) 28.524 * * [simplify]: iters left: 6 (22 enodes) 28.529 * * [simplify]: iters left: 5 (80 enodes) 28.573 * * [simplify]: iters left: 4 (107 enodes) 28.607 * * [simplify]: iters left: 3 (125 enodes) 28.637 * * [simplify]: Extracting #0: cost 1 inf + 0 28.637 * * [simplify]: Extracting #1: cost 4 inf + 0 28.638 * * [simplify]: Extracting #2: cost 6 inf + 1 28.638 * * [simplify]: Extracting #3: cost 21 inf + 1 28.638 * * [simplify]: Extracting #4: cost 38 inf + 1 28.638 * * [simplify]: Extracting #5: cost 28 inf + 734 28.639 * * [simplify]: Extracting #6: cost 24 inf + 1889 28.640 * * [simplify]: Extracting #7: cost 25 inf + 2537 28.641 * * [simplify]: Extracting #8: cost 18 inf + 4766 28.643 * * [simplify]: Extracting #9: cost 12 inf + 7142 28.647 * * [simplify]: Extracting #10: cost 3 inf + 13414 28.651 * * [simplify]: Extracting #11: cost 0 inf + 16385 28.655 * * [simplify]: Extracting #12: cost 0 inf + 16340 28.660 * [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) 28.660 * [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)) 28.687 * * [progress]: iteration 1 / 4 28.687 * * * [progress]: picking best candidate 28.698 * * * * [pick]: Picked # 28.698 * * * [progress]: localizing error 28.771 * * * [progress]: generating rewritten candidates 28.771 * * * * [progress]: [ 1 / 4 ] rewriting at (2 1 2) 28.778 * * * * [progress]: [ 2 / 4 ] rewriting at (2 1 2 2 2 1) 28.778 * * * * [progress]: [ 3 / 4 ] rewriting at (2 1 2 2) 28.798 * * * * [progress]: [ 4 / 4 ] rewriting at (2 1 2 2 2 1 1) 28.799 * * * [progress]: generating series expansions 28.799 * * * * [progress]: [ 1 / 4 ] generating series at (2 1 2) 28.799 * [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))))) 28.800 * [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 28.800 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in theta 28.800 * [taylor]: Taking taylor expansion of (cos delta) in theta 28.800 * [taylor]: Taking taylor expansion of delta in theta 28.800 * [backup-simplify]: Simplify delta into delta 28.800 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.800 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.800 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 28.800 * [taylor]: Taking taylor expansion of (sin phi1) in theta 28.800 * [taylor]: Taking taylor expansion of phi1 in theta 28.800 * [backup-simplify]: Simplify phi1 into phi1 28.800 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.800 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.800 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 28.800 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 28.800 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 28.800 * [taylor]: Taking taylor expansion of (cos theta) in theta 28.800 * [taylor]: Taking taylor expansion of theta in theta 28.800 * [backup-simplify]: Simplify 0 into 0 28.800 * [backup-simplify]: Simplify 1 into 1 28.800 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 28.800 * [taylor]: Taking taylor expansion of (cos phi1) in theta 28.800 * [taylor]: Taking taylor expansion of phi1 in theta 28.800 * [backup-simplify]: Simplify phi1 into phi1 28.800 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.800 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.800 * [taylor]: Taking taylor expansion of (sin delta) in theta 28.800 * [taylor]: Taking taylor expansion of delta in theta 28.801 * [backup-simplify]: Simplify delta into delta 28.801 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.801 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.801 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 28.801 * [taylor]: Taking taylor expansion of (sin phi1) in theta 28.801 * [taylor]: Taking taylor expansion of phi1 in theta 28.801 * [backup-simplify]: Simplify phi1 into phi1 28.801 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.801 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.801 * [taylor]: Taking taylor expansion of (cos delta) in theta 28.801 * [taylor]: Taking taylor expansion of delta in theta 28.801 * [backup-simplify]: Simplify delta into delta 28.801 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.801 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.801 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in phi1 28.801 * [taylor]: Taking taylor expansion of (cos delta) in phi1 28.801 * [taylor]: Taking taylor expansion of delta in phi1 28.801 * [backup-simplify]: Simplify delta into delta 28.801 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.801 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.801 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 28.801 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.801 * [taylor]: Taking taylor expansion of phi1 in phi1 28.801 * [backup-simplify]: Simplify 0 into 0 28.801 * [backup-simplify]: Simplify 1 into 1 28.801 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 28.801 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 28.801 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 28.802 * [taylor]: Taking taylor expansion of (cos theta) in phi1 28.802 * [taylor]: Taking taylor expansion of theta in phi1 28.802 * [backup-simplify]: Simplify theta into theta 28.802 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.802 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.802 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 28.802 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 28.802 * [taylor]: Taking taylor expansion of phi1 in phi1 28.802 * [backup-simplify]: Simplify 0 into 0 28.802 * [backup-simplify]: Simplify 1 into 1 28.802 * [taylor]: Taking taylor expansion of (sin delta) in phi1 28.802 * [taylor]: Taking taylor expansion of delta in phi1 28.802 * [backup-simplify]: Simplify delta into delta 28.802 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.802 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.802 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 28.802 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.802 * [taylor]: Taking taylor expansion of phi1 in phi1 28.802 * [backup-simplify]: Simplify 0 into 0 28.802 * [backup-simplify]: Simplify 1 into 1 28.802 * [taylor]: Taking taylor expansion of (cos delta) in phi1 28.802 * [taylor]: Taking taylor expansion of delta in phi1 28.802 * [backup-simplify]: Simplify delta into delta 28.802 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.802 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.802 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in delta 28.802 * [taylor]: Taking taylor expansion of (cos delta) in delta 28.802 * [taylor]: Taking taylor expansion of delta in delta 28.802 * [backup-simplify]: Simplify 0 into 0 28.802 * [backup-simplify]: Simplify 1 into 1 28.802 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 28.802 * [taylor]: Taking taylor expansion of (sin phi1) in delta 28.803 * [taylor]: Taking taylor expansion of phi1 in delta 28.803 * [backup-simplify]: Simplify phi1 into phi1 28.803 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.803 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.803 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 28.803 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 28.803 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 28.803 * [taylor]: Taking taylor expansion of (cos theta) in delta 28.803 * [taylor]: Taking taylor expansion of theta in delta 28.803 * [backup-simplify]: Simplify theta into theta 28.803 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.803 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.803 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 28.803 * [taylor]: Taking taylor expansion of (cos phi1) in delta 28.803 * [taylor]: Taking taylor expansion of phi1 in delta 28.803 * [backup-simplify]: Simplify phi1 into phi1 28.803 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.803 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.803 * [taylor]: Taking taylor expansion of (sin delta) in delta 28.803 * [taylor]: Taking taylor expansion of delta in delta 28.803 * [backup-simplify]: Simplify 0 into 0 28.803 * [backup-simplify]: Simplify 1 into 1 28.803 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 28.803 * [taylor]: Taking taylor expansion of (sin phi1) in delta 28.803 * [taylor]: Taking taylor expansion of phi1 in delta 28.803 * [backup-simplify]: Simplify phi1 into phi1 28.803 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.803 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.803 * [taylor]: Taking taylor expansion of (cos delta) in delta 28.803 * [taylor]: Taking taylor expansion of delta in delta 28.804 * [backup-simplify]: Simplify 0 into 0 28.804 * [backup-simplify]: Simplify 1 into 1 28.804 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in delta 28.804 * [taylor]: Taking taylor expansion of (cos delta) in delta 28.804 * [taylor]: Taking taylor expansion of delta in delta 28.804 * [backup-simplify]: Simplify 0 into 0 28.804 * [backup-simplify]: Simplify 1 into 1 28.804 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 28.804 * [taylor]: Taking taylor expansion of (sin phi1) in delta 28.804 * [taylor]: Taking taylor expansion of phi1 in delta 28.804 * [backup-simplify]: Simplify phi1 into phi1 28.804 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.804 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.804 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 28.804 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 28.804 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 28.804 * [taylor]: Taking taylor expansion of (cos theta) in delta 28.804 * [taylor]: Taking taylor expansion of theta in delta 28.804 * [backup-simplify]: Simplify theta into theta 28.804 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.804 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.804 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 28.804 * [taylor]: Taking taylor expansion of (cos phi1) in delta 28.804 * [taylor]: Taking taylor expansion of phi1 in delta 28.804 * [backup-simplify]: Simplify phi1 into phi1 28.804 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.804 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.804 * [taylor]: Taking taylor expansion of (sin delta) in delta 28.804 * [taylor]: Taking taylor expansion of delta in delta 28.804 * [backup-simplify]: Simplify 0 into 0 28.804 * [backup-simplify]: Simplify 1 into 1 28.805 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 28.805 * [taylor]: Taking taylor expansion of (sin phi1) in delta 28.805 * [taylor]: Taking taylor expansion of phi1 in delta 28.805 * [backup-simplify]: Simplify phi1 into phi1 28.805 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.805 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.805 * [taylor]: Taking taylor expansion of (cos delta) in delta 28.805 * [taylor]: Taking taylor expansion of delta in delta 28.805 * [backup-simplify]: Simplify 0 into 0 28.805 * [backup-simplify]: Simplify 1 into 1 28.805 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 28.805 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 28.805 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 28.805 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 28.805 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 28.806 * [backup-simplify]: Simplify (- 0) into 0 28.806 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 28.806 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 28.806 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 28.807 * [backup-simplify]: Simplify (- 0) into 0 28.807 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 28.807 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 28.807 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 28.807 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 28.807 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 28.807 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 28.807 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 28.807 * [backup-simplify]: Simplify (+ 0 (sin phi1)) into (sin phi1) 28.807 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 28.807 * [backup-simplify]: Simplify (- (pow (sin phi1) 2)) into (- (pow (sin phi1) 2)) 28.808 * [backup-simplify]: Simplify (+ 1 (- (pow (sin phi1) 2))) into (- 1 (pow (sin phi1) 2)) 28.808 * [taylor]: Taking taylor expansion of (- 1 (pow (sin phi1) 2)) in phi1 28.808 * [taylor]: Taking taylor expansion of 1 in phi1 28.808 * [backup-simplify]: Simplify 1 into 1 28.808 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 28.808 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.808 * [taylor]: Taking taylor expansion of phi1 in phi1 28.808 * [backup-simplify]: Simplify 0 into 0 28.808 * [backup-simplify]: Simplify 1 into 1 28.817 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.818 * [backup-simplify]: Simplify (+ 1 0) into 1 28.818 * [taylor]: Taking taylor expansion of 1 in theta 28.818 * [backup-simplify]: Simplify 1 into 1 28.818 * [backup-simplify]: Simplify 1 into 1 28.819 * [backup-simplify]: Simplify (+ 0) into 0 28.820 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.820 * [backup-simplify]: Simplify (+ 0) into 0 28.821 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 28.821 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.822 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 28.822 * [backup-simplify]: Simplify (- 0) into 0 28.823 * [backup-simplify]: Simplify (+ 0 0) into 0 28.823 * [backup-simplify]: Simplify (+ (* (cos phi1) 1) (* 0 0)) into (cos phi1) 28.824 * [backup-simplify]: Simplify (+ 0) into 0 28.824 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 28.825 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.825 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 28.826 * [backup-simplify]: Simplify (- 0) into 0 28.826 * [backup-simplify]: Simplify (+ 0 0) into 0 28.827 * [backup-simplify]: Simplify (+ (* (cos theta) (cos phi1)) (* 0 0)) into (* (cos theta) (cos phi1)) 28.827 * [backup-simplify]: Simplify (+ 0) into 0 28.827 * [backup-simplify]: Simplify (+ 0) into 0 28.828 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 28.829 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.829 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 28.829 * [backup-simplify]: Simplify (+ 0 0) into 0 28.830 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 28.830 * [backup-simplify]: Simplify (+ (* (cos theta) (cos phi1)) 0) into (* (cos theta) (cos phi1)) 28.830 * [backup-simplify]: Simplify (+ 0) into 0 28.831 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 28.832 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.832 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 28.833 * [backup-simplify]: Simplify (+ 0 0) into 0 28.833 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos theta) (cos phi1))) (* 0 (sin phi1))) into (* (sin phi1) (* (cos theta) (cos phi1))) 28.833 * [backup-simplify]: Simplify (- (* (sin phi1) (* (cos theta) (cos phi1)))) into (- (* (sin phi1) (* (cos theta) (cos phi1)))) 28.833 * [backup-simplify]: Simplify (+ 0 (- (* (sin phi1) (* (cos theta) (cos phi1))))) into (- (* (sin phi1) (* (cos theta) (cos phi1)))) 28.833 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (* (cos theta) (cos phi1)))) in phi1 28.833 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos theta) (cos phi1))) in phi1 28.833 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.833 * [taylor]: Taking taylor expansion of phi1 in phi1 28.833 * [backup-simplify]: Simplify 0 into 0 28.833 * [backup-simplify]: Simplify 1 into 1 28.833 * [taylor]: Taking taylor expansion of (* (cos theta) (cos phi1)) in phi1 28.833 * [taylor]: Taking taylor expansion of (cos theta) in phi1 28.833 * [taylor]: Taking taylor expansion of theta in phi1 28.834 * [backup-simplify]: Simplify theta into theta 28.834 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.834 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.834 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 28.834 * [taylor]: Taking taylor expansion of phi1 in phi1 28.834 * [backup-simplify]: Simplify 0 into 0 28.834 * [backup-simplify]: Simplify 1 into 1 28.834 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 28.834 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 28.834 * [backup-simplify]: Simplify (- 0) into 0 28.834 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 28.834 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 28.834 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 28.835 * [backup-simplify]: Simplify (- 0) into 0 28.835 * [taylor]: Taking taylor expansion of 0 in theta 28.835 * [backup-simplify]: Simplify 0 into 0 28.835 * [backup-simplify]: Simplify 0 into 0 28.835 * [backup-simplify]: Simplify (+ 0 0) into 0 28.835 * [taylor]: Taking taylor expansion of 0 in theta 28.835 * [backup-simplify]: Simplify 0 into 0 28.835 * [backup-simplify]: Simplify 0 into 0 28.836 * [backup-simplify]: Simplify 0 into 0 28.836 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 28.837 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.838 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.839 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 28.840 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.841 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 28.841 * [backup-simplify]: Simplify (- 0) into 0 28.841 * [backup-simplify]: Simplify (+ 0 0) into 0 28.842 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 1) (* 0 0))) into 0 28.843 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.844 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 28.844 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.845 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 28.845 * [backup-simplify]: Simplify (- 0) into 0 28.846 * [backup-simplify]: Simplify (+ 0 0) into 0 28.846 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 (cos phi1)) (* 0 0))) into 0 28.847 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 28.848 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.849 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 28.850 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.850 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 28.851 * [backup-simplify]: Simplify (+ 0 0) into 0 28.852 * [backup-simplify]: Simplify (+ (* (sin phi1) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (sin phi1))) 28.852 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (sin phi1)))) into (- (* 1/2 (sin phi1))) 28.853 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.853 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 28.854 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.855 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 28.855 * [backup-simplify]: Simplify (+ 0 0) into 0 28.855 * [backup-simplify]: Simplify (+ (* (sin phi1) (- (* 1/2 (sin phi1)))) (+ (* 0 (* (cos theta) (cos phi1))) (* 0 (sin phi1)))) into (- (* 1/2 (pow (sin phi1) 2))) 28.855 * [backup-simplify]: Simplify (- (- (* 1/2 (pow (sin phi1) 2)))) into (* 1/2 (pow (sin phi1) 2)) 28.856 * [backup-simplify]: Simplify (+ -1/2 (* 1/2 (pow (sin phi1) 2))) into (- (* 1/2 (pow (sin phi1) 2)) 1/2) 28.856 * [taylor]: Taking taylor expansion of (- (* 1/2 (pow (sin phi1) 2)) 1/2) in phi1 28.856 * [taylor]: Taking taylor expansion of (* 1/2 (pow (sin phi1) 2)) in phi1 28.856 * [taylor]: Taking taylor expansion of 1/2 in phi1 28.856 * [backup-simplify]: Simplify 1/2 into 1/2 28.856 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 28.856 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.856 * [taylor]: Taking taylor expansion of phi1 in phi1 28.856 * [backup-simplify]: Simplify 0 into 0 28.856 * [backup-simplify]: Simplify 1 into 1 28.857 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.857 * [taylor]: Taking taylor expansion of 1/2 in phi1 28.857 * [backup-simplify]: Simplify 1/2 into 1/2 28.857 * [backup-simplify]: Simplify (- 1/2) into -1/2 28.857 * [backup-simplify]: Simplify (+ 0 -1/2) into -1/2 28.857 * [taylor]: Taking taylor expansion of -1/2 in theta 28.857 * [backup-simplify]: Simplify -1/2 into -1/2 28.858 * [backup-simplify]: Simplify -1/2 into -1/2 28.858 * [backup-simplify]: Simplify (+ 0) into 0 28.858 * [backup-simplify]: Simplify (+ 0) into 0 28.859 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 28.860 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.860 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 28.860 * [backup-simplify]: Simplify (- 0) into 0 28.861 * [backup-simplify]: Simplify (+ 0 0) into 0 28.861 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 28.862 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.862 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos theta))) into (cos theta) 28.863 * [backup-simplify]: Simplify (- (cos theta)) into (- (cos theta)) 28.863 * [taylor]: Taking taylor expansion of (- (cos theta)) in theta 28.863 * [taylor]: Taking taylor expansion of (cos theta) in theta 28.863 * [taylor]: Taking taylor expansion of theta in theta 28.863 * [backup-simplify]: Simplify 0 into 0 28.863 * [backup-simplify]: Simplify 1 into 1 28.863 * [backup-simplify]: Simplify (- 1) into -1 28.863 * [backup-simplify]: Simplify -1 into -1 28.863 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* phi1 delta))) (+ (* -1/2 (pow (* 1 (* 1 delta)) 2)) 1)) into (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) 28.864 * [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)))) 28.864 * [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 28.864 * [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 28.864 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 28.864 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.864 * [taylor]: Taking taylor expansion of delta in theta 28.864 * [backup-simplify]: Simplify delta into delta 28.864 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.864 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.864 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.864 * [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 28.864 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 28.865 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 28.865 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 28.865 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 28.865 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 28.865 * [taylor]: Taking taylor expansion of theta in theta 28.865 * [backup-simplify]: Simplify 0 into 0 28.865 * [backup-simplify]: Simplify 1 into 1 28.865 * [backup-simplify]: Simplify (/ 1 1) into 1 28.865 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.865 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 28.865 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 28.865 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.865 * [taylor]: Taking taylor expansion of delta in theta 28.865 * [backup-simplify]: Simplify delta into delta 28.865 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.866 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.866 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.866 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 28.866 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.866 * [taylor]: Taking taylor expansion of phi1 in theta 28.866 * [backup-simplify]: Simplify phi1 into phi1 28.866 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.866 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.866 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.866 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 28.866 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 28.866 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.866 * [taylor]: Taking taylor expansion of phi1 in theta 28.866 * [backup-simplify]: Simplify phi1 into phi1 28.866 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.866 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.866 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.866 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 28.866 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.866 * [taylor]: Taking taylor expansion of delta in theta 28.866 * [backup-simplify]: Simplify delta into delta 28.866 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.866 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.867 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.867 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 28.867 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.867 * [taylor]: Taking taylor expansion of phi1 in theta 28.867 * [backup-simplify]: Simplify phi1 into phi1 28.867 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.867 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.867 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.867 * [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 28.867 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 28.867 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.867 * [taylor]: Taking taylor expansion of delta in phi1 28.867 * [backup-simplify]: Simplify delta into delta 28.867 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.867 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.867 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.867 * [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 28.867 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 28.867 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 28.867 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 28.867 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 28.867 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 28.867 * [taylor]: Taking taylor expansion of theta in phi1 28.868 * [backup-simplify]: Simplify theta into theta 28.868 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.868 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.868 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.868 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 28.868 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 28.868 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.868 * [taylor]: Taking taylor expansion of delta in phi1 28.868 * [backup-simplify]: Simplify delta into delta 28.868 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.868 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.868 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.868 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 28.868 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.868 * [taylor]: Taking taylor expansion of phi1 in phi1 28.868 * [backup-simplify]: Simplify 0 into 0 28.868 * [backup-simplify]: Simplify 1 into 1 28.869 * [backup-simplify]: Simplify (/ 1 1) into 1 28.869 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.869 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 28.869 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.869 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.869 * [taylor]: Taking taylor expansion of phi1 in phi1 28.869 * [backup-simplify]: Simplify 0 into 0 28.869 * [backup-simplify]: Simplify 1 into 1 28.869 * [backup-simplify]: Simplify (/ 1 1) into 1 28.869 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.870 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 28.870 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.870 * [taylor]: Taking taylor expansion of delta in phi1 28.870 * [backup-simplify]: Simplify delta into delta 28.870 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.870 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.870 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.870 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.870 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.870 * [taylor]: Taking taylor expansion of phi1 in phi1 28.870 * [backup-simplify]: Simplify 0 into 0 28.870 * [backup-simplify]: Simplify 1 into 1 28.870 * [backup-simplify]: Simplify (/ 1 1) into 1 28.870 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.870 * [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 28.871 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 28.871 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.871 * [taylor]: Taking taylor expansion of delta in delta 28.871 * [backup-simplify]: Simplify 0 into 0 28.871 * [backup-simplify]: Simplify 1 into 1 28.871 * [backup-simplify]: Simplify (/ 1 1) into 1 28.871 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.871 * [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 28.871 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 28.871 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 28.871 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 28.871 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 28.871 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 28.871 * [taylor]: Taking taylor expansion of theta in delta 28.871 * [backup-simplify]: Simplify theta into theta 28.871 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.872 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.872 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.872 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 28.872 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 28.872 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.872 * [taylor]: Taking taylor expansion of delta in delta 28.872 * [backup-simplify]: Simplify 0 into 0 28.872 * [backup-simplify]: Simplify 1 into 1 28.872 * [backup-simplify]: Simplify (/ 1 1) into 1 28.873 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.873 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 28.873 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.873 * [taylor]: Taking taylor expansion of phi1 in delta 28.873 * [backup-simplify]: Simplify phi1 into phi1 28.873 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.873 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.873 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.873 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 28.873 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.873 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.873 * [taylor]: Taking taylor expansion of phi1 in delta 28.873 * [backup-simplify]: Simplify phi1 into phi1 28.873 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.873 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.873 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.873 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 28.873 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.873 * [taylor]: Taking taylor expansion of delta in delta 28.873 * [backup-simplify]: Simplify 0 into 0 28.873 * [backup-simplify]: Simplify 1 into 1 28.874 * [backup-simplify]: Simplify (/ 1 1) into 1 28.874 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.874 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.874 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.874 * [taylor]: Taking taylor expansion of phi1 in delta 28.874 * [backup-simplify]: Simplify phi1 into phi1 28.874 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.874 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.874 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.874 * [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 28.874 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 28.874 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.874 * [taylor]: Taking taylor expansion of delta in delta 28.874 * [backup-simplify]: Simplify 0 into 0 28.874 * [backup-simplify]: Simplify 1 into 1 28.875 * [backup-simplify]: Simplify (/ 1 1) into 1 28.875 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.875 * [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 28.875 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 28.875 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 28.875 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 28.875 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 28.875 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 28.875 * [taylor]: Taking taylor expansion of theta in delta 28.875 * [backup-simplify]: Simplify theta into theta 28.875 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.875 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.875 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.875 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 28.875 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 28.875 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.875 * [taylor]: Taking taylor expansion of delta in delta 28.875 * [backup-simplify]: Simplify 0 into 0 28.875 * [backup-simplify]: Simplify 1 into 1 28.876 * [backup-simplify]: Simplify (/ 1 1) into 1 28.876 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.876 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 28.876 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.876 * [taylor]: Taking taylor expansion of phi1 in delta 28.876 * [backup-simplify]: Simplify phi1 into phi1 28.876 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.876 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.876 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.876 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 28.876 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.876 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.876 * [taylor]: Taking taylor expansion of phi1 in delta 28.876 * [backup-simplify]: Simplify phi1 into phi1 28.876 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.876 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.876 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.876 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 28.876 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.876 * [taylor]: Taking taylor expansion of delta in delta 28.877 * [backup-simplify]: Simplify 0 into 0 28.877 * [backup-simplify]: Simplify 1 into 1 28.877 * [backup-simplify]: Simplify (/ 1 1) into 1 28.877 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.877 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.877 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.877 * [taylor]: Taking taylor expansion of phi1 in delta 28.877 * [backup-simplify]: Simplify phi1 into phi1 28.877 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.877 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.877 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.877 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 28.878 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 28.878 * [backup-simplify]: Simplify (- 0) into 0 28.878 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 28.878 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 28.878 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 28.879 * [backup-simplify]: Simplify (- 0) into 0 28.879 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 28.879 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (cos (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 delta))) 28.879 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 28.879 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 28.879 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 28.879 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 28.879 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 28.880 * [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))))) 28.880 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 28.880 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 28.880 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 28.880 * [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))) 28.881 * [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)))) 28.882 * [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)))) 28.882 * [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 28.882 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 28.882 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.882 * [taylor]: Taking taylor expansion of delta in phi1 28.882 * [backup-simplify]: Simplify delta into delta 28.882 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.882 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.882 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.882 * [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 28.882 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in phi1 28.882 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 28.882 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.882 * [taylor]: Taking taylor expansion of phi1 in phi1 28.882 * [backup-simplify]: Simplify 0 into 0 28.882 * [backup-simplify]: Simplify 1 into 1 28.883 * [backup-simplify]: Simplify (/ 1 1) into 1 28.883 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.883 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in phi1 28.883 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.883 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.883 * [taylor]: Taking taylor expansion of phi1 in phi1 28.883 * [backup-simplify]: Simplify 0 into 0 28.883 * [backup-simplify]: Simplify 1 into 1 28.883 * [backup-simplify]: Simplify (/ 1 1) into 1 28.883 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.883 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in phi1 28.883 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 28.883 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 28.883 * [taylor]: Taking taylor expansion of theta in phi1 28.883 * [backup-simplify]: Simplify theta into theta 28.884 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.884 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.884 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.884 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 28.884 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.884 * [taylor]: Taking taylor expansion of delta in phi1 28.884 * [backup-simplify]: Simplify delta into delta 28.884 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.884 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.884 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.884 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in phi1 28.884 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 28.884 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.884 * [taylor]: Taking taylor expansion of delta in phi1 28.884 * [backup-simplify]: Simplify delta into delta 28.884 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.884 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.884 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.884 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 28.884 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.884 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.884 * [taylor]: Taking taylor expansion of phi1 in phi1 28.884 * [backup-simplify]: Simplify 0 into 0 28.884 * [backup-simplify]: Simplify 1 into 1 28.885 * [backup-simplify]: Simplify (/ 1 1) into 1 28.885 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.885 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 28.885 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 28.886 * [backup-simplify]: Simplify (- 0) into 0 28.886 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 28.886 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 28.886 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 28.886 * [backup-simplify]: Simplify (- 0) into 0 28.886 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 28.886 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 28.887 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 28.887 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 28.887 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 28.887 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) 28.887 * [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))))) 28.887 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 28.887 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 28.888 * [backup-simplify]: Simplify (- 0) into 0 28.888 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 28.888 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 28.888 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 28.889 * [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)))) 28.889 * [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)))) 28.890 * [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)))) 28.890 * [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 28.890 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 28.890 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.890 * [taylor]: Taking taylor expansion of delta in theta 28.890 * [backup-simplify]: Simplify delta into delta 28.890 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.890 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.890 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.890 * [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 28.890 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) in theta 28.890 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 28.890 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.890 * [taylor]: Taking taylor expansion of phi1 in theta 28.890 * [backup-simplify]: Simplify phi1 into phi1 28.890 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.890 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.891 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.891 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) in theta 28.891 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 28.891 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.891 * [taylor]: Taking taylor expansion of delta in theta 28.891 * [backup-simplify]: Simplify delta into delta 28.891 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.891 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.891 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.891 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 phi1))) in theta 28.891 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 28.891 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 28.891 * [taylor]: Taking taylor expansion of theta in theta 28.891 * [backup-simplify]: Simplify 0 into 0 28.891 * [backup-simplify]: Simplify 1 into 1 28.892 * [backup-simplify]: Simplify (/ 1 1) into 1 28.892 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.892 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 28.892 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.892 * [taylor]: Taking taylor expansion of phi1 in theta 28.892 * [backup-simplify]: Simplify phi1 into phi1 28.892 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.892 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.892 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.892 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in theta 28.892 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 28.892 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.892 * [taylor]: Taking taylor expansion of delta in theta 28.892 * [backup-simplify]: Simplify delta into delta 28.892 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.892 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.892 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.892 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 28.892 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 28.892 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.892 * [taylor]: Taking taylor expansion of phi1 in theta 28.892 * [backup-simplify]: Simplify phi1 into phi1 28.893 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.893 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.893 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.893 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 28.893 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 28.893 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 28.893 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 28.893 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 28.893 * [backup-simplify]: Simplify (- 0) into 0 28.894 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 28.894 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 28.894 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 28.894 * [backup-simplify]: Simplify (- 0) into 0 28.894 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 28.894 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 28.894 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 28.894 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 28.895 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 28.895 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 28.895 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 28.895 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 phi1))) into (* (cos (/ 1 theta)) (sin (/ 1 phi1))) 28.895 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) into (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 28.895 * [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))))) 28.895 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 28.895 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 28.896 * [backup-simplify]: Simplify (- 0) into 0 28.896 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 28.896 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 28.896 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 28.897 * [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)))) 28.897 * [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))))))) 28.898 * [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))))))) 28.898 * [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))))) 28.899 * [backup-simplify]: Simplify (+ 0) into 0 28.899 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 28.900 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.900 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.901 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 28.901 * [backup-simplify]: Simplify (+ 0 0) into 0 28.902 * [backup-simplify]: Simplify (+ 0) into 0 28.902 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 28.902 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.903 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.903 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 28.904 * [backup-simplify]: Simplify (- 0) into 0 28.904 * [backup-simplify]: Simplify (+ 0 0) into 0 28.904 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 28.905 * [backup-simplify]: Simplify (+ 0) into 0 28.905 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 28.905 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 28.906 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.907 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 28.907 * [backup-simplify]: Simplify (- 0) into 0 28.907 * [backup-simplify]: Simplify (+ 0 0) into 0 28.908 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta))))) into 0 28.908 * [backup-simplify]: Simplify (+ 0) into 0 28.909 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 28.909 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.910 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.910 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 28.911 * [backup-simplify]: Simplify (+ 0 0) into 0 28.911 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 28.911 * [backup-simplify]: Simplify (+ 0 0) into 0 28.911 * [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 28.912 * [backup-simplify]: Simplify (- 0) into 0 28.912 * [backup-simplify]: Simplify (+ 0 0) into 0 28.912 * [taylor]: Taking taylor expansion of 0 in phi1 28.912 * [backup-simplify]: Simplify 0 into 0 28.912 * [taylor]: Taking taylor expansion of 0 in theta 28.912 * [backup-simplify]: Simplify 0 into 0 28.912 * [backup-simplify]: Simplify 0 into 0 28.913 * [backup-simplify]: Simplify (+ 0) into 0 28.913 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 28.913 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.914 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.915 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 28.915 * [backup-simplify]: Simplify (- 0) into 0 28.915 * [backup-simplify]: Simplify (+ 0 0) into 0 28.916 * [backup-simplify]: Simplify (+ 0) into 0 28.916 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 28.916 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.917 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.918 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 28.918 * [backup-simplify]: Simplify (+ 0 0) into 0 28.918 * [backup-simplify]: Simplify (+ 0) into 0 28.919 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 28.919 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 28.920 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.920 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 28.921 * [backup-simplify]: Simplify (- 0) into 0 28.921 * [backup-simplify]: Simplify (+ 0 0) into 0 28.921 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 28.921 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 28.922 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))))) into 0 28.922 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 28.922 * [backup-simplify]: Simplify (+ 0) into 0 28.923 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 28.923 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.924 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.924 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 28.925 * [backup-simplify]: Simplify (- 0) into 0 28.925 * [backup-simplify]: Simplify (+ 0 0) into 0 28.925 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 28.926 * [backup-simplify]: Simplify (+ 0 0) into 0 28.926 * [backup-simplify]: Simplify (- 0) into 0 28.926 * [backup-simplify]: Simplify (+ 0 0) into 0 28.926 * [taylor]: Taking taylor expansion of 0 in theta 28.926 * [backup-simplify]: Simplify 0 into 0 28.926 * [backup-simplify]: Simplify 0 into 0 28.927 * [backup-simplify]: Simplify (+ 0) into 0 28.927 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 28.927 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.928 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.929 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 28.929 * [backup-simplify]: Simplify (- 0) into 0 28.929 * [backup-simplify]: Simplify (+ 0 0) into 0 28.930 * [backup-simplify]: Simplify (+ 0) into 0 28.930 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 28.930 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.931 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.931 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 28.932 * [backup-simplify]: Simplify (+ 0 0) into 0 28.932 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 28.932 * [backup-simplify]: Simplify (+ 0) into 0 28.933 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 28.933 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.934 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.934 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 28.935 * [backup-simplify]: Simplify (+ 0 0) into 0 28.935 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) into 0 28.935 * [backup-simplify]: Simplify (+ 0) into 0 28.936 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 28.936 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.937 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.937 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 28.937 * [backup-simplify]: Simplify (- 0) into 0 28.938 * [backup-simplify]: Simplify (+ 0 0) into 0 28.938 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 28.939 * [backup-simplify]: Simplify (+ 0) into 0 28.939 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 28.939 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.940 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.941 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 28.941 * [backup-simplify]: Simplify (+ 0 0) into 0 28.941 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 28.941 * [backup-simplify]: Simplify (+ 0) into 0 28.942 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 28.942 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.942 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.942 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 28.943 * [backup-simplify]: Simplify (- 0) into 0 28.943 * [backup-simplify]: Simplify (+ 0 0) into 0 28.943 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 28.943 * [backup-simplify]: Simplify (+ 0 0) into 0 28.943 * [backup-simplify]: Simplify (- 0) into 0 28.944 * [backup-simplify]: Simplify (+ 0 0) into 0 28.944 * [backup-simplify]: Simplify 0 into 0 28.944 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.945 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.945 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.945 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.945 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.946 * [backup-simplify]: Simplify (+ 0 0) into 0 28.946 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.947 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.947 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.947 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.947 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.948 * [backup-simplify]: Simplify (- 0) into 0 28.948 * [backup-simplify]: Simplify (+ 0 0) into 0 28.948 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 28.949 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.949 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.949 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.950 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.950 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.950 * [backup-simplify]: Simplify (- 0) into 0 28.950 * [backup-simplify]: Simplify (+ 0 0) into 0 28.951 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta)))))) into 0 28.951 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.952 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.952 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.952 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.953 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.953 * [backup-simplify]: Simplify (+ 0 0) into 0 28.953 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 28.953 * [backup-simplify]: Simplify (+ 0 0) into 0 28.954 * [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 28.954 * [backup-simplify]: Simplify (- 0) into 0 28.954 * [backup-simplify]: Simplify (+ 0 0) into 0 28.954 * [taylor]: Taking taylor expansion of 0 in phi1 28.954 * [backup-simplify]: Simplify 0 into 0 28.954 * [taylor]: Taking taylor expansion of 0 in theta 28.954 * [backup-simplify]: Simplify 0 into 0 28.954 * [backup-simplify]: Simplify 0 into 0 28.954 * [taylor]: Taking taylor expansion of 0 in theta 28.954 * [backup-simplify]: Simplify 0 into 0 28.954 * [backup-simplify]: Simplify 0 into 0 28.955 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.955 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.955 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.958 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.958 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.958 * [backup-simplify]: Simplify (- 0) into 0 28.959 * [backup-simplify]: Simplify (+ 0 0) into 0 28.959 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.959 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.960 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.960 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.960 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.961 * [backup-simplify]: Simplify (+ 0 0) into 0 28.961 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.961 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.962 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.962 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.962 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.963 * [backup-simplify]: Simplify (- 0) into 0 28.963 * [backup-simplify]: Simplify (+ 0 0) into 0 28.963 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 28.963 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 28.964 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))))) into 0 28.964 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 28.965 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.965 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.965 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.966 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.966 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.966 * [backup-simplify]: Simplify (- 0) into 0 28.967 * [backup-simplify]: Simplify (+ 0 0) into 0 28.967 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 1 phi1)) 2)))) into 0 28.967 * [backup-simplify]: Simplify (+ 0 0) into 0 28.967 * [backup-simplify]: Simplify (- 0) into 0 28.968 * [backup-simplify]: Simplify (+ 0 0) into 0 28.968 * [taylor]: Taking taylor expansion of 0 in theta 28.968 * [backup-simplify]: Simplify 0 into 0 28.968 * [backup-simplify]: Simplify 0 into 0 28.968 * [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)))))) 28.968 * [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)))))) 28.969 * [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 28.969 * [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 28.969 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 28.969 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.969 * [taylor]: Taking taylor expansion of -1 in theta 28.969 * [backup-simplify]: Simplify -1 into -1 28.969 * [taylor]: Taking taylor expansion of delta in theta 28.969 * [backup-simplify]: Simplify delta into delta 28.969 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.969 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.969 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.969 * [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 28.969 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 28.969 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.969 * [taylor]: Taking taylor expansion of -1 in theta 28.969 * [backup-simplify]: Simplify -1 into -1 28.969 * [taylor]: Taking taylor expansion of phi1 in theta 28.969 * [backup-simplify]: Simplify phi1 into phi1 28.969 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.969 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.969 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.969 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 28.969 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 28.970 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 28.970 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 28.970 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 28.970 * [taylor]: Taking taylor expansion of -1 in theta 28.970 * [backup-simplify]: Simplify -1 into -1 28.970 * [taylor]: Taking taylor expansion of theta in theta 28.970 * [backup-simplify]: Simplify 0 into 0 28.970 * [backup-simplify]: Simplify 1 into 1 28.970 * [backup-simplify]: Simplify (/ -1 1) into -1 28.970 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.970 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 28.970 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 28.970 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.970 * [taylor]: Taking taylor expansion of -1 in theta 28.970 * [backup-simplify]: Simplify -1 into -1 28.970 * [taylor]: Taking taylor expansion of phi1 in theta 28.970 * [backup-simplify]: Simplify phi1 into phi1 28.971 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.971 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.971 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.971 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 28.971 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.971 * [taylor]: Taking taylor expansion of -1 in theta 28.971 * [backup-simplify]: Simplify -1 into -1 28.971 * [taylor]: Taking taylor expansion of delta in theta 28.971 * [backup-simplify]: Simplify delta into delta 28.971 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.971 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.971 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.971 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 28.971 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 28.971 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.971 * [taylor]: Taking taylor expansion of -1 in theta 28.971 * [backup-simplify]: Simplify -1 into -1 28.971 * [taylor]: Taking taylor expansion of phi1 in theta 28.971 * [backup-simplify]: Simplify phi1 into phi1 28.971 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.971 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.971 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.971 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 28.971 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.971 * [taylor]: Taking taylor expansion of -1 in theta 28.971 * [backup-simplify]: Simplify -1 into -1 28.972 * [taylor]: Taking taylor expansion of delta in theta 28.972 * [backup-simplify]: Simplify delta into delta 28.972 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.972 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.972 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.972 * [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 28.972 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 28.972 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.972 * [taylor]: Taking taylor expansion of -1 in phi1 28.972 * [backup-simplify]: Simplify -1 into -1 28.972 * [taylor]: Taking taylor expansion of delta in phi1 28.972 * [backup-simplify]: Simplify delta into delta 28.972 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.972 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.972 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.972 * [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 28.972 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.972 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.972 * [taylor]: Taking taylor expansion of -1 in phi1 28.972 * [backup-simplify]: Simplify -1 into -1 28.972 * [taylor]: Taking taylor expansion of phi1 in phi1 28.972 * [backup-simplify]: Simplify 0 into 0 28.972 * [backup-simplify]: Simplify 1 into 1 28.973 * [backup-simplify]: Simplify (/ -1 1) into -1 28.973 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.973 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 28.973 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 28.973 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 28.973 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 28.973 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 28.973 * [taylor]: Taking taylor expansion of -1 in phi1 28.973 * [backup-simplify]: Simplify -1 into -1 28.973 * [taylor]: Taking taylor expansion of theta in phi1 28.973 * [backup-simplify]: Simplify theta into theta 28.973 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.973 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.973 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.973 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 28.973 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 28.973 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.973 * [taylor]: Taking taylor expansion of -1 in phi1 28.973 * [backup-simplify]: Simplify -1 into -1 28.973 * [taylor]: Taking taylor expansion of phi1 in phi1 28.973 * [backup-simplify]: Simplify 0 into 0 28.974 * [backup-simplify]: Simplify 1 into 1 28.974 * [backup-simplify]: Simplify (/ -1 1) into -1 28.974 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.974 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 28.974 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.974 * [taylor]: Taking taylor expansion of -1 in phi1 28.974 * [backup-simplify]: Simplify -1 into -1 28.974 * [taylor]: Taking taylor expansion of delta in phi1 28.974 * [backup-simplify]: Simplify delta into delta 28.974 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.974 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.974 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.974 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 28.974 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.974 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.974 * [taylor]: Taking taylor expansion of -1 in phi1 28.975 * [backup-simplify]: Simplify -1 into -1 28.975 * [taylor]: Taking taylor expansion of phi1 in phi1 28.975 * [backup-simplify]: Simplify 0 into 0 28.975 * [backup-simplify]: Simplify 1 into 1 28.975 * [backup-simplify]: Simplify (/ -1 1) into -1 28.975 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.975 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 28.975 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.975 * [taylor]: Taking taylor expansion of -1 in phi1 28.975 * [backup-simplify]: Simplify -1 into -1 28.975 * [taylor]: Taking taylor expansion of delta in phi1 28.975 * [backup-simplify]: Simplify delta into delta 28.975 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.975 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.975 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.975 * [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 28.975 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 28.975 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.976 * [taylor]: Taking taylor expansion of -1 in delta 28.976 * [backup-simplify]: Simplify -1 into -1 28.976 * [taylor]: Taking taylor expansion of delta in delta 28.976 * [backup-simplify]: Simplify 0 into 0 28.976 * [backup-simplify]: Simplify 1 into 1 28.976 * [backup-simplify]: Simplify (/ -1 1) into -1 28.976 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.976 * [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 28.976 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.976 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.976 * [taylor]: Taking taylor expansion of -1 in delta 28.976 * [backup-simplify]: Simplify -1 into -1 28.976 * [taylor]: Taking taylor expansion of phi1 in delta 28.976 * [backup-simplify]: Simplify phi1 into phi1 28.976 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.976 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.977 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.977 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 28.977 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 28.977 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 28.977 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 28.977 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 28.977 * [taylor]: Taking taylor expansion of -1 in delta 28.977 * [backup-simplify]: Simplify -1 into -1 28.977 * [taylor]: Taking taylor expansion of theta in delta 28.977 * [backup-simplify]: Simplify theta into theta 28.977 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.977 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.977 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.977 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 28.977 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 28.977 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.977 * [taylor]: Taking taylor expansion of -1 in delta 28.977 * [backup-simplify]: Simplify -1 into -1 28.977 * [taylor]: Taking taylor expansion of phi1 in delta 28.977 * [backup-simplify]: Simplify phi1 into phi1 28.977 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.977 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.977 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.977 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 28.978 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.978 * [taylor]: Taking taylor expansion of -1 in delta 28.978 * [backup-simplify]: Simplify -1 into -1 28.978 * [taylor]: Taking taylor expansion of delta in delta 28.978 * [backup-simplify]: Simplify 0 into 0 28.978 * [backup-simplify]: Simplify 1 into 1 28.978 * [backup-simplify]: Simplify (/ -1 1) into -1 28.978 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.978 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 28.978 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.978 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.978 * [taylor]: Taking taylor expansion of -1 in delta 28.978 * [backup-simplify]: Simplify -1 into -1 28.978 * [taylor]: Taking taylor expansion of phi1 in delta 28.978 * [backup-simplify]: Simplify phi1 into phi1 28.978 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.979 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.979 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.979 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 28.979 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.979 * [taylor]: Taking taylor expansion of -1 in delta 28.979 * [backup-simplify]: Simplify -1 into -1 28.979 * [taylor]: Taking taylor expansion of delta in delta 28.979 * [backup-simplify]: Simplify 0 into 0 28.979 * [backup-simplify]: Simplify 1 into 1 28.979 * [backup-simplify]: Simplify (/ -1 1) into -1 28.979 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.979 * [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 28.979 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 28.979 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.979 * [taylor]: Taking taylor expansion of -1 in delta 28.979 * [backup-simplify]: Simplify -1 into -1 28.979 * [taylor]: Taking taylor expansion of delta in delta 28.979 * [backup-simplify]: Simplify 0 into 0 28.979 * [backup-simplify]: Simplify 1 into 1 28.980 * [backup-simplify]: Simplify (/ -1 1) into -1 28.980 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.980 * [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 28.980 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.980 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.980 * [taylor]: Taking taylor expansion of -1 in delta 28.980 * [backup-simplify]: Simplify -1 into -1 28.980 * [taylor]: Taking taylor expansion of phi1 in delta 28.980 * [backup-simplify]: Simplify phi1 into phi1 28.980 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.980 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.980 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.980 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 28.981 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 28.981 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 28.981 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 28.981 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 28.981 * [taylor]: Taking taylor expansion of -1 in delta 28.981 * [backup-simplify]: Simplify -1 into -1 28.981 * [taylor]: Taking taylor expansion of theta in delta 28.981 * [backup-simplify]: Simplify theta into theta 28.981 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.981 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.981 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.981 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 28.981 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 28.981 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.981 * [taylor]: Taking taylor expansion of -1 in delta 28.981 * [backup-simplify]: Simplify -1 into -1 28.981 * [taylor]: Taking taylor expansion of phi1 in delta 28.981 * [backup-simplify]: Simplify phi1 into phi1 28.981 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.981 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.981 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.981 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 28.981 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.981 * [taylor]: Taking taylor expansion of -1 in delta 28.981 * [backup-simplify]: Simplify -1 into -1 28.981 * [taylor]: Taking taylor expansion of delta in delta 28.981 * [backup-simplify]: Simplify 0 into 0 28.981 * [backup-simplify]: Simplify 1 into 1 28.982 * [backup-simplify]: Simplify (/ -1 1) into -1 28.982 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.982 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 28.982 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.982 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.982 * [taylor]: Taking taylor expansion of -1 in delta 28.982 * [backup-simplify]: Simplify -1 into -1 28.982 * [taylor]: Taking taylor expansion of phi1 in delta 28.982 * [backup-simplify]: Simplify phi1 into phi1 28.982 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.982 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.982 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.983 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 28.983 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.983 * [taylor]: Taking taylor expansion of -1 in delta 28.983 * [backup-simplify]: Simplify -1 into -1 28.983 * [taylor]: Taking taylor expansion of delta in delta 28.983 * [backup-simplify]: Simplify 0 into 0 28.983 * [backup-simplify]: Simplify 1 into 1 28.983 * [backup-simplify]: Simplify (/ -1 1) into -1 28.983 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.984 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 28.984 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 28.984 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 28.984 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 28.984 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 28.984 * [backup-simplify]: Simplify (- 0) into 0 28.984 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 28.984 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 28.984 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 28.985 * [backup-simplify]: Simplify (- 0) into 0 28.985 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 28.985 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 28.985 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 28.985 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 28.985 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 28.986 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 28.986 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 28.986 * [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)))) 28.986 * [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))))) 28.987 * [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))))))) 28.988 * [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))))))) 28.988 * [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 28.988 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 28.988 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.988 * [taylor]: Taking taylor expansion of -1 in phi1 28.988 * [backup-simplify]: Simplify -1 into -1 28.988 * [taylor]: Taking taylor expansion of delta in phi1 28.988 * [backup-simplify]: Simplify delta into delta 28.988 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.988 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.988 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.988 * [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 28.988 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in phi1 28.988 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 28.988 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.988 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.988 * [taylor]: Taking taylor expansion of -1 in phi1 28.988 * [backup-simplify]: Simplify -1 into -1 28.988 * [taylor]: Taking taylor expansion of phi1 in phi1 28.988 * [backup-simplify]: Simplify 0 into 0 28.988 * [backup-simplify]: Simplify 1 into 1 28.989 * [backup-simplify]: Simplify (/ -1 1) into -1 28.989 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.989 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 28.989 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.989 * [taylor]: Taking taylor expansion of -1 in phi1 28.989 * [backup-simplify]: Simplify -1 into -1 28.989 * [taylor]: Taking taylor expansion of delta in phi1 28.989 * [backup-simplify]: Simplify delta into delta 28.989 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.989 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.989 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.989 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) in phi1 28.989 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.989 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.989 * [taylor]: Taking taylor expansion of -1 in phi1 28.989 * [backup-simplify]: Simplify -1 into -1 28.989 * [taylor]: Taking taylor expansion of phi1 in phi1 28.989 * [backup-simplify]: Simplify 0 into 0 28.989 * [backup-simplify]: Simplify 1 into 1 28.990 * [backup-simplify]: Simplify (/ -1 1) into -1 28.990 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.990 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))) in phi1 28.990 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 28.990 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 28.990 * [taylor]: Taking taylor expansion of -1 in phi1 28.990 * [backup-simplify]: Simplify -1 into -1 28.990 * [taylor]: Taking taylor expansion of theta in phi1 28.990 * [backup-simplify]: Simplify theta into theta 28.990 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.990 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.990 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.990 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 phi1))) in phi1 28.990 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 28.990 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.990 * [taylor]: Taking taylor expansion of -1 in phi1 28.990 * [backup-simplify]: Simplify -1 into -1 28.990 * [taylor]: Taking taylor expansion of delta in phi1 28.990 * [backup-simplify]: Simplify delta into delta 28.990 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.990 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.991 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.991 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 28.991 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.991 * [taylor]: Taking taylor expansion of -1 in phi1 28.991 * [backup-simplify]: Simplify -1 into -1 28.991 * [taylor]: Taking taylor expansion of phi1 in phi1 28.991 * [backup-simplify]: Simplify 0 into 0 28.991 * [backup-simplify]: Simplify 1 into 1 28.991 * [backup-simplify]: Simplify (/ -1 1) into -1 28.991 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.991 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 28.991 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 28.992 * [backup-simplify]: Simplify (- 0) into 0 28.992 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 28.992 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 28.992 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 28.992 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 28.993 * [backup-simplify]: Simplify (- 0) into 0 28.993 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 28.993 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 28.993 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 28.993 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 28.993 * [backup-simplify]: Simplify (- 0) into 0 28.993 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 28.994 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 28.994 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 28.994 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 28.994 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 28.994 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 28.994 * [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))))) 28.995 * [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)))))) 28.995 * [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))))))) 28.996 * [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))))))) 28.996 * [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 28.996 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 28.996 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.996 * [taylor]: Taking taylor expansion of -1 in theta 28.996 * [backup-simplify]: Simplify -1 into -1 28.996 * [taylor]: Taking taylor expansion of delta in theta 28.996 * [backup-simplify]: Simplify delta into delta 28.996 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.996 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.997 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.997 * [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 28.997 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in theta 28.997 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in theta 28.997 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 28.997 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.997 * [taylor]: Taking taylor expansion of -1 in theta 28.997 * [backup-simplify]: Simplify -1 into -1 28.997 * [taylor]: Taking taylor expansion of phi1 in theta 28.997 * [backup-simplify]: Simplify phi1 into phi1 28.997 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.997 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.997 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.997 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 28.997 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 28.997 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 28.997 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 28.997 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.997 * [taylor]: Taking taylor expansion of -1 in theta 28.997 * [backup-simplify]: Simplify -1 into -1 28.997 * [taylor]: Taking taylor expansion of delta in theta 28.997 * [backup-simplify]: Simplify delta into delta 28.997 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.998 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.998 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.998 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) in theta 28.998 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 28.998 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.998 * [taylor]: Taking taylor expansion of -1 in theta 28.998 * [backup-simplify]: Simplify -1 into -1 28.998 * [taylor]: Taking taylor expansion of phi1 in theta 28.998 * [backup-simplify]: Simplify phi1 into phi1 28.998 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.998 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.998 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.998 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))) in theta 28.998 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 28.998 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 28.998 * [taylor]: Taking taylor expansion of -1 in theta 28.998 * [backup-simplify]: Simplify -1 into -1 28.998 * [taylor]: Taking taylor expansion of theta in theta 28.998 * [backup-simplify]: Simplify 0 into 0 28.998 * [backup-simplify]: Simplify 1 into 1 28.999 * [backup-simplify]: Simplify (/ -1 1) into -1 28.999 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.999 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 phi1))) in theta 28.999 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 28.999 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.999 * [taylor]: Taking taylor expansion of -1 in theta 28.999 * [backup-simplify]: Simplify -1 into -1 28.999 * [taylor]: Taking taylor expansion of delta in theta 28.999 * [backup-simplify]: Simplify delta into delta 28.999 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.999 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.999 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.999 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 28.999 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.999 * [taylor]: Taking taylor expansion of -1 in theta 28.999 * [backup-simplify]: Simplify -1 into -1 28.999 * [taylor]: Taking taylor expansion of phi1 in theta 28.999 * [backup-simplify]: Simplify phi1 into phi1 28.999 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.999 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.000 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.000 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 29.000 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 29.000 * [backup-simplify]: Simplify (- 0) into 0 29.000 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 29.000 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 29.000 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 29.001 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 29.001 * [backup-simplify]: Simplify (- 0) into 0 29.001 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 29.001 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 29.001 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 29.001 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 29.001 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 29.002 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 29.002 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 29.002 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 29.002 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 29.002 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 29.002 * [backup-simplify]: Simplify (- 0) into 0 29.002 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 29.002 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 29.003 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 29.003 * [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))))) 29.003 * [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)))))) 29.004 * [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))))))) 29.005 * [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))))))) 29.005 * [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))))))) 29.006 * [backup-simplify]: Simplify (+ 0) into 0 29.006 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 29.006 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.007 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.008 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 29.008 * [backup-simplify]: Simplify (- 0) into 0 29.008 * [backup-simplify]: Simplify (+ 0 0) into 0 29.008 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 29.009 * [backup-simplify]: Simplify (+ 0) into 0 29.009 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 29.010 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 29.010 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.011 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 29.011 * [backup-simplify]: Simplify (- 0) into 0 29.011 * [backup-simplify]: Simplify (+ 0 0) into 0 29.012 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 29.012 * [backup-simplify]: Simplify (+ 0) into 0 29.012 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 29.013 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.013 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.014 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 29.014 * [backup-simplify]: Simplify (+ 0 0) into 0 29.014 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 29.015 * [backup-simplify]: Simplify (+ 0 0) into 0 29.015 * [backup-simplify]: Simplify (+ 0) into 0 29.015 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 29.016 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.016 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.017 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 29.017 * [backup-simplify]: Simplify (+ 0 0) into 0 29.018 * [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 29.018 * [backup-simplify]: Simplify (- 0) into 0 29.018 * [backup-simplify]: Simplify (+ 0 0) into 0 29.018 * [taylor]: Taking taylor expansion of 0 in phi1 29.019 * [backup-simplify]: Simplify 0 into 0 29.019 * [taylor]: Taking taylor expansion of 0 in theta 29.019 * [backup-simplify]: Simplify 0 into 0 29.019 * [backup-simplify]: Simplify 0 into 0 29.019 * [backup-simplify]: Simplify (+ 0) into 0 29.020 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 29.020 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.020 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.021 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 29.021 * [backup-simplify]: Simplify (- 0) into 0 29.022 * [backup-simplify]: Simplify (+ 0 0) into 0 29.022 * [backup-simplify]: Simplify (+ 0) into 0 29.022 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 29.023 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.023 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.024 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 29.024 * [backup-simplify]: Simplify (- 0) into 0 29.024 * [backup-simplify]: Simplify (+ 0 0) into 0 29.025 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 29.025 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 29.025 * [backup-simplify]: Simplify (+ 0) into 0 29.026 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 29.026 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.027 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.027 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 29.027 * [backup-simplify]: Simplify (+ 0 0) into 0 29.027 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 29.028 * [backup-simplify]: Simplify (+ 0) into 0 29.028 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 29.029 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 29.029 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.030 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 29.030 * [backup-simplify]: Simplify (- 0) into 0 29.030 * [backup-simplify]: Simplify (+ 0 0) into 0 29.031 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 29.031 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 29.031 * [backup-simplify]: Simplify (+ 0 0) into 0 29.032 * [backup-simplify]: Simplify (- 0) into 0 29.032 * [backup-simplify]: Simplify (+ 0 0) into 0 29.032 * [taylor]: Taking taylor expansion of 0 in theta 29.032 * [backup-simplify]: Simplify 0 into 0 29.032 * [backup-simplify]: Simplify 0 into 0 29.033 * [backup-simplify]: Simplify (+ 0) into 0 29.033 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 29.033 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.034 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.035 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 29.035 * [backup-simplify]: Simplify (- 0) into 0 29.035 * [backup-simplify]: Simplify (+ 0 0) into 0 29.036 * [backup-simplify]: Simplify (+ 0) into 0 29.036 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 29.036 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.037 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.038 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 29.038 * [backup-simplify]: Simplify (- 0) into 0 29.038 * [backup-simplify]: Simplify (+ 0 0) into 0 29.039 * [backup-simplify]: Simplify (+ 0) into 0 29.039 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 29.039 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.040 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.041 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 29.041 * [backup-simplify]: Simplify (+ 0 0) into 0 29.041 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 29.041 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 29.042 * [backup-simplify]: Simplify (+ 0) into 0 29.042 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 29.043 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.043 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.044 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 29.044 * [backup-simplify]: Simplify (- 0) into 0 29.045 * [backup-simplify]: Simplify (+ 0 0) into 0 29.045 * [backup-simplify]: Simplify (+ 0) into 0 29.046 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 29.046 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.047 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.047 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 29.047 * [backup-simplify]: Simplify (+ 0 0) into 0 29.047 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 29.048 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 29.048 * [backup-simplify]: Simplify (+ 0) into 0 29.049 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 29.049 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.050 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.050 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 29.050 * [backup-simplify]: Simplify (+ 0 0) into 0 29.051 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 29.051 * [backup-simplify]: Simplify (+ 0 0) into 0 29.051 * [backup-simplify]: Simplify (- 0) into 0 29.052 * [backup-simplify]: Simplify (+ 0 0) into 0 29.052 * [backup-simplify]: Simplify 0 into 0 29.053 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.053 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.054 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.054 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.055 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.055 * [backup-simplify]: Simplify (- 0) into 0 29.056 * [backup-simplify]: Simplify (+ 0 0) into 0 29.056 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 29.057 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.058 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.058 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 29.059 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.059 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.060 * [backup-simplify]: Simplify (- 0) into 0 29.060 * [backup-simplify]: Simplify (+ 0 0) into 0 29.061 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 29.062 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.062 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.063 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.064 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.064 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.065 * [backup-simplify]: Simplify (+ 0 0) into 0 29.065 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 29.066 * [backup-simplify]: Simplify (+ 0 0) into 0 29.066 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.067 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.067 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.068 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.069 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.070 * [backup-simplify]: Simplify (+ 0 0) into 0 29.071 * [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 29.071 * [backup-simplify]: Simplify (- 0) into 0 29.072 * [backup-simplify]: Simplify (+ 0 0) into 0 29.072 * [taylor]: Taking taylor expansion of 0 in phi1 29.072 * [backup-simplify]: Simplify 0 into 0 29.072 * [taylor]: Taking taylor expansion of 0 in theta 29.072 * [backup-simplify]: Simplify 0 into 0 29.072 * [backup-simplify]: Simplify 0 into 0 29.072 * [taylor]: Taking taylor expansion of 0 in theta 29.072 * [backup-simplify]: Simplify 0 into 0 29.072 * [backup-simplify]: Simplify 0 into 0 29.073 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.074 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.074 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.075 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.075 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.076 * [backup-simplify]: Simplify (- 0) into 0 29.076 * [backup-simplify]: Simplify (+ 0 0) into 0 29.077 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.078 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.078 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.079 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.079 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.079 * [backup-simplify]: Simplify (- 0) into 0 29.080 * [backup-simplify]: Simplify (+ 0 0) into 0 29.080 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 29.081 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 29.082 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.082 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.083 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.084 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.084 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.085 * [backup-simplify]: Simplify (+ 0 0) into 0 29.085 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 phi1))))) into 0 29.086 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.087 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.087 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 29.088 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.089 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.089 * [backup-simplify]: Simplify (- 0) into 0 29.089 * [backup-simplify]: Simplify (+ 0 0) into 0 29.090 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 29.090 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))))) into 0 29.091 * [backup-simplify]: Simplify (+ 0 0) into 0 29.091 * [backup-simplify]: Simplify (- 0) into 0 29.091 * [backup-simplify]: Simplify (+ 0 0) into 0 29.092 * [taylor]: Taking taylor expansion of 0 in theta 29.092 * [backup-simplify]: Simplify 0 into 0 29.092 * [backup-simplify]: Simplify 0 into 0 29.092 * [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)))))) 29.092 * * * * [progress]: [ 2 / 4 ] generating series at (2 1 2 2 2 1) 29.093 * [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)))) 29.093 * [approximate]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in (theta phi1 delta) around 0 29.093 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 29.093 * [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)))) 29.093 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 29.093 * [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)))) 29.093 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 29.093 * [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)))) 29.093 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 29.094 * [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)))) 29.094 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 29.094 * [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)))) 29.094 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 29.094 * [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)))) 29.094 * [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)))) 29.094 * [taylor]: Taking taylor expansion of 0 in phi1 29.094 * [backup-simplify]: Simplify 0 into 0 29.094 * [taylor]: Taking taylor expansion of 0 in delta 29.094 * [backup-simplify]: Simplify 0 into 0 29.094 * [backup-simplify]: Simplify 0 into 0 29.095 * [taylor]: Taking taylor expansion of 0 in delta 29.095 * [backup-simplify]: Simplify 0 into 0 29.095 * [backup-simplify]: Simplify 0 into 0 29.095 * [backup-simplify]: Simplify 0 into 0 29.095 * [taylor]: Taking taylor expansion of 0 in phi1 29.095 * [backup-simplify]: Simplify 0 into 0 29.095 * [taylor]: Taking taylor expansion of 0 in delta 29.095 * [backup-simplify]: Simplify 0 into 0 29.095 * [backup-simplify]: Simplify 0 into 0 29.095 * [taylor]: Taking taylor expansion of 0 in delta 29.095 * [backup-simplify]: Simplify 0 into 0 29.095 * [backup-simplify]: Simplify 0 into 0 29.095 * [taylor]: Taking taylor expansion of 0 in delta 29.095 * [backup-simplify]: Simplify 0 into 0 29.095 * [backup-simplify]: Simplify 0 into 0 29.095 * [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)))) 29.095 * [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))))) 29.095 * [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 29.096 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in delta 29.096 * [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))))) 29.096 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in phi1 29.096 * [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))))) 29.096 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in theta 29.096 * [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))))) 29.096 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in theta 29.097 * [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))))) 29.097 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in phi1 29.097 * [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))))) 29.097 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in delta 29.097 * [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))))) 29.098 * [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))))) 29.098 * [taylor]: Taking taylor expansion of 0 in phi1 29.098 * [backup-simplify]: Simplify 0 into 0 29.098 * [taylor]: Taking taylor expansion of 0 in delta 29.098 * [backup-simplify]: Simplify 0 into 0 29.098 * [backup-simplify]: Simplify 0 into 0 29.098 * [taylor]: Taking taylor expansion of 0 in delta 29.098 * [backup-simplify]: Simplify 0 into 0 29.098 * [backup-simplify]: Simplify 0 into 0 29.098 * [backup-simplify]: Simplify 0 into 0 29.098 * [taylor]: Taking taylor expansion of 0 in phi1 29.098 * [backup-simplify]: Simplify 0 into 0 29.098 * [taylor]: Taking taylor expansion of 0 in delta 29.098 * [backup-simplify]: Simplify 0 into 0 29.098 * [backup-simplify]: Simplify 0 into 0 29.098 * [taylor]: Taking taylor expansion of 0 in delta 29.098 * [backup-simplify]: Simplify 0 into 0 29.098 * [backup-simplify]: Simplify 0 into 0 29.098 * [taylor]: Taking taylor expansion of 0 in delta 29.098 * [backup-simplify]: Simplify 0 into 0 29.098 * [backup-simplify]: Simplify 0 into 0 29.099 * [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)))) 29.099 * [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))))) 29.099 * [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 29.099 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 29.099 * [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))))) 29.100 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 29.100 * [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))))) 29.100 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 29.100 * [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))))) 29.100 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 29.100 * [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))))) 29.100 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 29.101 * [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))))) 29.101 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 29.101 * [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))))) 29.101 * [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))))) 29.101 * [taylor]: Taking taylor expansion of 0 in phi1 29.101 * [backup-simplify]: Simplify 0 into 0 29.101 * [taylor]: Taking taylor expansion of 0 in delta 29.101 * [backup-simplify]: Simplify 0 into 0 29.102 * [backup-simplify]: Simplify 0 into 0 29.102 * [taylor]: Taking taylor expansion of 0 in delta 29.102 * [backup-simplify]: Simplify 0 into 0 29.102 * [backup-simplify]: Simplify 0 into 0 29.102 * [backup-simplify]: Simplify 0 into 0 29.102 * [taylor]: Taking taylor expansion of 0 in phi1 29.102 * [backup-simplify]: Simplify 0 into 0 29.102 * [taylor]: Taking taylor expansion of 0 in delta 29.102 * [backup-simplify]: Simplify 0 into 0 29.102 * [backup-simplify]: Simplify 0 into 0 29.102 * [taylor]: Taking taylor expansion of 0 in delta 29.102 * [backup-simplify]: Simplify 0 into 0 29.102 * [backup-simplify]: Simplify 0 into 0 29.102 * [taylor]: Taking taylor expansion of 0 in delta 29.102 * [backup-simplify]: Simplify 0 into 0 29.102 * [backup-simplify]: Simplify 0 into 0 29.102 * [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)))) 29.103 * * * * [progress]: [ 3 / 4 ] generating series at (2 1 2 2) 29.103 * [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)))) 29.103 * [approximate]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in (phi1 theta delta) around 0 29.103 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 29.103 * [taylor]: Taking taylor expansion of (sin phi1) in delta 29.103 * [taylor]: Taking taylor expansion of phi1 in delta 29.103 * [backup-simplify]: Simplify phi1 into phi1 29.103 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.103 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.103 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 29.103 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 29.103 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 29.103 * [taylor]: Taking taylor expansion of (cos theta) in delta 29.103 * [taylor]: Taking taylor expansion of theta in delta 29.103 * [backup-simplify]: Simplify theta into theta 29.103 * [backup-simplify]: Simplify (cos theta) into (cos theta) 29.103 * [backup-simplify]: Simplify (sin theta) into (sin theta) 29.103 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 29.103 * [taylor]: Taking taylor expansion of (cos phi1) in delta 29.103 * [taylor]: Taking taylor expansion of phi1 in delta 29.103 * [backup-simplify]: Simplify phi1 into phi1 29.104 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.104 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.104 * [taylor]: Taking taylor expansion of (sin delta) in delta 29.104 * [taylor]: Taking taylor expansion of delta in delta 29.104 * [backup-simplify]: Simplify 0 into 0 29.104 * [backup-simplify]: Simplify 1 into 1 29.104 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 29.104 * [taylor]: Taking taylor expansion of (sin phi1) in delta 29.104 * [taylor]: Taking taylor expansion of phi1 in delta 29.104 * [backup-simplify]: Simplify phi1 into phi1 29.104 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.104 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.104 * [taylor]: Taking taylor expansion of (cos delta) in delta 29.104 * [taylor]: Taking taylor expansion of delta in delta 29.104 * [backup-simplify]: Simplify 0 into 0 29.104 * [backup-simplify]: Simplify 1 into 1 29.104 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 29.104 * [taylor]: Taking taylor expansion of (sin phi1) in theta 29.104 * [taylor]: Taking taylor expansion of phi1 in theta 29.104 * [backup-simplify]: Simplify phi1 into phi1 29.104 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.104 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.104 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 29.104 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 29.104 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 29.104 * [taylor]: Taking taylor expansion of (cos theta) in theta 29.104 * [taylor]: Taking taylor expansion of theta in theta 29.104 * [backup-simplify]: Simplify 0 into 0 29.104 * [backup-simplify]: Simplify 1 into 1 29.104 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 29.104 * [taylor]: Taking taylor expansion of (cos phi1) in theta 29.104 * [taylor]: Taking taylor expansion of phi1 in theta 29.104 * [backup-simplify]: Simplify phi1 into phi1 29.104 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.104 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.105 * [taylor]: Taking taylor expansion of (sin delta) in theta 29.105 * [taylor]: Taking taylor expansion of delta in theta 29.105 * [backup-simplify]: Simplify delta into delta 29.105 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.105 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.105 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 29.105 * [taylor]: Taking taylor expansion of (sin phi1) in theta 29.105 * [taylor]: Taking taylor expansion of phi1 in theta 29.105 * [backup-simplify]: Simplify phi1 into phi1 29.105 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.105 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.105 * [taylor]: Taking taylor expansion of (cos delta) in theta 29.105 * [taylor]: Taking taylor expansion of delta in theta 29.105 * [backup-simplify]: Simplify delta into delta 29.105 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.105 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.105 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 29.105 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 29.105 * [taylor]: Taking taylor expansion of phi1 in phi1 29.105 * [backup-simplify]: Simplify 0 into 0 29.105 * [backup-simplify]: Simplify 1 into 1 29.105 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 29.105 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 29.105 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 29.105 * [taylor]: Taking taylor expansion of (cos theta) in phi1 29.105 * [taylor]: Taking taylor expansion of theta in phi1 29.105 * [backup-simplify]: Simplify theta into theta 29.105 * [backup-simplify]: Simplify (cos theta) into (cos theta) 29.105 * [backup-simplify]: Simplify (sin theta) into (sin theta) 29.105 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 29.105 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 29.105 * [taylor]: Taking taylor expansion of phi1 in phi1 29.105 * [backup-simplify]: Simplify 0 into 0 29.105 * [backup-simplify]: Simplify 1 into 1 29.105 * [taylor]: Taking taylor expansion of (sin delta) in phi1 29.105 * [taylor]: Taking taylor expansion of delta in phi1 29.105 * [backup-simplify]: Simplify delta into delta 29.105 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.105 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.105 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 29.105 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 29.105 * [taylor]: Taking taylor expansion of phi1 in phi1 29.105 * [backup-simplify]: Simplify 0 into 0 29.105 * [backup-simplify]: Simplify 1 into 1 29.105 * [taylor]: Taking taylor expansion of (cos delta) in phi1 29.105 * [taylor]: Taking taylor expansion of delta in phi1 29.105 * [backup-simplify]: Simplify delta into delta 29.106 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.106 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.106 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 29.106 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 29.106 * [taylor]: Taking taylor expansion of phi1 in phi1 29.106 * [backup-simplify]: Simplify 0 into 0 29.106 * [backup-simplify]: Simplify 1 into 1 29.106 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 29.106 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 29.106 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 29.106 * [taylor]: Taking taylor expansion of (cos theta) in phi1 29.106 * [taylor]: Taking taylor expansion of theta in phi1 29.106 * [backup-simplify]: Simplify theta into theta 29.106 * [backup-simplify]: Simplify (cos theta) into (cos theta) 29.106 * [backup-simplify]: Simplify (sin theta) into (sin theta) 29.106 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 29.106 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 29.106 * [taylor]: Taking taylor expansion of phi1 in phi1 29.106 * [backup-simplify]: Simplify 0 into 0 29.106 * [backup-simplify]: Simplify 1 into 1 29.106 * [taylor]: Taking taylor expansion of (sin delta) in phi1 29.106 * [taylor]: Taking taylor expansion of delta in phi1 29.106 * [backup-simplify]: Simplify delta into delta 29.106 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.106 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.106 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 29.106 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 29.106 * [taylor]: Taking taylor expansion of phi1 in phi1 29.106 * [backup-simplify]: Simplify 0 into 0 29.106 * [backup-simplify]: Simplify 1 into 1 29.106 * [taylor]: Taking taylor expansion of (cos delta) in phi1 29.106 * [taylor]: Taking taylor expansion of delta in phi1 29.106 * [backup-simplify]: Simplify delta into delta 29.106 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.106 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.106 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 29.106 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 29.108 * [backup-simplify]: Simplify (- 0) into 0 29.108 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 29.108 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 29.108 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 29.108 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 29.108 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 29.108 * [backup-simplify]: Simplify (* (cos theta) (sin delta)) into (* (cos theta) (sin delta)) 29.108 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 29.108 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 29.109 * [backup-simplify]: Simplify (- 0) into 0 29.109 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 29.109 * [backup-simplify]: Simplify (* 0 (cos delta)) into 0 29.109 * [backup-simplify]: Simplify (+ (* (cos theta) (sin delta)) 0) into (* (cos theta) (sin delta)) 29.109 * [backup-simplify]: Simplify (* 0 (* (cos theta) (sin delta))) into 0 29.109 * [taylor]: Taking taylor expansion of 0 in theta 29.109 * [backup-simplify]: Simplify 0 into 0 29.109 * [taylor]: Taking taylor expansion of 0 in delta 29.109 * [backup-simplify]: Simplify 0 into 0 29.109 * [backup-simplify]: Simplify 0 into 0 29.109 * [backup-simplify]: Simplify (+ 0) into 0 29.109 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 29.110 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.110 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 29.110 * [backup-simplify]: Simplify (+ 0 0) into 0 29.111 * [backup-simplify]: Simplify (+ 0) into 0 29.111 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin delta))) into 0 29.111 * [backup-simplify]: Simplify (+ 0) into 0 29.111 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 29.112 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.112 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 29.112 * [backup-simplify]: Simplify (- 0) into 0 29.113 * [backup-simplify]: Simplify (+ 0 0) into 0 29.113 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 (sin delta))) into 0 29.113 * [backup-simplify]: Simplify (+ 0) into 0 29.113 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 29.114 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.114 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 29.114 * [backup-simplify]: Simplify (- 0) into 0 29.114 * [backup-simplify]: Simplify (+ 0 0) into 0 29.115 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 29.115 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos delta))) into (cos delta) 29.115 * [backup-simplify]: Simplify (+ 0 (cos delta)) into (cos delta) 29.115 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 29.115 * [backup-simplify]: Simplify (+ (* 0 (cos delta)) (* 1 (* (cos theta) (sin delta)))) into (* (cos theta) (sin delta)) 29.115 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in theta 29.116 * [taylor]: Taking taylor expansion of (cos theta) in theta 29.116 * [taylor]: Taking taylor expansion of theta in theta 29.116 * [backup-simplify]: Simplify 0 into 0 29.116 * [backup-simplify]: Simplify 1 into 1 29.116 * [taylor]: Taking taylor expansion of (sin delta) in theta 29.116 * [taylor]: Taking taylor expansion of delta in theta 29.116 * [backup-simplify]: Simplify delta into delta 29.116 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.116 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.116 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 29.116 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 29.116 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 29.116 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 29.116 * [taylor]: Taking taylor expansion of (sin delta) in delta 29.116 * [taylor]: Taking taylor expansion of delta in delta 29.116 * [backup-simplify]: Simplify 0 into 0 29.116 * [backup-simplify]: Simplify 1 into 1 29.116 * [backup-simplify]: Simplify 0 into 0 29.116 * [taylor]: Taking taylor expansion of 0 in delta 29.116 * [backup-simplify]: Simplify 0 into 0 29.116 * [backup-simplify]: Simplify 0 into 0 29.116 * [backup-simplify]: Simplify 0 into 0 29.116 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.117 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 29.117 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.118 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 29.118 * [backup-simplify]: Simplify (+ 0 0) into 0 29.118 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 29.119 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (sin delta)))) into (- (* 1/2 (sin delta))) 29.119 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.120 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 29.120 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.121 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 29.121 * [backup-simplify]: Simplify (- 0) into 0 29.121 * [backup-simplify]: Simplify (+ 0 0) into 0 29.121 * [backup-simplify]: Simplify (+ (* (cos theta) (- (* 1/2 (sin delta)))) (+ (* 0 0) (* 0 (sin delta)))) into (- (* 1/2 (* (cos theta) (sin delta)))) 29.122 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.122 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 1))) into 0 29.123 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.123 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 0))) into 0 29.123 * [backup-simplify]: Simplify (- 0) into 0 29.124 * [backup-simplify]: Simplify (+ 0 0) into 0 29.124 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.125 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (cos delta)))) into 0 29.125 * [backup-simplify]: Simplify (+ (- (* 1/2 (* (cos theta) (sin delta)))) 0) into (- (* 1/2 (* (cos theta) (sin delta)))) 29.125 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.125 * [backup-simplify]: Simplify (+ (* 0 (- (* 1/2 (* (cos theta) (sin delta))))) (+ (* 1 (cos delta)) (* 0 (* (cos theta) (sin delta))))) into (cos delta) 29.125 * [taylor]: Taking taylor expansion of (cos delta) in theta 29.125 * [taylor]: Taking taylor expansion of delta in theta 29.125 * [backup-simplify]: Simplify delta into delta 29.125 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.125 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.125 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 29.126 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 29.126 * [backup-simplify]: Simplify (- 0) into 0 29.126 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 29.126 * [taylor]: Taking taylor expansion of (cos delta) in delta 29.126 * [taylor]: Taking taylor expansion of delta in delta 29.126 * [backup-simplify]: Simplify 0 into 0 29.126 * [backup-simplify]: Simplify 1 into 1 29.126 * [backup-simplify]: Simplify 1 into 1 29.126 * [backup-simplify]: Simplify (+ 0) into 0 29.126 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 29.127 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.127 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 29.127 * [backup-simplify]: Simplify (+ 0 0) into 0 29.128 * [backup-simplify]: Simplify (+ 0) into 0 29.128 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin delta))) into 0 29.128 * [taylor]: Taking taylor expansion of 0 in delta 29.128 * [backup-simplify]: Simplify 0 into 0 29.128 * [backup-simplify]: Simplify 0 into 0 29.128 * [taylor]: Taking taylor expansion of 0 in delta 29.128 * [backup-simplify]: Simplify 0 into 0 29.128 * [backup-simplify]: Simplify 0 into 0 29.128 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 29.128 * [backup-simplify]: Simplify 1 into 1 29.128 * [backup-simplify]: Simplify 0 into 0 29.128 * [backup-simplify]: Simplify 0 into 0 29.129 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 29.129 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 29.130 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 29.131 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 29.131 * [backup-simplify]: Simplify (+ 0 0) into 0 29.132 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 1 1) 1) (/ (pow 0 1) 1)) 0) into 0 29.132 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* -1/2 0) (* 0 (sin delta))))) into 0 29.133 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 29.133 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 29.134 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 29.134 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 29.135 * [backup-simplify]: Simplify (- 0) into 0 29.135 * [backup-simplify]: Simplify (+ 0 0) into 0 29.135 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 (- (* 1/2 (sin delta)))) (+ (* 0 0) (* 0 (sin delta))))) into 0 29.136 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 29.136 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 29.137 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 29.138 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 29.138 * [backup-simplify]: Simplify (- 0) into 0 29.138 * [backup-simplify]: Simplify (+ 0 0) into 0 29.140 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into -1/6 29.141 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* -1/6 (cos delta))))) into (- (* 1/6 (cos delta))) 29.141 * [backup-simplify]: Simplify (+ 0 (- (* 1/6 (cos delta)))) into (- (* 1/6 (cos delta))) 29.143 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into -1/6 29.143 * [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)))) 29.143 * [taylor]: Taking taylor expansion of (- (* 2/3 (* (cos theta) (sin delta)))) in theta 29.143 * [taylor]: Taking taylor expansion of (* 2/3 (* (cos theta) (sin delta))) in theta 29.143 * [taylor]: Taking taylor expansion of 2/3 in theta 29.143 * [backup-simplify]: Simplify 2/3 into 2/3 29.143 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in theta 29.143 * [taylor]: Taking taylor expansion of (cos theta) in theta 29.144 * [taylor]: Taking taylor expansion of theta in theta 29.144 * [backup-simplify]: Simplify 0 into 0 29.144 * [backup-simplify]: Simplify 1 into 1 29.144 * [taylor]: Taking taylor expansion of (sin delta) in theta 29.144 * [taylor]: Taking taylor expansion of delta in theta 29.144 * [backup-simplify]: Simplify delta into delta 29.144 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.144 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.144 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 29.144 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 29.144 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 29.144 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 29.144 * [backup-simplify]: Simplify (* 2/3 (sin delta)) into (* 2/3 (sin delta)) 29.144 * [backup-simplify]: Simplify (- (* 2/3 (sin delta))) into (- (* 2/3 (sin delta))) 29.144 * [taylor]: Taking taylor expansion of (- (* 2/3 (sin delta))) in delta 29.144 * [taylor]: Taking taylor expansion of (* 2/3 (sin delta)) in delta 29.144 * [taylor]: Taking taylor expansion of 2/3 in delta 29.144 * [backup-simplify]: Simplify 2/3 into 2/3 29.144 * [taylor]: Taking taylor expansion of (sin delta) in delta 29.144 * [taylor]: Taking taylor expansion of delta in delta 29.145 * [backup-simplify]: Simplify 0 into 0 29.145 * [backup-simplify]: Simplify 1 into 1 29.145 * [backup-simplify]: Simplify (* 2/3 0) into 0 29.145 * [backup-simplify]: Simplify (- 0) into 0 29.145 * [backup-simplify]: Simplify 0 into 0 29.146 * [backup-simplify]: Simplify (+ 0) into 0 29.146 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 29.147 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.147 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 29.148 * [backup-simplify]: Simplify (- 0) into 0 29.148 * [backup-simplify]: Simplify (+ 0 0) into 0 29.148 * [taylor]: Taking taylor expansion of 0 in delta 29.148 * [backup-simplify]: Simplify 0 into 0 29.148 * [backup-simplify]: Simplify 0 into 0 29.149 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.150 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 29.150 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.151 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 29.151 * [backup-simplify]: Simplify (+ 0 0) into 0 29.152 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 29.153 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (sin delta)))) into (- (* 1/2 (sin delta))) 29.153 * [taylor]: Taking taylor expansion of (- (* 1/2 (sin delta))) in delta 29.153 * [taylor]: Taking taylor expansion of (* 1/2 (sin delta)) in delta 29.153 * [taylor]: Taking taylor expansion of 1/2 in delta 29.153 * [backup-simplify]: Simplify 1/2 into 1/2 29.153 * [taylor]: Taking taylor expansion of (sin delta) in delta 29.153 * [taylor]: Taking taylor expansion of delta in delta 29.153 * [backup-simplify]: Simplify 0 into 0 29.153 * [backup-simplify]: Simplify 1 into 1 29.154 * [backup-simplify]: Simplify (* 1/2 0) into 0 29.154 * [backup-simplify]: Simplify (- 0) into 0 29.154 * [backup-simplify]: Simplify 0 into 0 29.154 * [taylor]: Taking taylor expansion of 0 in delta 29.154 * [backup-simplify]: Simplify 0 into 0 29.154 * [backup-simplify]: Simplify 0 into 0 29.155 * [backup-simplify]: Simplify (+ (* 1 (* delta (* 1 phi1))) (* 1 (pow (* 1 (* 1 phi1)) 2))) into (+ (* phi1 delta) (pow phi1 2)) 29.155 * [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))) 29.155 * [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 29.155 * [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 29.155 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 29.155 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 29.155 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 29.155 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 29.155 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 29.155 * [taylor]: Taking taylor expansion of theta in delta 29.155 * [backup-simplify]: Simplify theta into theta 29.155 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 29.155 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.156 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 29.156 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 29.156 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 29.156 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.156 * [taylor]: Taking taylor expansion of delta in delta 29.156 * [backup-simplify]: Simplify 0 into 0 29.156 * [backup-simplify]: Simplify 1 into 1 29.156 * [backup-simplify]: Simplify (/ 1 1) into 1 29.156 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.156 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 29.156 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.156 * [taylor]: Taking taylor expansion of phi1 in delta 29.156 * [backup-simplify]: Simplify phi1 into phi1 29.156 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.157 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.157 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.157 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 29.157 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 29.157 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.157 * [taylor]: Taking taylor expansion of phi1 in delta 29.157 * [backup-simplify]: Simplify phi1 into phi1 29.157 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.157 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.157 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.157 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 29.157 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.157 * [taylor]: Taking taylor expansion of delta in delta 29.157 * [backup-simplify]: Simplify 0 into 0 29.157 * [backup-simplify]: Simplify 1 into 1 29.157 * [backup-simplify]: Simplify (/ 1 1) into 1 29.158 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.158 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 29.158 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.158 * [taylor]: Taking taylor expansion of phi1 in delta 29.158 * [backup-simplify]: Simplify phi1 into phi1 29.158 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.158 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.158 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.158 * [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 29.158 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 29.158 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 29.158 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 29.158 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 29.158 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 29.158 * [taylor]: Taking taylor expansion of theta in theta 29.158 * [backup-simplify]: Simplify 0 into 0 29.158 * [backup-simplify]: Simplify 1 into 1 29.159 * [backup-simplify]: Simplify (/ 1 1) into 1 29.159 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.159 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 29.159 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 29.159 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.159 * [taylor]: Taking taylor expansion of delta in theta 29.159 * [backup-simplify]: Simplify delta into delta 29.159 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.159 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.159 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.159 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 29.159 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.159 * [taylor]: Taking taylor expansion of phi1 in theta 29.159 * [backup-simplify]: Simplify phi1 into phi1 29.159 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.159 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.159 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.159 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 29.159 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 29.160 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.160 * [taylor]: Taking taylor expansion of phi1 in theta 29.160 * [backup-simplify]: Simplify phi1 into phi1 29.160 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.160 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.160 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.160 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 29.160 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.160 * [taylor]: Taking taylor expansion of delta in theta 29.160 * [backup-simplify]: Simplify delta into delta 29.160 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.160 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.160 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.160 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 29.160 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.160 * [taylor]: Taking taylor expansion of phi1 in theta 29.160 * [backup-simplify]: Simplify phi1 into phi1 29.160 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.160 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.160 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.160 * [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 29.160 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 29.161 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 29.161 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 29.161 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 29.161 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 29.161 * [taylor]: Taking taylor expansion of theta in phi1 29.161 * [backup-simplify]: Simplify theta into theta 29.161 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 29.161 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.161 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 29.161 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 29.161 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 29.161 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.161 * [taylor]: Taking taylor expansion of delta in phi1 29.161 * [backup-simplify]: Simplify delta into delta 29.161 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.161 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.161 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.161 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 29.161 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.161 * [taylor]: Taking taylor expansion of phi1 in phi1 29.161 * [backup-simplify]: Simplify 0 into 0 29.161 * [backup-simplify]: Simplify 1 into 1 29.162 * [backup-simplify]: Simplify (/ 1 1) into 1 29.162 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.162 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 29.162 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 29.162 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.162 * [taylor]: Taking taylor expansion of phi1 in phi1 29.162 * [backup-simplify]: Simplify 0 into 0 29.162 * [backup-simplify]: Simplify 1 into 1 29.163 * [backup-simplify]: Simplify (/ 1 1) into 1 29.163 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.163 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 29.163 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.163 * [taylor]: Taking taylor expansion of delta in phi1 29.163 * [backup-simplify]: Simplify delta into delta 29.163 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.163 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.163 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.163 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 29.163 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.163 * [taylor]: Taking taylor expansion of phi1 in phi1 29.163 * [backup-simplify]: Simplify 0 into 0 29.163 * [backup-simplify]: Simplify 1 into 1 29.164 * [backup-simplify]: Simplify (/ 1 1) into 1 29.164 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.164 * [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 29.164 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 29.164 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 29.164 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 29.164 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 29.164 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 29.164 * [taylor]: Taking taylor expansion of theta in phi1 29.164 * [backup-simplify]: Simplify theta into theta 29.164 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 29.164 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.164 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 29.164 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 29.165 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 29.165 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.165 * [taylor]: Taking taylor expansion of delta in phi1 29.165 * [backup-simplify]: Simplify delta into delta 29.165 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.165 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.165 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.165 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 29.165 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.165 * [taylor]: Taking taylor expansion of phi1 in phi1 29.165 * [backup-simplify]: Simplify 0 into 0 29.165 * [backup-simplify]: Simplify 1 into 1 29.165 * [backup-simplify]: Simplify (/ 1 1) into 1 29.165 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.165 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 29.165 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 29.166 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.166 * [taylor]: Taking taylor expansion of phi1 in phi1 29.166 * [backup-simplify]: Simplify 0 into 0 29.166 * [backup-simplify]: Simplify 1 into 1 29.166 * [backup-simplify]: Simplify (/ 1 1) into 1 29.166 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.166 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 29.166 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.166 * [taylor]: Taking taylor expansion of delta in phi1 29.166 * [backup-simplify]: Simplify delta into delta 29.166 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.166 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.166 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.166 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 29.166 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.166 * [taylor]: Taking taylor expansion of phi1 in phi1 29.166 * [backup-simplify]: Simplify 0 into 0 29.166 * [backup-simplify]: Simplify 1 into 1 29.167 * [backup-simplify]: Simplify (/ 1 1) into 1 29.167 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.167 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 29.167 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 29.168 * [backup-simplify]: Simplify (- 0) into 0 29.168 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 29.168 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 29.168 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 29.168 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 29.168 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (cos (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 delta))) 29.168 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 29.168 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 29.169 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 29.169 * [backup-simplify]: Simplify (- 0) into 0 29.169 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 29.169 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 29.169 * [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))))) 29.169 * [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))) 29.169 * [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 29.169 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in theta 29.170 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in theta 29.170 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 29.170 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.170 * [taylor]: Taking taylor expansion of phi1 in theta 29.170 * [backup-simplify]: Simplify phi1 into phi1 29.170 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.170 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.170 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.170 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in theta 29.170 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 29.170 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 29.170 * [taylor]: Taking taylor expansion of theta in theta 29.170 * [backup-simplify]: Simplify 0 into 0 29.170 * [backup-simplify]: Simplify 1 into 1 29.170 * [backup-simplify]: Simplify (/ 1 1) into 1 29.170 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.170 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 29.170 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.170 * [taylor]: Taking taylor expansion of delta in theta 29.170 * [backup-simplify]: Simplify delta into delta 29.170 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.170 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.170 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.170 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in theta 29.170 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 29.170 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.170 * [taylor]: Taking taylor expansion of delta in theta 29.170 * [backup-simplify]: Simplify delta into delta 29.170 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.170 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.170 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.170 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 29.170 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.171 * [taylor]: Taking taylor expansion of phi1 in theta 29.171 * [backup-simplify]: Simplify phi1 into phi1 29.171 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.171 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.171 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.171 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 29.171 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.171 * [taylor]: Taking taylor expansion of phi1 in theta 29.171 * [backup-simplify]: Simplify phi1 into phi1 29.171 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.171 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.171 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.171 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 29.171 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 29.171 * [backup-simplify]: Simplify (- 0) into 0 29.171 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 29.171 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 29.171 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 29.171 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 29.171 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 29.171 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 29.172 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 29.172 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 29.172 * [backup-simplify]: Simplify (- 0) into 0 29.172 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 29.172 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 29.172 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 29.172 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 29.172 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 29.172 * [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))))) 29.172 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 29.172 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 29.172 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 29.173 * [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))) 29.173 * [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 29.173 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in delta 29.173 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 29.173 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 29.173 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.173 * [taylor]: Taking taylor expansion of phi1 in delta 29.173 * [backup-simplify]: Simplify phi1 into phi1 29.173 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.173 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.173 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.173 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 29.173 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.173 * [taylor]: Taking taylor expansion of delta in delta 29.173 * [backup-simplify]: Simplify 0 into 0 29.173 * [backup-simplify]: Simplify 1 into 1 29.173 * [backup-simplify]: Simplify (/ 1 1) into 1 29.173 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.173 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 29.173 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 29.173 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.173 * [taylor]: Taking taylor expansion of delta in delta 29.173 * [backup-simplify]: Simplify 0 into 0 29.173 * [backup-simplify]: Simplify 1 into 1 29.174 * [backup-simplify]: Simplify (/ 1 1) into 1 29.174 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.174 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 29.174 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 29.174 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 29.174 * [taylor]: Taking taylor expansion of theta in delta 29.174 * [backup-simplify]: Simplify theta into theta 29.174 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 29.174 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.174 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 29.174 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 29.174 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.174 * [taylor]: Taking taylor expansion of phi1 in delta 29.174 * [backup-simplify]: Simplify phi1 into phi1 29.174 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.174 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.174 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.174 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 29.174 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.174 * [taylor]: Taking taylor expansion of phi1 in delta 29.174 * [backup-simplify]: Simplify phi1 into phi1 29.174 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.174 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.174 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.174 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 29.174 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 29.174 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 29.174 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 29.174 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 29.174 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 29.175 * [backup-simplify]: Simplify (- 0) into 0 29.175 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 29.175 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 29.175 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 29.175 * [backup-simplify]: Simplify (- 0) into 0 29.175 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 29.175 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 29.175 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 29.175 * [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)))) 29.176 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 29.176 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 29.176 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 29.176 * [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))) 29.176 * [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))) 29.176 * [backup-simplify]: Simplify (+ 0) into 0 29.177 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 29.177 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.177 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.177 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 29.178 * [backup-simplify]: Simplify (+ 0 0) into 0 29.178 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 29.178 * [backup-simplify]: Simplify (+ 0) into 0 29.178 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 29.178 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 29.179 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.179 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 29.179 * [backup-simplify]: Simplify (- 0) into 0 29.180 * [backup-simplify]: Simplify (+ 0 0) into 0 29.180 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta))))) into 0 29.180 * [backup-simplify]: Simplify (+ 0) into 0 29.180 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 29.180 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.181 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.181 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 29.181 * [backup-simplify]: Simplify (- 0) into 0 29.182 * [backup-simplify]: Simplify (+ 0 0) into 0 29.182 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 29.182 * [backup-simplify]: Simplify (+ 0 0) into 0 29.182 * [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 29.182 * [taylor]: Taking taylor expansion of 0 in theta 29.182 * [backup-simplify]: Simplify 0 into 0 29.182 * [taylor]: Taking taylor expansion of 0 in delta 29.182 * [backup-simplify]: Simplify 0 into 0 29.182 * [backup-simplify]: Simplify 0 into 0 29.182 * [backup-simplify]: Simplify (+ 0) into 0 29.183 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 29.183 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.183 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.184 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 29.184 * [backup-simplify]: Simplify (+ 0 0) into 0 29.184 * [backup-simplify]: Simplify (+ 0) into 0 29.184 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 29.184 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.185 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.185 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 29.185 * [backup-simplify]: Simplify (+ 0 0) into 0 29.185 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 29.186 * [backup-simplify]: Simplify (+ 0) into 0 29.186 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 29.186 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.187 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.187 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 29.187 * [backup-simplify]: Simplify (- 0) into 0 29.187 * [backup-simplify]: Simplify (+ 0 0) into 0 29.187 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 29.188 * [backup-simplify]: Simplify (+ 0) into 0 29.188 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 29.188 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.188 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.189 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 29.189 * [backup-simplify]: Simplify (+ 0 0) into 0 29.189 * [backup-simplify]: Simplify (+ 0) into 0 29.189 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 29.190 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.190 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.190 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 29.191 * [backup-simplify]: Simplify (- 0) into 0 29.191 * [backup-simplify]: Simplify (+ 0 0) into 0 29.191 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 29.191 * [backup-simplify]: Simplify (+ 0 0) into 0 29.191 * [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 29.191 * [taylor]: Taking taylor expansion of 0 in delta 29.191 * [backup-simplify]: Simplify 0 into 0 29.191 * [backup-simplify]: Simplify 0 into 0 29.192 * [backup-simplify]: Simplify (+ 0) into 0 29.192 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 29.192 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.193 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.193 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 29.193 * [backup-simplify]: Simplify (+ 0 0) into 0 29.194 * [backup-simplify]: Simplify (+ 0) into 0 29.194 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 29.194 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.195 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.195 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 29.195 * [backup-simplify]: Simplify (+ 0 0) into 0 29.195 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 29.195 * [backup-simplify]: Simplify (+ 0) into 0 29.196 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 29.196 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.196 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.197 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 29.197 * [backup-simplify]: Simplify (- 0) into 0 29.197 * [backup-simplify]: Simplify (+ 0 0) into 0 29.197 * [backup-simplify]: Simplify (+ 0) into 0 29.198 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 29.198 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 29.198 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.198 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 29.199 * [backup-simplify]: Simplify (- 0) into 0 29.199 * [backup-simplify]: Simplify (+ 0 0) into 0 29.199 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 29.199 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 29.199 * [backup-simplify]: Simplify (+ 0 0) into 0 29.199 * [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 29.199 * [backup-simplify]: Simplify 0 into 0 29.200 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.200 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.201 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.201 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.202 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.202 * [backup-simplify]: Simplify (+ 0 0) into 0 29.202 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 29.203 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.204 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.204 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 29.205 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.205 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.206 * [backup-simplify]: Simplify (- 0) into 0 29.206 * [backup-simplify]: Simplify (+ 0 0) into 0 29.207 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta)))))) into 0 29.208 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.208 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.208 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.209 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.210 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.210 * [backup-simplify]: Simplify (- 0) into 0 29.210 * [backup-simplify]: Simplify (+ 0 0) into 0 29.211 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 29.211 * [backup-simplify]: Simplify (+ 0 0) into 0 29.212 * [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 29.212 * [taylor]: Taking taylor expansion of 0 in theta 29.212 * [backup-simplify]: Simplify 0 into 0 29.212 * [taylor]: Taking taylor expansion of 0 in delta 29.212 * [backup-simplify]: Simplify 0 into 0 29.212 * [backup-simplify]: Simplify 0 into 0 29.212 * [taylor]: Taking taylor expansion of 0 in delta 29.213 * [backup-simplify]: Simplify 0 into 0 29.213 * [backup-simplify]: Simplify 0 into 0 29.216 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.217 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.217 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.218 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.218 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.218 * [backup-simplify]: Simplify (+ 0 0) into 0 29.219 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.220 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.220 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.221 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.222 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.222 * [backup-simplify]: Simplify (+ 0 0) into 0 29.222 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 29.223 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.224 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.224 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.225 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.225 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.226 * [backup-simplify]: Simplify (- 0) into 0 29.226 * [backup-simplify]: Simplify (+ 0 0) into 0 29.227 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 29.228 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.228 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.228 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.229 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.229 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.230 * [backup-simplify]: Simplify (+ 0 0) into 0 29.230 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.231 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.231 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.231 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.231 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.232 * [backup-simplify]: Simplify (- 0) into 0 29.232 * [backup-simplify]: Simplify (+ 0 0) into 0 29.232 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 29.232 * [backup-simplify]: Simplify (+ 0 0) into 0 29.233 * [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 29.233 * [taylor]: Taking taylor expansion of 0 in delta 29.233 * [backup-simplify]: Simplify 0 into 0 29.233 * [backup-simplify]: Simplify 0 into 0 29.233 * [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))))) 29.233 * [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))))) 29.233 * [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 29.234 * [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 29.234 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 29.234 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.234 * [taylor]: Taking taylor expansion of -1 in delta 29.234 * [backup-simplify]: Simplify -1 into -1 29.234 * [taylor]: Taking taylor expansion of phi1 in delta 29.234 * [backup-simplify]: Simplify phi1 into phi1 29.234 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.234 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.234 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.234 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 29.234 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 29.234 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 29.234 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 29.234 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 29.234 * [taylor]: Taking taylor expansion of -1 in delta 29.234 * [backup-simplify]: Simplify -1 into -1 29.234 * [taylor]: Taking taylor expansion of theta in delta 29.234 * [backup-simplify]: Simplify theta into theta 29.234 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 29.234 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.234 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 29.234 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 29.234 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 29.234 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.234 * [taylor]: Taking taylor expansion of -1 in delta 29.234 * [backup-simplify]: Simplify -1 into -1 29.234 * [taylor]: Taking taylor expansion of phi1 in delta 29.234 * [backup-simplify]: Simplify phi1 into phi1 29.234 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.234 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.234 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.234 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 29.234 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 29.234 * [taylor]: Taking taylor expansion of -1 in delta 29.234 * [backup-simplify]: Simplify -1 into -1 29.234 * [taylor]: Taking taylor expansion of delta in delta 29.234 * [backup-simplify]: Simplify 0 into 0 29.234 * [backup-simplify]: Simplify 1 into 1 29.235 * [backup-simplify]: Simplify (/ -1 1) into -1 29.235 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.235 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 29.235 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 29.235 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.235 * [taylor]: Taking taylor expansion of -1 in delta 29.235 * [backup-simplify]: Simplify -1 into -1 29.235 * [taylor]: Taking taylor expansion of phi1 in delta 29.235 * [backup-simplify]: Simplify phi1 into phi1 29.235 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.235 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.235 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.235 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 29.235 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 29.235 * [taylor]: Taking taylor expansion of -1 in delta 29.235 * [backup-simplify]: Simplify -1 into -1 29.235 * [taylor]: Taking taylor expansion of delta in delta 29.235 * [backup-simplify]: Simplify 0 into 0 29.235 * [backup-simplify]: Simplify 1 into 1 29.235 * [backup-simplify]: Simplify (/ -1 1) into -1 29.235 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.235 * [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 29.235 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 29.235 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.235 * [taylor]: Taking taylor expansion of -1 in theta 29.235 * [backup-simplify]: Simplify -1 into -1 29.235 * [taylor]: Taking taylor expansion of phi1 in theta 29.236 * [backup-simplify]: Simplify phi1 into phi1 29.236 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.236 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.236 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.236 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 29.236 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 29.236 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 29.236 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 29.236 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 29.236 * [taylor]: Taking taylor expansion of -1 in theta 29.236 * [backup-simplify]: Simplify -1 into -1 29.236 * [taylor]: Taking taylor expansion of theta in theta 29.236 * [backup-simplify]: Simplify 0 into 0 29.236 * [backup-simplify]: Simplify 1 into 1 29.236 * [backup-simplify]: Simplify (/ -1 1) into -1 29.236 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.236 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 29.236 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 29.236 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.236 * [taylor]: Taking taylor expansion of -1 in theta 29.236 * [backup-simplify]: Simplify -1 into -1 29.236 * [taylor]: Taking taylor expansion of phi1 in theta 29.236 * [backup-simplify]: Simplify phi1 into phi1 29.236 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.236 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.236 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.236 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 29.236 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 29.236 * [taylor]: Taking taylor expansion of -1 in theta 29.236 * [backup-simplify]: Simplify -1 into -1 29.236 * [taylor]: Taking taylor expansion of delta in theta 29.236 * [backup-simplify]: Simplify delta into delta 29.236 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.236 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.237 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.237 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 29.237 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 29.237 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.237 * [taylor]: Taking taylor expansion of -1 in theta 29.237 * [backup-simplify]: Simplify -1 into -1 29.237 * [taylor]: Taking taylor expansion of phi1 in theta 29.237 * [backup-simplify]: Simplify phi1 into phi1 29.237 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.237 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.237 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.237 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 29.237 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 29.237 * [taylor]: Taking taylor expansion of -1 in theta 29.237 * [backup-simplify]: Simplify -1 into -1 29.237 * [taylor]: Taking taylor expansion of delta in theta 29.237 * [backup-simplify]: Simplify delta into delta 29.237 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.237 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.237 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.237 * [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 29.237 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 29.237 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.237 * [taylor]: Taking taylor expansion of -1 in phi1 29.237 * [backup-simplify]: Simplify -1 into -1 29.237 * [taylor]: Taking taylor expansion of phi1 in phi1 29.237 * [backup-simplify]: Simplify 0 into 0 29.237 * [backup-simplify]: Simplify 1 into 1 29.237 * [backup-simplify]: Simplify (/ -1 1) into -1 29.237 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.237 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 29.237 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 29.237 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 29.237 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 29.237 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 29.237 * [taylor]: Taking taylor expansion of -1 in phi1 29.238 * [backup-simplify]: Simplify -1 into -1 29.238 * [taylor]: Taking taylor expansion of theta in phi1 29.238 * [backup-simplify]: Simplify theta into theta 29.238 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 29.238 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.238 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 29.238 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 29.238 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 29.238 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.238 * [taylor]: Taking taylor expansion of -1 in phi1 29.238 * [backup-simplify]: Simplify -1 into -1 29.238 * [taylor]: Taking taylor expansion of phi1 in phi1 29.238 * [backup-simplify]: Simplify 0 into 0 29.238 * [backup-simplify]: Simplify 1 into 1 29.238 * [backup-simplify]: Simplify (/ -1 1) into -1 29.238 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.238 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 29.238 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 29.238 * [taylor]: Taking taylor expansion of -1 in phi1 29.238 * [backup-simplify]: Simplify -1 into -1 29.238 * [taylor]: Taking taylor expansion of delta in phi1 29.238 * [backup-simplify]: Simplify delta into delta 29.238 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.238 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.238 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.238 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 29.238 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 29.238 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.238 * [taylor]: Taking taylor expansion of -1 in phi1 29.238 * [backup-simplify]: Simplify -1 into -1 29.238 * [taylor]: Taking taylor expansion of phi1 in phi1 29.238 * [backup-simplify]: Simplify 0 into 0 29.238 * [backup-simplify]: Simplify 1 into 1 29.239 * [backup-simplify]: Simplify (/ -1 1) into -1 29.239 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.239 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 29.239 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 29.239 * [taylor]: Taking taylor expansion of -1 in phi1 29.239 * [backup-simplify]: Simplify -1 into -1 29.239 * [taylor]: Taking taylor expansion of delta in phi1 29.239 * [backup-simplify]: Simplify delta into delta 29.239 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.239 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.239 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.239 * [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 29.239 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 29.239 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.239 * [taylor]: Taking taylor expansion of -1 in phi1 29.239 * [backup-simplify]: Simplify -1 into -1 29.239 * [taylor]: Taking taylor expansion of phi1 in phi1 29.239 * [backup-simplify]: Simplify 0 into 0 29.239 * [backup-simplify]: Simplify 1 into 1 29.239 * [backup-simplify]: Simplify (/ -1 1) into -1 29.239 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.239 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 29.239 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 29.239 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 29.239 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 29.239 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 29.239 * [taylor]: Taking taylor expansion of -1 in phi1 29.239 * [backup-simplify]: Simplify -1 into -1 29.239 * [taylor]: Taking taylor expansion of theta in phi1 29.239 * [backup-simplify]: Simplify theta into theta 29.240 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 29.240 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.240 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 29.240 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 29.240 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 29.240 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.240 * [taylor]: Taking taylor expansion of -1 in phi1 29.240 * [backup-simplify]: Simplify -1 into -1 29.240 * [taylor]: Taking taylor expansion of phi1 in phi1 29.240 * [backup-simplify]: Simplify 0 into 0 29.240 * [backup-simplify]: Simplify 1 into 1 29.240 * [backup-simplify]: Simplify (/ -1 1) into -1 29.240 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.240 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 29.240 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 29.240 * [taylor]: Taking taylor expansion of -1 in phi1 29.240 * [backup-simplify]: Simplify -1 into -1 29.240 * [taylor]: Taking taylor expansion of delta in phi1 29.240 * [backup-simplify]: Simplify delta into delta 29.240 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.240 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.240 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.240 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 29.240 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 29.240 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.240 * [taylor]: Taking taylor expansion of -1 in phi1 29.240 * [backup-simplify]: Simplify -1 into -1 29.240 * [taylor]: Taking taylor expansion of phi1 in phi1 29.240 * [backup-simplify]: Simplify 0 into 0 29.240 * [backup-simplify]: Simplify 1 into 1 29.241 * [backup-simplify]: Simplify (/ -1 1) into -1 29.241 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.241 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 29.241 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 29.241 * [taylor]: Taking taylor expansion of -1 in phi1 29.241 * [backup-simplify]: Simplify -1 into -1 29.241 * [taylor]: Taking taylor expansion of delta in phi1 29.241 * [backup-simplify]: Simplify delta into delta 29.241 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.241 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.241 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.241 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 29.241 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 29.241 * [backup-simplify]: Simplify (- 0) into 0 29.241 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 29.241 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 29.241 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 29.241 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 29.242 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 29.242 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 29.242 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 29.242 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 29.242 * [backup-simplify]: Simplify (- 0) into 0 29.242 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 29.242 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 29.242 * [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)))) 29.242 * [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))))) 29.242 * [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 29.243 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 29.243 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.243 * [taylor]: Taking taylor expansion of -1 in theta 29.243 * [backup-simplify]: Simplify -1 into -1 29.243 * [taylor]: Taking taylor expansion of phi1 in theta 29.243 * [backup-simplify]: Simplify phi1 into phi1 29.243 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.243 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.243 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.243 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 29.243 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) in theta 29.243 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 29.243 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.243 * [taylor]: Taking taylor expansion of -1 in theta 29.243 * [backup-simplify]: Simplify -1 into -1 29.243 * [taylor]: Taking taylor expansion of phi1 in theta 29.243 * [backup-simplify]: Simplify phi1 into phi1 29.243 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.243 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.243 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.243 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 theta))) in theta 29.243 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 29.243 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 29.243 * [taylor]: Taking taylor expansion of -1 in theta 29.243 * [backup-simplify]: Simplify -1 into -1 29.243 * [taylor]: Taking taylor expansion of delta in theta 29.243 * [backup-simplify]: Simplify delta into delta 29.243 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.243 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.243 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.243 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 29.243 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 29.243 * [taylor]: Taking taylor expansion of -1 in theta 29.243 * [backup-simplify]: Simplify -1 into -1 29.243 * [taylor]: Taking taylor expansion of theta in theta 29.243 * [backup-simplify]: Simplify 0 into 0 29.243 * [backup-simplify]: Simplify 1 into 1 29.243 * [backup-simplify]: Simplify (/ -1 1) into -1 29.244 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.244 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 29.244 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 29.244 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.244 * [taylor]: Taking taylor expansion of -1 in theta 29.244 * [backup-simplify]: Simplify -1 into -1 29.244 * [taylor]: Taking taylor expansion of phi1 in theta 29.244 * [backup-simplify]: Simplify phi1 into phi1 29.244 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.244 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.244 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.244 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 29.244 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 29.244 * [taylor]: Taking taylor expansion of -1 in theta 29.244 * [backup-simplify]: Simplify -1 into -1 29.244 * [taylor]: Taking taylor expansion of delta in theta 29.244 * [backup-simplify]: Simplify delta into delta 29.244 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.244 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.244 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.244 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 29.244 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 29.244 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 29.244 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 29.244 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 29.245 * [backup-simplify]: Simplify (- 0) into 0 29.245 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 29.245 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 29.245 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 29.245 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 29.245 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 theta))) into (* (cos (/ -1 theta)) (sin (/ -1 delta))) 29.245 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 29.245 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 29.245 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 29.245 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 29.245 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 29.245 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 29.246 * [backup-simplify]: Simplify (- 0) into 0 29.246 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 29.246 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 29.246 * [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))))) 29.246 * [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)))))) 29.246 * [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 29.246 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 29.246 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.246 * [taylor]: Taking taylor expansion of -1 in delta 29.246 * [backup-simplify]: Simplify -1 into -1 29.246 * [taylor]: Taking taylor expansion of phi1 in delta 29.246 * [backup-simplify]: Simplify phi1 into phi1 29.246 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.246 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.246 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.246 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in delta 29.246 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 29.246 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 29.246 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.246 * [taylor]: Taking taylor expansion of -1 in delta 29.246 * [backup-simplify]: Simplify -1 into -1 29.246 * [taylor]: Taking taylor expansion of phi1 in delta 29.246 * [backup-simplify]: Simplify phi1 into phi1 29.246 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.247 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.247 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.247 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 29.247 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 29.247 * [taylor]: Taking taylor expansion of -1 in delta 29.247 * [backup-simplify]: Simplify -1 into -1 29.247 * [taylor]: Taking taylor expansion of delta in delta 29.247 * [backup-simplify]: Simplify 0 into 0 29.247 * [backup-simplify]: Simplify 1 into 1 29.247 * [backup-simplify]: Simplify (/ -1 1) into -1 29.247 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.247 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in delta 29.247 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 29.247 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.247 * [taylor]: Taking taylor expansion of -1 in delta 29.247 * [backup-simplify]: Simplify -1 into -1 29.247 * [taylor]: Taking taylor expansion of phi1 in delta 29.247 * [backup-simplify]: Simplify phi1 into phi1 29.247 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.247 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.247 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.247 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in delta 29.247 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 29.247 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 29.247 * [taylor]: Taking taylor expansion of -1 in delta 29.247 * [backup-simplify]: Simplify -1 into -1 29.247 * [taylor]: Taking taylor expansion of theta in delta 29.247 * [backup-simplify]: Simplify theta into theta 29.247 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 29.247 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.247 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 29.247 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 29.247 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 29.247 * [taylor]: Taking taylor expansion of -1 in delta 29.247 * [backup-simplify]: Simplify -1 into -1 29.247 * [taylor]: Taking taylor expansion of delta in delta 29.247 * [backup-simplify]: Simplify 0 into 0 29.248 * [backup-simplify]: Simplify 1 into 1 29.248 * [backup-simplify]: Simplify (/ -1 1) into -1 29.248 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.248 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 29.248 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 29.248 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 29.248 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 29.248 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 29.248 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 29.248 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 29.248 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 29.248 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 29.249 * [backup-simplify]: Simplify (- 0) into 0 29.249 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 29.249 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 29.249 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 29.249 * [backup-simplify]: Simplify (- 0) into 0 29.249 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 29.249 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (cos (/ -1 theta))) 29.249 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 29.249 * [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)))) 29.250 * [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))))) 29.250 * [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))))) 29.250 * [backup-simplify]: Simplify (+ 0) into 0 29.250 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 29.251 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.251 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.251 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 29.252 * [backup-simplify]: Simplify (+ 0 0) into 0 29.252 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 29.252 * [backup-simplify]: Simplify (+ 0) into 0 29.252 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 29.252 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 29.253 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.253 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 29.253 * [backup-simplify]: Simplify (- 0) into 0 29.253 * [backup-simplify]: Simplify (+ 0 0) into 0 29.254 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 29.254 * [backup-simplify]: Simplify (+ 0) into 0 29.254 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 29.254 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.255 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.255 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 29.255 * [backup-simplify]: Simplify (- 0) into 0 29.255 * [backup-simplify]: Simplify (+ 0 0) into 0 29.255 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 29.256 * [backup-simplify]: Simplify (+ 0 0) into 0 29.256 * [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 29.256 * [taylor]: Taking taylor expansion of 0 in theta 29.256 * [backup-simplify]: Simplify 0 into 0 29.256 * [taylor]: Taking taylor expansion of 0 in delta 29.256 * [backup-simplify]: Simplify 0 into 0 29.256 * [backup-simplify]: Simplify 0 into 0 29.256 * [backup-simplify]: Simplify (+ 0) into 0 29.257 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 29.257 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.257 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.257 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 29.258 * [backup-simplify]: Simplify (+ 0 0) into 0 29.258 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 theta)))) into 0 29.258 * [backup-simplify]: Simplify (+ 0) into 0 29.258 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 29.258 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.259 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.259 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 29.259 * [backup-simplify]: Simplify (- 0) into 0 29.260 * [backup-simplify]: Simplify (+ 0 0) into 0 29.260 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into 0 29.260 * [backup-simplify]: Simplify (+ 0) into 0 29.260 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 29.260 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.261 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.261 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 29.262 * [backup-simplify]: Simplify (- 0) into 0 29.262 * [backup-simplify]: Simplify (+ 0 0) into 0 29.262 * [backup-simplify]: Simplify (+ 0) into 0 29.263 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 29.263 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.264 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.264 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 29.265 * [backup-simplify]: Simplify (+ 0 0) into 0 29.265 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 29.265 * [backup-simplify]: Simplify (+ 0 0) into 0 29.265 * [backup-simplify]: Simplify (+ 0) into 0 29.266 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 29.266 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.267 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.267 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 29.268 * [backup-simplify]: Simplify (+ 0 0) into 0 29.268 * [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 29.268 * [taylor]: Taking taylor expansion of 0 in delta 29.268 * [backup-simplify]: Simplify 0 into 0 29.268 * [backup-simplify]: Simplify 0 into 0 29.268 * [backup-simplify]: Simplify (+ 0) into 0 29.269 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 29.269 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.270 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.270 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 29.271 * [backup-simplify]: Simplify (+ 0 0) into 0 29.271 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 29.271 * [backup-simplify]: Simplify (+ 0) into 0 29.272 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 29.272 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 29.273 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.273 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 29.273 * [backup-simplify]: Simplify (- 0) into 0 29.274 * [backup-simplify]: Simplify (+ 0 0) into 0 29.274 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 29.274 * [backup-simplify]: Simplify (+ 0) into 0 29.275 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 29.275 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.276 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.276 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 29.277 * [backup-simplify]: Simplify (- 0) into 0 29.277 * [backup-simplify]: Simplify (+ 0 0) into 0 29.277 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into 0 29.277 * [backup-simplify]: Simplify (+ 0 0) into 0 29.278 * [backup-simplify]: Simplify (+ 0) into 0 29.278 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 29.278 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.278 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.279 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 29.279 * [backup-simplify]: Simplify (+ 0 0) into 0 29.279 * [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 29.279 * [backup-simplify]: Simplify 0 into 0 29.280 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.280 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.280 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.281 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.281 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.281 * [backup-simplify]: Simplify (+ 0 0) into 0 29.282 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 29.282 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.283 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.283 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 29.283 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.283 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.284 * [backup-simplify]: Simplify (- 0) into 0 29.284 * [backup-simplify]: Simplify (+ 0 0) into 0 29.284 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 29.285 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.285 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.285 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.286 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.286 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.286 * [backup-simplify]: Simplify (- 0) into 0 29.286 * [backup-simplify]: Simplify (+ 0 0) into 0 29.287 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 29.287 * [backup-simplify]: Simplify (+ 0 0) into 0 29.287 * [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 29.287 * [taylor]: Taking taylor expansion of 0 in theta 29.288 * [backup-simplify]: Simplify 0 into 0 29.288 * [taylor]: Taking taylor expansion of 0 in delta 29.288 * [backup-simplify]: Simplify 0 into 0 29.288 * [backup-simplify]: Simplify 0 into 0 29.288 * [taylor]: Taking taylor expansion of 0 in delta 29.288 * [backup-simplify]: Simplify 0 into 0 29.288 * [backup-simplify]: Simplify 0 into 0 29.288 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.289 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.289 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.289 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.289 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.290 * [backup-simplify]: Simplify (+ 0 0) into 0 29.290 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 29.290 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.291 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.291 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.291 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.292 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.292 * [backup-simplify]: Simplify (- 0) into 0 29.292 * [backup-simplify]: Simplify (+ 0 0) into 0 29.293 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 29.293 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.294 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.294 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.294 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.295 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.295 * [backup-simplify]: Simplify (- 0) into 0 29.295 * [backup-simplify]: Simplify (+ 0 0) into 0 29.296 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.296 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.296 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.297 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.297 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.297 * [backup-simplify]: Simplify (+ 0 0) into 0 29.297 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 29.298 * [backup-simplify]: Simplify (+ 0 0) into 0 29.298 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.299 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.299 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.299 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.299 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.300 * [backup-simplify]: Simplify (+ 0 0) into 0 29.300 * [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 29.300 * [taylor]: Taking taylor expansion of 0 in delta 29.300 * [backup-simplify]: Simplify 0 into 0 29.300 * [backup-simplify]: Simplify 0 into 0 29.300 * [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)))) 29.300 * * * * [progress]: [ 4 / 4 ] generating series at (2 1 2 2 2 1 1) 29.301 * [backup-simplify]: Simplify (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))) into (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) 29.301 * [approximate]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in (theta phi1 delta) around 0 29.301 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 29.301 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 29.301 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 29.301 * [taylor]: Taking taylor expansion of (cos theta) in delta 29.301 * [taylor]: Taking taylor expansion of theta in delta 29.301 * [backup-simplify]: Simplify theta into theta 29.301 * [backup-simplify]: Simplify (cos theta) into (cos theta) 29.301 * [backup-simplify]: Simplify (sin theta) into (sin theta) 29.301 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 29.301 * [taylor]: Taking taylor expansion of (cos phi1) in delta 29.301 * [taylor]: Taking taylor expansion of phi1 in delta 29.301 * [backup-simplify]: Simplify phi1 into phi1 29.301 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.301 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.301 * [taylor]: Taking taylor expansion of (sin delta) in delta 29.301 * [taylor]: Taking taylor expansion of delta in delta 29.301 * [backup-simplify]: Simplify 0 into 0 29.301 * [backup-simplify]: Simplify 1 into 1 29.301 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 29.301 * [taylor]: Taking taylor expansion of (sin phi1) in delta 29.301 * [taylor]: Taking taylor expansion of phi1 in delta 29.301 * [backup-simplify]: Simplify phi1 into phi1 29.301 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.301 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.301 * [taylor]: Taking taylor expansion of (cos delta) in delta 29.301 * [taylor]: Taking taylor expansion of delta in delta 29.301 * [backup-simplify]: Simplify 0 into 0 29.301 * [backup-simplify]: Simplify 1 into 1 29.301 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 29.301 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 29.301 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 29.301 * [taylor]: Taking taylor expansion of (cos theta) in phi1 29.301 * [taylor]: Taking taylor expansion of theta in phi1 29.301 * [backup-simplify]: Simplify theta into theta 29.301 * [backup-simplify]: Simplify (cos theta) into (cos theta) 29.301 * [backup-simplify]: Simplify (sin theta) into (sin theta) 29.301 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 29.301 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 29.301 * [taylor]: Taking taylor expansion of phi1 in phi1 29.301 * [backup-simplify]: Simplify 0 into 0 29.301 * [backup-simplify]: Simplify 1 into 1 29.301 * [taylor]: Taking taylor expansion of (sin delta) in phi1 29.301 * [taylor]: Taking taylor expansion of delta in phi1 29.301 * [backup-simplify]: Simplify delta into delta 29.301 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.301 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.301 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 29.302 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 29.302 * [taylor]: Taking taylor expansion of phi1 in phi1 29.302 * [backup-simplify]: Simplify 0 into 0 29.302 * [backup-simplify]: Simplify 1 into 1 29.302 * [taylor]: Taking taylor expansion of (cos delta) in phi1 29.302 * [taylor]: Taking taylor expansion of delta in phi1 29.302 * [backup-simplify]: Simplify delta into delta 29.302 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.302 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.302 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 29.302 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 29.302 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 29.302 * [taylor]: Taking taylor expansion of (cos theta) in theta 29.302 * [taylor]: Taking taylor expansion of theta in theta 29.302 * [backup-simplify]: Simplify 0 into 0 29.302 * [backup-simplify]: Simplify 1 into 1 29.302 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 29.302 * [taylor]: Taking taylor expansion of (cos phi1) in theta 29.302 * [taylor]: Taking taylor expansion of phi1 in theta 29.302 * [backup-simplify]: Simplify phi1 into phi1 29.302 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.302 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.302 * [taylor]: Taking taylor expansion of (sin delta) in theta 29.302 * [taylor]: Taking taylor expansion of delta in theta 29.302 * [backup-simplify]: Simplify delta into delta 29.302 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.302 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.302 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 29.302 * [taylor]: Taking taylor expansion of (sin phi1) in theta 29.302 * [taylor]: Taking taylor expansion of phi1 in theta 29.302 * [backup-simplify]: Simplify phi1 into phi1 29.302 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.302 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.302 * [taylor]: Taking taylor expansion of (cos delta) in theta 29.302 * [taylor]: Taking taylor expansion of delta in theta 29.302 * [backup-simplify]: Simplify delta into delta 29.302 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.302 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.302 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 29.302 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 29.302 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 29.302 * [taylor]: Taking taylor expansion of (cos theta) in theta 29.302 * [taylor]: Taking taylor expansion of theta in theta 29.302 * [backup-simplify]: Simplify 0 into 0 29.302 * [backup-simplify]: Simplify 1 into 1 29.302 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 29.302 * [taylor]: Taking taylor expansion of (cos phi1) in theta 29.302 * [taylor]: Taking taylor expansion of phi1 in theta 29.302 * [backup-simplify]: Simplify phi1 into phi1 29.302 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.302 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.302 * [taylor]: Taking taylor expansion of (sin delta) in theta 29.302 * [taylor]: Taking taylor expansion of delta in theta 29.302 * [backup-simplify]: Simplify delta into delta 29.302 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.302 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.302 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 29.302 * [taylor]: Taking taylor expansion of (sin phi1) in theta 29.303 * [taylor]: Taking taylor expansion of phi1 in theta 29.303 * [backup-simplify]: Simplify phi1 into phi1 29.303 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.303 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.303 * [taylor]: Taking taylor expansion of (cos delta) in theta 29.303 * [taylor]: Taking taylor expansion of delta in theta 29.303 * [backup-simplify]: Simplify delta into delta 29.303 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.303 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.303 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 29.303 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 29.303 * [backup-simplify]: Simplify (- 0) into 0 29.303 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 29.303 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 29.303 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 29.303 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 29.303 * [backup-simplify]: Simplify (* (cos phi1) (sin delta)) into (* (cos phi1) (sin delta)) 29.303 * [backup-simplify]: Simplify (* 1 (* (cos phi1) (sin delta))) into (* (cos phi1) (sin delta)) 29.304 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 29.304 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 29.304 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 29.304 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 29.304 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 29.304 * [backup-simplify]: Simplify (- 0) into 0 29.304 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 29.304 * [backup-simplify]: Simplify (* (sin phi1) (cos delta)) into (* (sin phi1) (cos delta)) 29.304 * [backup-simplify]: Simplify (+ (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) into (+ (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) 29.304 * [taylor]: Taking taylor expansion of (+ (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 29.304 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 29.304 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 29.304 * [taylor]: Taking taylor expansion of phi1 in phi1 29.304 * [backup-simplify]: Simplify 0 into 0 29.304 * [backup-simplify]: Simplify 1 into 1 29.304 * [taylor]: Taking taylor expansion of (sin delta) in phi1 29.304 * [taylor]: Taking taylor expansion of delta in phi1 29.304 * [backup-simplify]: Simplify delta into delta 29.304 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.304 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.304 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 29.304 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 29.304 * [taylor]: Taking taylor expansion of phi1 in phi1 29.304 * [backup-simplify]: Simplify 0 into 0 29.304 * [backup-simplify]: Simplify 1 into 1 29.304 * [taylor]: Taking taylor expansion of (cos delta) in phi1 29.304 * [taylor]: Taking taylor expansion of delta in phi1 29.304 * [backup-simplify]: Simplify delta into delta 29.304 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.304 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.304 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 29.305 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 29.305 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 29.305 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 29.305 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 29.305 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 29.305 * [backup-simplify]: Simplify (- 0) into 0 29.305 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 29.305 * [backup-simplify]: Simplify (* 0 (cos delta)) into 0 29.305 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 29.305 * [taylor]: Taking taylor expansion of (sin delta) in delta 29.305 * [taylor]: Taking taylor expansion of delta in delta 29.305 * [backup-simplify]: Simplify 0 into 0 29.305 * [backup-simplify]: Simplify 1 into 1 29.305 * [backup-simplify]: Simplify 0 into 0 29.306 * [backup-simplify]: Simplify (+ 0) into 0 29.306 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 29.307 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.307 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 29.308 * [backup-simplify]: Simplify (+ 0 0) into 0 29.308 * [backup-simplify]: Simplify (+ 0) into 0 29.308 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 29.309 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.310 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 29.310 * [backup-simplify]: Simplify (- 0) into 0 29.310 * [backup-simplify]: Simplify (+ 0 0) into 0 29.311 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 (sin delta))) into 0 29.311 * [backup-simplify]: Simplify (+ 0) into 0 29.311 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (cos phi1) (sin delta)))) into 0 29.312 * [backup-simplify]: Simplify (+ 0) into 0 29.312 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 29.313 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.314 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 29.314 * [backup-simplify]: Simplify (- 0) into 0 29.314 * [backup-simplify]: Simplify (+ 0 0) into 0 29.315 * [backup-simplify]: Simplify (+ 0) into 0 29.315 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 29.316 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.316 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 29.317 * [backup-simplify]: Simplify (+ 0 0) into 0 29.317 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 (cos delta))) into 0 29.317 * [backup-simplify]: Simplify (+ 0 0) into 0 29.317 * [taylor]: Taking taylor expansion of 0 in phi1 29.317 * [backup-simplify]: Simplify 0 into 0 29.317 * [taylor]: Taking taylor expansion of 0 in delta 29.317 * [backup-simplify]: Simplify 0 into 0 29.317 * [backup-simplify]: Simplify 0 into 0 29.318 * [backup-simplify]: Simplify (+ 0) into 0 29.318 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 29.319 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.319 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 29.320 * [backup-simplify]: Simplify (+ 0 0) into 0 29.320 * [backup-simplify]: Simplify (+ 0) into 0 29.321 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin delta))) into 0 29.321 * [backup-simplify]: Simplify (+ 0) into 0 29.324 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 29.325 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.326 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 29.326 * [backup-simplify]: Simplify (- 0) into 0 29.327 * [backup-simplify]: Simplify (+ 0 0) into 0 29.327 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 29.328 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos delta))) into (cos delta) 29.328 * [backup-simplify]: Simplify (+ 0 (cos delta)) into (cos delta) 29.328 * [taylor]: Taking taylor expansion of (cos delta) in delta 29.328 * [taylor]: Taking taylor expansion of delta in delta 29.328 * [backup-simplify]: Simplify 0 into 0 29.328 * [backup-simplify]: Simplify 1 into 1 29.328 * [backup-simplify]: Simplify 1 into 1 29.329 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 29.329 * [backup-simplify]: Simplify 1 into 1 29.330 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.330 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 29.331 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.332 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 29.332 * [backup-simplify]: Simplify (+ 0 0) into 0 29.333 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.333 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 29.334 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.335 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 29.335 * [backup-simplify]: Simplify (- 0) into 0 29.335 * [backup-simplify]: Simplify (+ 0 0) into 0 29.336 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 (sin delta)))) into 0 29.337 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 29.338 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (* (cos phi1) (sin delta))))) into (- (* 1/2 (* (cos phi1) (sin delta)))) 29.339 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.339 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 1))) into 0 29.340 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.340 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 0))) into 0 29.341 * [backup-simplify]: Simplify (- 0) into 0 29.341 * [backup-simplify]: Simplify (+ 0 0) into 0 29.342 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.343 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 29.343 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.344 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 29.344 * [backup-simplify]: Simplify (+ 0 0) into 0 29.345 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 (cos delta)))) into 0 29.345 * [backup-simplify]: Simplify (+ (- (* 1/2 (* (cos phi1) (sin delta)))) 0) into (- (* 1/2 (* (cos phi1) (sin delta)))) 29.345 * [taylor]: Taking taylor expansion of (- (* 1/2 (* (cos phi1) (sin delta)))) in phi1 29.345 * [taylor]: Taking taylor expansion of (* 1/2 (* (cos phi1) (sin delta))) in phi1 29.345 * [taylor]: Taking taylor expansion of 1/2 in phi1 29.345 * [backup-simplify]: Simplify 1/2 into 1/2 29.345 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 29.346 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 29.346 * [taylor]: Taking taylor expansion of phi1 in phi1 29.346 * [backup-simplify]: Simplify 0 into 0 29.346 * [backup-simplify]: Simplify 1 into 1 29.346 * [taylor]: Taking taylor expansion of (sin delta) in phi1 29.346 * [taylor]: Taking taylor expansion of delta in phi1 29.346 * [backup-simplify]: Simplify delta into delta 29.346 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.346 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.346 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 29.346 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 29.346 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 29.346 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 29.346 * [backup-simplify]: Simplify (* 1/2 (sin delta)) into (* 1/2 (sin delta)) 29.346 * [backup-simplify]: Simplify (- (* 1/2 (sin delta))) into (- (* 1/2 (sin delta))) 29.346 * [taylor]: Taking taylor expansion of (- (* 1/2 (sin delta))) in delta 29.346 * [taylor]: Taking taylor expansion of (* 1/2 (sin delta)) in delta 29.346 * [taylor]: Taking taylor expansion of 1/2 in delta 29.346 * [backup-simplify]: Simplify 1/2 into 1/2 29.346 * [taylor]: Taking taylor expansion of (sin delta) in delta 29.346 * [taylor]: Taking taylor expansion of delta in delta 29.346 * [backup-simplify]: Simplify 0 into 0 29.346 * [backup-simplify]: Simplify 1 into 1 29.347 * [backup-simplify]: Simplify (* 1/2 0) into 0 29.347 * [backup-simplify]: Simplify (- 0) into 0 29.347 * [backup-simplify]: Simplify 0 into 0 29.347 * [taylor]: Taking taylor expansion of 0 in delta 29.347 * [backup-simplify]: Simplify 0 into 0 29.347 * [backup-simplify]: Simplify 0 into 0 29.348 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.349 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 29.350 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.350 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 29.351 * [backup-simplify]: Simplify (+ 0 0) into 0 29.352 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 29.352 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (sin delta)))) into (- (* 1/2 (sin delta))) 29.353 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.354 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 1))) into 0 29.355 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.355 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 0))) into 0 29.356 * [backup-simplify]: Simplify (- 0) into 0 29.356 * [backup-simplify]: Simplify (+ 0 0) into 0 29.357 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.358 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (cos delta)))) into 0 29.358 * [backup-simplify]: Simplify (+ (- (* 1/2 (sin delta))) 0) into (- (* 1/2 (sin delta))) 29.358 * [taylor]: Taking taylor expansion of (- (* 1/2 (sin delta))) in delta 29.358 * [taylor]: Taking taylor expansion of (* 1/2 (sin delta)) in delta 29.358 * [taylor]: Taking taylor expansion of 1/2 in delta 29.358 * [backup-simplify]: Simplify 1/2 into 1/2 29.358 * [taylor]: Taking taylor expansion of (sin delta) in delta 29.358 * [taylor]: Taking taylor expansion of delta in delta 29.358 * [backup-simplify]: Simplify 0 into 0 29.358 * [backup-simplify]: Simplify 1 into 1 29.358 * [backup-simplify]: Simplify (* 1/2 0) into 0 29.359 * [backup-simplify]: Simplify (- 0) into 0 29.359 * [backup-simplify]: Simplify 0 into 0 29.359 * [backup-simplify]: Simplify 0 into 0 29.359 * [backup-simplify]: Simplify (+ 0) into 0 29.359 * [backup-simplify]: Simplify 0 into 0 29.360 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.360 * [backup-simplify]: Simplify 0 into 0 29.360 * [backup-simplify]: Simplify (+ (* 1 (* delta (* 1 1))) (* 1 (* 1 (* phi1 1)))) into (+ phi1 delta) 29.361 * [backup-simplify]: Simplify (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)))) 29.361 * [approximate]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in (theta phi1 delta) around 0 29.361 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 29.361 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 29.361 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 29.361 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 29.361 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 29.361 * [taylor]: Taking taylor expansion of theta in delta 29.361 * [backup-simplify]: Simplify theta into theta 29.361 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 29.361 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.361 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 29.361 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 29.361 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 29.361 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.361 * [taylor]: Taking taylor expansion of delta in delta 29.361 * [backup-simplify]: Simplify 0 into 0 29.361 * [backup-simplify]: Simplify 1 into 1 29.362 * [backup-simplify]: Simplify (/ 1 1) into 1 29.362 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.362 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 29.362 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.362 * [taylor]: Taking taylor expansion of phi1 in delta 29.362 * [backup-simplify]: Simplify phi1 into phi1 29.362 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.362 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.362 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.362 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 29.362 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 29.362 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.362 * [taylor]: Taking taylor expansion of phi1 in delta 29.362 * [backup-simplify]: Simplify phi1 into phi1 29.362 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.362 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.362 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.362 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 29.363 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.363 * [taylor]: Taking taylor expansion of delta in delta 29.363 * [backup-simplify]: Simplify 0 into 0 29.363 * [backup-simplify]: Simplify 1 into 1 29.363 * [backup-simplify]: Simplify (/ 1 1) into 1 29.363 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.363 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 29.363 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 29.363 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 29.363 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 29.363 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 29.363 * [taylor]: Taking taylor expansion of theta in phi1 29.363 * [backup-simplify]: Simplify theta into theta 29.363 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 29.363 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.363 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 29.363 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 29.363 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 29.363 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.364 * [taylor]: Taking taylor expansion of delta in phi1 29.364 * [backup-simplify]: Simplify delta into delta 29.364 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.364 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.364 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.364 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 29.364 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.364 * [taylor]: Taking taylor expansion of phi1 in phi1 29.364 * [backup-simplify]: Simplify 0 into 0 29.364 * [backup-simplify]: Simplify 1 into 1 29.364 * [backup-simplify]: Simplify (/ 1 1) into 1 29.364 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.364 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 29.364 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 29.364 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.364 * [taylor]: Taking taylor expansion of phi1 in phi1 29.364 * [backup-simplify]: Simplify 0 into 0 29.364 * [backup-simplify]: Simplify 1 into 1 29.365 * [backup-simplify]: Simplify (/ 1 1) into 1 29.365 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.365 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 29.365 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.365 * [taylor]: Taking taylor expansion of delta in phi1 29.365 * [backup-simplify]: Simplify delta into delta 29.365 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.365 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.365 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.365 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 29.365 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 29.365 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 29.365 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 29.365 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 29.365 * [taylor]: Taking taylor expansion of theta in theta 29.365 * [backup-simplify]: Simplify 0 into 0 29.365 * [backup-simplify]: Simplify 1 into 1 29.366 * [backup-simplify]: Simplify (/ 1 1) into 1 29.366 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.366 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 29.366 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 29.366 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.366 * [taylor]: Taking taylor expansion of delta in theta 29.366 * [backup-simplify]: Simplify delta into delta 29.366 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.366 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.366 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.366 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 29.366 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.366 * [taylor]: Taking taylor expansion of phi1 in theta 29.366 * [backup-simplify]: Simplify phi1 into phi1 29.366 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.366 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.366 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.366 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 29.366 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 29.366 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.367 * [taylor]: Taking taylor expansion of phi1 in theta 29.367 * [backup-simplify]: Simplify phi1 into phi1 29.367 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.367 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.367 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.367 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 29.367 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.367 * [taylor]: Taking taylor expansion of delta in theta 29.367 * [backup-simplify]: Simplify delta into delta 29.367 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.367 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.367 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.367 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 29.367 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 29.367 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 29.367 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 29.367 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 29.367 * [taylor]: Taking taylor expansion of theta in theta 29.367 * [backup-simplify]: Simplify 0 into 0 29.367 * [backup-simplify]: Simplify 1 into 1 29.368 * [backup-simplify]: Simplify (/ 1 1) into 1 29.368 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.368 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 29.368 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 29.368 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.368 * [taylor]: Taking taylor expansion of delta in theta 29.368 * [backup-simplify]: Simplify delta into delta 29.368 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.368 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.368 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.368 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 29.368 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.368 * [taylor]: Taking taylor expansion of phi1 in theta 29.368 * [backup-simplify]: Simplify phi1 into phi1 29.368 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.368 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.368 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.368 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 29.368 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 29.368 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.368 * [taylor]: Taking taylor expansion of phi1 in theta 29.368 * [backup-simplify]: Simplify phi1 into phi1 29.368 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.369 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.369 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.369 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 29.369 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.369 * [taylor]: Taking taylor expansion of delta in theta 29.369 * [backup-simplify]: Simplify delta into delta 29.369 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.369 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.369 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.369 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 29.369 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 29.369 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 29.369 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 29.369 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 29.370 * [backup-simplify]: Simplify (- 0) into 0 29.370 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 29.370 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (cos (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 delta))) 29.370 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 29.370 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 29.370 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 29.370 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 29.370 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 29.371 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 29.371 * [backup-simplify]: Simplify (- 0) into 0 29.371 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 29.371 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 29.371 * [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))))) 29.371 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in phi1 29.371 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in phi1 29.372 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 29.372 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.372 * [taylor]: Taking taylor expansion of delta in phi1 29.372 * [backup-simplify]: Simplify delta into delta 29.372 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.372 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.372 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.372 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 29.372 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.372 * [taylor]: Taking taylor expansion of phi1 in phi1 29.372 * [backup-simplify]: Simplify 0 into 0 29.372 * [backup-simplify]: Simplify 1 into 1 29.372 * [backup-simplify]: Simplify (/ 1 1) into 1 29.372 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.372 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in phi1 29.372 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 29.372 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.372 * [taylor]: Taking taylor expansion of phi1 in phi1 29.372 * [backup-simplify]: Simplify 0 into 0 29.372 * [backup-simplify]: Simplify 1 into 1 29.373 * [backup-simplify]: Simplify (/ 1 1) into 1 29.373 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.373 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in phi1 29.373 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 29.373 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 29.373 * [taylor]: Taking taylor expansion of theta in phi1 29.373 * [backup-simplify]: Simplify theta into theta 29.373 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 29.373 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.373 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 29.373 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 29.373 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.373 * [taylor]: Taking taylor expansion of delta in phi1 29.373 * [backup-simplify]: Simplify delta into delta 29.373 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.373 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.374 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.374 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 29.374 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 29.374 * [backup-simplify]: Simplify (- 0) into 0 29.374 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 29.374 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 29.374 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 29.374 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 29.375 * [backup-simplify]: Simplify (- 0) into 0 29.375 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 29.375 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 29.375 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 29.375 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 29.375 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 29.375 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 29.376 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 29.376 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in delta 29.376 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 29.376 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 29.376 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.376 * [taylor]: Taking taylor expansion of phi1 in delta 29.376 * [backup-simplify]: Simplify phi1 into phi1 29.376 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.376 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.376 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.376 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 29.376 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.376 * [taylor]: Taking taylor expansion of delta in delta 29.376 * [backup-simplify]: Simplify 0 into 0 29.376 * [backup-simplify]: Simplify 1 into 1 29.377 * [backup-simplify]: Simplify (/ 1 1) into 1 29.377 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.377 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 29.377 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 29.377 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.377 * [taylor]: Taking taylor expansion of delta in delta 29.377 * [backup-simplify]: Simplify 0 into 0 29.377 * [backup-simplify]: Simplify 1 into 1 29.377 * [backup-simplify]: Simplify (/ 1 1) into 1 29.377 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.377 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 29.377 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 29.377 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 29.377 * [taylor]: Taking taylor expansion of theta in delta 29.378 * [backup-simplify]: Simplify theta into theta 29.378 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 29.378 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.378 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 29.378 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 29.378 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.378 * [taylor]: Taking taylor expansion of phi1 in delta 29.378 * [backup-simplify]: Simplify phi1 into phi1 29.378 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.378 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.378 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.378 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 29.378 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 29.378 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 29.378 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 29.378 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 29.379 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 29.379 * [backup-simplify]: Simplify (- 0) into 0 29.379 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 29.379 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 29.379 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 29.380 * [backup-simplify]: Simplify (- 0) into 0 29.380 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 29.380 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 29.380 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 29.380 * [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)))) 29.381 * [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))))) 29.381 * [backup-simplify]: Simplify (+ 0) into 0 29.382 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 29.382 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.382 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.383 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 29.383 * [backup-simplify]: Simplify (- 0) into 0 29.384 * [backup-simplify]: Simplify (+ 0 0) into 0 29.384 * [backup-simplify]: Simplify (+ 0) into 0 29.384 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 29.385 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.385 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.386 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 29.386 * [backup-simplify]: Simplify (+ 0 0) into 0 29.386 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 29.387 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta))))) into 0 29.387 * [backup-simplify]: Simplify (+ 0) into 0 29.387 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 29.388 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.388 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.389 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 29.389 * [backup-simplify]: Simplify (- 0) into 0 29.389 * [backup-simplify]: Simplify (+ 0 0) into 0 29.390 * [backup-simplify]: Simplify (+ 0) into 0 29.390 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 29.390 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.391 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.391 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 29.392 * [backup-simplify]: Simplify (+ 0 0) into 0 29.392 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 29.392 * [backup-simplify]: Simplify (+ 0 0) into 0 29.392 * [taylor]: Taking taylor expansion of 0 in phi1 29.392 * [backup-simplify]: Simplify 0 into 0 29.392 * [taylor]: Taking taylor expansion of 0 in delta 29.392 * [backup-simplify]: Simplify 0 into 0 29.393 * [backup-simplify]: Simplify 0 into 0 29.393 * [backup-simplify]: Simplify (+ 0) into 0 29.393 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 29.394 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.394 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.395 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 29.395 * [backup-simplify]: Simplify (- 0) into 0 29.396 * [backup-simplify]: Simplify (+ 0 0) into 0 29.396 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 29.396 * [backup-simplify]: Simplify (+ 0) into 0 29.397 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 29.397 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.398 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.398 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 29.399 * [backup-simplify]: Simplify (+ 0 0) into 0 29.399 * [backup-simplify]: Simplify (+ 0) into 0 29.400 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 29.400 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 29.400 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.401 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 29.401 * [backup-simplify]: Simplify (- 0) into 0 29.402 * [backup-simplify]: Simplify (+ 0 0) into 0 29.402 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 29.402 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 29.402 * [backup-simplify]: Simplify (+ 0 0) into 0 29.402 * [taylor]: Taking taylor expansion of 0 in delta 29.402 * [backup-simplify]: Simplify 0 into 0 29.402 * [backup-simplify]: Simplify 0 into 0 29.403 * [backup-simplify]: Simplify (+ 0) into 0 29.403 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 29.403 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.404 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.405 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 29.405 * [backup-simplify]: Simplify (+ 0 0) into 0 29.405 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 29.406 * [backup-simplify]: Simplify (+ 0) into 0 29.406 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 29.406 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.407 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.407 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 29.408 * [backup-simplify]: Simplify (- 0) into 0 29.408 * [backup-simplify]: Simplify (+ 0 0) into 0 29.409 * [backup-simplify]: Simplify (+ 0) into 0 29.409 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 29.409 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 29.410 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.411 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 29.411 * [backup-simplify]: Simplify (- 0) into 0 29.411 * [backup-simplify]: Simplify (+ 0 0) into 0 29.411 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 29.412 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 29.412 * [backup-simplify]: Simplify (+ 0 0) into 0 29.412 * [backup-simplify]: Simplify 0 into 0 29.413 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.414 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.414 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.415 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.415 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.415 * [backup-simplify]: Simplify (- 0) into 0 29.416 * [backup-simplify]: Simplify (+ 0 0) into 0 29.417 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.417 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.418 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.418 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.419 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.419 * [backup-simplify]: Simplify (+ 0 0) into 0 29.420 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 29.420 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta)))))) into 0 29.421 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.422 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.422 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.423 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.424 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.424 * [backup-simplify]: Simplify (- 0) into 0 29.425 * [backup-simplify]: Simplify (+ 0 0) into 0 29.426 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.426 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.427 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.427 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.428 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.428 * [backup-simplify]: Simplify (+ 0 0) into 0 29.429 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 29.429 * [backup-simplify]: Simplify (+ 0 0) into 0 29.429 * [taylor]: Taking taylor expansion of 0 in phi1 29.429 * [backup-simplify]: Simplify 0 into 0 29.429 * [taylor]: Taking taylor expansion of 0 in delta 29.429 * [backup-simplify]: Simplify 0 into 0 29.429 * [backup-simplify]: Simplify 0 into 0 29.429 * [taylor]: Taking taylor expansion of 0 in delta 29.429 * [backup-simplify]: Simplify 0 into 0 29.429 * [backup-simplify]: Simplify 0 into 0 29.430 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.431 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.431 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.432 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.432 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.433 * [backup-simplify]: Simplify (- 0) into 0 29.433 * [backup-simplify]: Simplify (+ 0 0) into 0 29.434 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 29.434 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.435 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.435 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.436 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.437 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.437 * [backup-simplify]: Simplify (+ 0 0) into 0 29.438 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.439 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.439 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 29.440 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.440 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.441 * [backup-simplify]: Simplify (- 0) into 0 29.441 * [backup-simplify]: Simplify (+ 0 0) into 0 29.442 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 29.442 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 29.443 * [backup-simplify]: Simplify (+ 0 0) into 0 29.443 * [taylor]: Taking taylor expansion of 0 in delta 29.443 * [backup-simplify]: Simplify 0 into 0 29.443 * [backup-simplify]: Simplify 0 into 0 29.443 * [backup-simplify]: Simplify (+ (* (cos (/ 1 (/ 1 delta))) (sin (/ 1 (/ 1 phi1)))) (* (cos (/ 1 (/ 1 phi1))) (* (cos (/ 1 (/ 1 theta))) (sin (/ 1 (/ 1 delta)))))) into (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta)))) 29.443 * [backup-simplify]: Simplify (fma (cos (/ 1 (- theta))) (* (cos (/ 1 (- phi1))) (sin (/ 1 (- delta)))) (* (cos (/ 1 (- delta))) (sin (/ 1 (- phi1))))) into (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 29.444 * [approximate]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in (theta phi1 delta) around 0 29.444 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 29.444 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 29.444 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 29.444 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 29.444 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 29.444 * [taylor]: Taking taylor expansion of -1 in delta 29.444 * [backup-simplify]: Simplify -1 into -1 29.444 * [taylor]: Taking taylor expansion of theta in delta 29.444 * [backup-simplify]: Simplify theta into theta 29.444 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 29.444 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.444 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 29.444 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 29.444 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 29.444 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.444 * [taylor]: Taking taylor expansion of -1 in delta 29.444 * [backup-simplify]: Simplify -1 into -1 29.444 * [taylor]: Taking taylor expansion of phi1 in delta 29.444 * [backup-simplify]: Simplify phi1 into phi1 29.444 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.444 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.444 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.444 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 29.445 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 29.445 * [taylor]: Taking taylor expansion of -1 in delta 29.445 * [backup-simplify]: Simplify -1 into -1 29.445 * [taylor]: Taking taylor expansion of delta in delta 29.445 * [backup-simplify]: Simplify 0 into 0 29.445 * [backup-simplify]: Simplify 1 into 1 29.445 * [backup-simplify]: Simplify (/ -1 1) into -1 29.445 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.445 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 29.445 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 29.445 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.445 * [taylor]: Taking taylor expansion of -1 in delta 29.445 * [backup-simplify]: Simplify -1 into -1 29.445 * [taylor]: Taking taylor expansion of phi1 in delta 29.445 * [backup-simplify]: Simplify phi1 into phi1 29.445 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.446 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.446 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.446 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 29.446 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 29.446 * [taylor]: Taking taylor expansion of -1 in delta 29.446 * [backup-simplify]: Simplify -1 into -1 29.446 * [taylor]: Taking taylor expansion of delta in delta 29.446 * [backup-simplify]: Simplify 0 into 0 29.446 * [backup-simplify]: Simplify 1 into 1 29.446 * [backup-simplify]: Simplify (/ -1 1) into -1 29.446 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.446 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 29.446 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 29.447 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 29.447 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 29.447 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 29.447 * [taylor]: Taking taylor expansion of -1 in phi1 29.447 * [backup-simplify]: Simplify -1 into -1 29.447 * [taylor]: Taking taylor expansion of theta in phi1 29.447 * [backup-simplify]: Simplify theta into theta 29.447 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 29.447 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.447 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 29.447 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 29.447 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 29.447 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.447 * [taylor]: Taking taylor expansion of -1 in phi1 29.447 * [backup-simplify]: Simplify -1 into -1 29.447 * [taylor]: Taking taylor expansion of phi1 in phi1 29.447 * [backup-simplify]: Simplify 0 into 0 29.447 * [backup-simplify]: Simplify 1 into 1 29.448 * [backup-simplify]: Simplify (/ -1 1) into -1 29.448 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.448 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 29.448 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 29.448 * [taylor]: Taking taylor expansion of -1 in phi1 29.448 * [backup-simplify]: Simplify -1 into -1 29.448 * [taylor]: Taking taylor expansion of delta in phi1 29.448 * [backup-simplify]: Simplify delta into delta 29.448 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.448 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.448 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.448 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 29.448 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 29.448 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.448 * [taylor]: Taking taylor expansion of -1 in phi1 29.448 * [backup-simplify]: Simplify -1 into -1 29.448 * [taylor]: Taking taylor expansion of phi1 in phi1 29.448 * [backup-simplify]: Simplify 0 into 0 29.448 * [backup-simplify]: Simplify 1 into 1 29.449 * [backup-simplify]: Simplify (/ -1 1) into -1 29.449 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.449 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 29.449 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 29.449 * [taylor]: Taking taylor expansion of -1 in phi1 29.449 * [backup-simplify]: Simplify -1 into -1 29.449 * [taylor]: Taking taylor expansion of delta in phi1 29.449 * [backup-simplify]: Simplify delta into delta 29.449 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.449 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.449 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.449 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 29.449 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 29.449 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 29.449 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 29.449 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 29.449 * [taylor]: Taking taylor expansion of -1 in theta 29.449 * [backup-simplify]: Simplify -1 into -1 29.449 * [taylor]: Taking taylor expansion of theta in theta 29.449 * [backup-simplify]: Simplify 0 into 0 29.449 * [backup-simplify]: Simplify 1 into 1 29.450 * [backup-simplify]: Simplify (/ -1 1) into -1 29.450 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.450 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 29.450 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 29.450 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.450 * [taylor]: Taking taylor expansion of -1 in theta 29.450 * [backup-simplify]: Simplify -1 into -1 29.450 * [taylor]: Taking taylor expansion of phi1 in theta 29.450 * [backup-simplify]: Simplify phi1 into phi1 29.450 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.450 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.450 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.450 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 29.450 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 29.450 * [taylor]: Taking taylor expansion of -1 in theta 29.450 * [backup-simplify]: Simplify -1 into -1 29.450 * [taylor]: Taking taylor expansion of delta in theta 29.450 * [backup-simplify]: Simplify delta into delta 29.451 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.451 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.451 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.451 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 29.451 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 29.451 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.451 * [taylor]: Taking taylor expansion of -1 in theta 29.451 * [backup-simplify]: Simplify -1 into -1 29.451 * [taylor]: Taking taylor expansion of phi1 in theta 29.451 * [backup-simplify]: Simplify phi1 into phi1 29.451 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.451 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.451 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.451 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 29.451 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 29.451 * [taylor]: Taking taylor expansion of -1 in theta 29.451 * [backup-simplify]: Simplify -1 into -1 29.451 * [taylor]: Taking taylor expansion of delta in theta 29.451 * [backup-simplify]: Simplify delta into delta 29.451 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.451 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.451 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.451 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 29.452 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 29.452 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 29.452 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 29.452 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 29.452 * [taylor]: Taking taylor expansion of -1 in theta 29.452 * [backup-simplify]: Simplify -1 into -1 29.452 * [taylor]: Taking taylor expansion of theta in theta 29.452 * [backup-simplify]: Simplify 0 into 0 29.452 * [backup-simplify]: Simplify 1 into 1 29.452 * [backup-simplify]: Simplify (/ -1 1) into -1 29.452 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.452 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 29.452 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 29.452 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.452 * [taylor]: Taking taylor expansion of -1 in theta 29.452 * [backup-simplify]: Simplify -1 into -1 29.452 * [taylor]: Taking taylor expansion of phi1 in theta 29.452 * [backup-simplify]: Simplify phi1 into phi1 29.453 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.453 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.453 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.453 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 29.453 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 29.453 * [taylor]: Taking taylor expansion of -1 in theta 29.453 * [backup-simplify]: Simplify -1 into -1 29.453 * [taylor]: Taking taylor expansion of delta in theta 29.453 * [backup-simplify]: Simplify delta into delta 29.453 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.453 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.453 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.453 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 29.453 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 29.453 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.453 * [taylor]: Taking taylor expansion of -1 in theta 29.453 * [backup-simplify]: Simplify -1 into -1 29.453 * [taylor]: Taking taylor expansion of phi1 in theta 29.453 * [backup-simplify]: Simplify phi1 into phi1 29.453 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.453 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.453 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.453 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 29.453 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 29.454 * [taylor]: Taking taylor expansion of -1 in theta 29.454 * [backup-simplify]: Simplify -1 into -1 29.454 * [taylor]: Taking taylor expansion of delta in theta 29.454 * [backup-simplify]: Simplify delta into delta 29.454 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.454 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.454 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.454 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 29.454 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 29.455 * [backup-simplify]: Simplify (- 0) into 0 29.455 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 29.455 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 29.455 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 29.455 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 29.455 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 29.455 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 29.455 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 29.456 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 29.456 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 29.456 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 29.456 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 29.456 * [backup-simplify]: Simplify (- 0) into 0 29.457 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 29.457 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 29.457 * [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)))) 29.457 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 29.457 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) in phi1 29.457 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 29.457 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.457 * [taylor]: Taking taylor expansion of -1 in phi1 29.457 * [backup-simplify]: Simplify -1 into -1 29.457 * [taylor]: Taking taylor expansion of phi1 in phi1 29.457 * [backup-simplify]: Simplify 0 into 0 29.457 * [backup-simplify]: Simplify 1 into 1 29.458 * [backup-simplify]: Simplify (/ -1 1) into -1 29.458 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.458 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 theta))) in phi1 29.458 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 29.458 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 29.458 * [taylor]: Taking taylor expansion of -1 in phi1 29.458 * [backup-simplify]: Simplify -1 into -1 29.458 * [taylor]: Taking taylor expansion of delta in phi1 29.458 * [backup-simplify]: Simplify delta into delta 29.458 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.458 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.458 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.458 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 29.458 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 29.459 * [taylor]: Taking taylor expansion of -1 in phi1 29.459 * [backup-simplify]: Simplify -1 into -1 29.459 * [taylor]: Taking taylor expansion of theta in phi1 29.459 * [backup-simplify]: Simplify theta into theta 29.459 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 29.459 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.459 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 29.459 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 29.459 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 29.459 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.459 * [taylor]: Taking taylor expansion of -1 in phi1 29.459 * [backup-simplify]: Simplify -1 into -1 29.459 * [taylor]: Taking taylor expansion of phi1 in phi1 29.459 * [backup-simplify]: Simplify 0 into 0 29.459 * [backup-simplify]: Simplify 1 into 1 29.460 * [backup-simplify]: Simplify (/ -1 1) into -1 29.460 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.460 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 29.460 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 29.460 * [taylor]: Taking taylor expansion of -1 in phi1 29.460 * [backup-simplify]: Simplify -1 into -1 29.460 * [taylor]: Taking taylor expansion of delta in phi1 29.460 * [backup-simplify]: Simplify delta into delta 29.460 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.460 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.460 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.460 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 29.460 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 29.460 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 29.460 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 29.460 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 29.461 * [backup-simplify]: Simplify (- 0) into 0 29.461 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 29.461 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 theta))) into (* (cos (/ -1 theta)) (sin (/ -1 delta))) 29.461 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 29.461 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 29.461 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 29.462 * [backup-simplify]: Simplify (- 0) into 0 29.462 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 29.462 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 29.462 * [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))))) 29.462 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in delta 29.462 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 29.462 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 29.462 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.462 * [taylor]: Taking taylor expansion of -1 in delta 29.462 * [backup-simplify]: Simplify -1 into -1 29.462 * [taylor]: Taking taylor expansion of phi1 in delta 29.463 * [backup-simplify]: Simplify phi1 into phi1 29.463 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.463 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.463 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.463 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 29.463 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 29.463 * [taylor]: Taking taylor expansion of -1 in delta 29.463 * [backup-simplify]: Simplify -1 into -1 29.463 * [taylor]: Taking taylor expansion of delta in delta 29.463 * [backup-simplify]: Simplify 0 into 0 29.463 * [backup-simplify]: Simplify 1 into 1 29.463 * [backup-simplify]: Simplify (/ -1 1) into -1 29.463 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.463 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in delta 29.463 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 29.463 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.463 * [taylor]: Taking taylor expansion of -1 in delta 29.464 * [backup-simplify]: Simplify -1 into -1 29.464 * [taylor]: Taking taylor expansion of phi1 in delta 29.464 * [backup-simplify]: Simplify phi1 into phi1 29.464 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.464 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.464 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.464 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in delta 29.464 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 29.464 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 29.464 * [taylor]: Taking taylor expansion of -1 in delta 29.464 * [backup-simplify]: Simplify -1 into -1 29.464 * [taylor]: Taking taylor expansion of theta in delta 29.464 * [backup-simplify]: Simplify theta into theta 29.464 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 29.464 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.464 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 29.464 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 29.464 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 29.464 * [taylor]: Taking taylor expansion of -1 in delta 29.464 * [backup-simplify]: Simplify -1 into -1 29.464 * [taylor]: Taking taylor expansion of delta in delta 29.464 * [backup-simplify]: Simplify 0 into 0 29.464 * [backup-simplify]: Simplify 1 into 1 29.465 * [backup-simplify]: Simplify (/ -1 1) into -1 29.465 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.465 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 29.465 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 29.465 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 29.465 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 29.465 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 29.465 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 29.466 * [backup-simplify]: Simplify (- 0) into 0 29.466 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 29.466 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 29.466 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 29.466 * [backup-simplify]: Simplify (- 0) into 0 29.466 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 29.467 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (cos (/ -1 theta))) 29.467 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 29.467 * [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)))) 29.467 * [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)))) 29.468 * [backup-simplify]: Simplify (+ 0) into 0 29.468 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 29.468 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.469 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.470 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 29.470 * [backup-simplify]: Simplify (+ 0 0) into 0 29.470 * [backup-simplify]: Simplify (+ 0) into 0 29.471 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 29.471 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.472 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.472 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 29.472 * [backup-simplify]: Simplify (- 0) into 0 29.473 * [backup-simplify]: Simplify (+ 0 0) into 0 29.473 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 29.473 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 29.476 * [backup-simplify]: Simplify (+ 0) into 0 29.477 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 29.477 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.478 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.479 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 29.479 * [backup-simplify]: Simplify (- 0) into 0 29.479 * [backup-simplify]: Simplify (+ 0 0) into 0 29.480 * [backup-simplify]: Simplify (+ 0) into 0 29.480 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 29.481 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.481 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.481 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 29.482 * [backup-simplify]: Simplify (+ 0 0) into 0 29.482 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 29.482 * [backup-simplify]: Simplify (+ 0 0) into 0 29.482 * [taylor]: Taking taylor expansion of 0 in phi1 29.482 * [backup-simplify]: Simplify 0 into 0 29.482 * [taylor]: Taking taylor expansion of 0 in delta 29.482 * [backup-simplify]: Simplify 0 into 0 29.482 * [backup-simplify]: Simplify 0 into 0 29.482 * [backup-simplify]: Simplify (+ 0) into 0 29.483 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 29.483 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 29.483 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.484 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 29.484 * [backup-simplify]: Simplify (- 0) into 0 29.484 * [backup-simplify]: Simplify (+ 0 0) into 0 29.484 * [backup-simplify]: Simplify (+ 0) into 0 29.485 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 29.485 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.485 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.486 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 29.486 * [backup-simplify]: Simplify (+ 0 0) into 0 29.486 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 theta)))) into 0 29.486 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into 0 29.486 * [backup-simplify]: Simplify (+ 0) into 0 29.487 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 29.487 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.487 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.487 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 29.488 * [backup-simplify]: Simplify (- 0) into 0 29.488 * [backup-simplify]: Simplify (+ 0 0) into 0 29.488 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 29.488 * [backup-simplify]: Simplify (+ 0 0) into 0 29.488 * [taylor]: Taking taylor expansion of 0 in delta 29.488 * [backup-simplify]: Simplify 0 into 0 29.488 * [backup-simplify]: Simplify 0 into 0 29.489 * [backup-simplify]: Simplify (+ 0) into 0 29.489 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 29.489 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.489 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.490 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 29.490 * [backup-simplify]: Simplify (+ 0 0) into 0 29.490 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 29.490 * [backup-simplify]: Simplify (+ 0) into 0 29.491 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 29.491 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 29.491 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.491 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 29.492 * [backup-simplify]: Simplify (- 0) into 0 29.492 * [backup-simplify]: Simplify (+ 0 0) into 0 29.492 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 29.492 * [backup-simplify]: Simplify (+ 0) into 0 29.493 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 29.493 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.493 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.493 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 29.494 * [backup-simplify]: Simplify (- 0) into 0 29.494 * [backup-simplify]: Simplify (+ 0 0) into 0 29.494 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into 0 29.494 * [backup-simplify]: Simplify (+ 0 0) into 0 29.494 * [backup-simplify]: Simplify 0 into 0 29.495 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.495 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.495 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.496 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.496 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.496 * [backup-simplify]: Simplify (+ 0 0) into 0 29.497 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.497 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.497 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.498 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.498 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.499 * [backup-simplify]: Simplify (- 0) into 0 29.499 * [backup-simplify]: Simplify (+ 0 0) into 0 29.499 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 29.499 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 29.500 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.500 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.500 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.501 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.501 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.501 * [backup-simplify]: Simplify (- 0) into 0 29.502 * [backup-simplify]: Simplify (+ 0 0) into 0 29.502 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.503 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.503 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.503 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.504 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.504 * [backup-simplify]: Simplify (+ 0 0) into 0 29.504 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 29.504 * [backup-simplify]: Simplify (+ 0 0) into 0 29.504 * [taylor]: Taking taylor expansion of 0 in phi1 29.504 * [backup-simplify]: Simplify 0 into 0 29.504 * [taylor]: Taking taylor expansion of 0 in delta 29.504 * [backup-simplify]: Simplify 0 into 0 29.504 * [backup-simplify]: Simplify 0 into 0 29.504 * [taylor]: Taking taylor expansion of 0 in delta 29.504 * [backup-simplify]: Simplify 0 into 0 29.505 * [backup-simplify]: Simplify 0 into 0 29.505 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.505 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.506 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 29.506 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.507 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.507 * [backup-simplify]: Simplify (- 0) into 0 29.507 * [backup-simplify]: Simplify (+ 0 0) into 0 29.508 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.508 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.508 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.509 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.509 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.509 * [backup-simplify]: Simplify (+ 0 0) into 0 29.510 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 29.510 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 29.510 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.511 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.511 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.511 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.512 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.512 * [backup-simplify]: Simplify (- 0) into 0 29.512 * [backup-simplify]: Simplify (+ 0 0) into 0 29.513 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 29.513 * [backup-simplify]: Simplify (+ 0 0) into 0 29.513 * [taylor]: Taking taylor expansion of 0 in delta 29.513 * [backup-simplify]: Simplify 0 into 0 29.513 * [backup-simplify]: Simplify 0 into 0 29.514 * [backup-simplify]: Simplify (+ (* (cos (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- delta)))) (cos (/ -1 (/ 1 (- theta)))))) (* (sin (/ -1 (/ 1 (- phi1)))) (cos (/ -1 (/ 1 (- delta)))))) into (+ (* (cos phi1) (* (sin delta) (cos theta))) (* (sin phi1) (cos delta))) 29.515 * * * [progress]: simplifying candidates 29.515 * * * * [progress]: [ 1 / 77 ] simplifiying candidate # 29.515 * [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)))) 29.515 * * [simplify]: iters left: 6 (18 enodes) 29.519 * * [simplify]: iters left: 5 (65 enodes) 29.536 * * [simplify]: iters left: 4 (84 enodes) 29.561 * * [simplify]: iters left: 3 (104 enodes) 29.588 * * [simplify]: iters left: 2 (111 enodes) 29.622 * * [simplify]: iters left: 1 (137 enodes) 29.643 * * [simplify]: Extracting #0: cost 1 inf + 0 29.643 * * [simplify]: Extracting #1: cost 11 inf + 0 29.644 * * [simplify]: Extracting #2: cost 26 inf + 0 29.644 * * [simplify]: Extracting #3: cost 26 inf + 165 29.644 * * [simplify]: Extracting #4: cost 34 inf + 389 29.644 * * [simplify]: Extracting #5: cost 36 inf + 2245 29.645 * * [simplify]: Extracting #6: cost 25 inf + 5855 29.646 * * [simplify]: Extracting #7: cost 5 inf + 14523 29.649 * * [simplify]: Extracting #8: cost 0 inf + 17473 29.651 * [simplify]: Simplified to (- (cos delta) (* (sin (asin (fma (* (cos phi1) (sin delta)) (cos theta) (* (cos delta) (sin phi1))))) (sin phi1))) 29.651 * [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)) 29.651 * [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))) 29.651 * * [simplify]: iters left: 6 (16 enodes) 29.654 * * [simplify]: iters left: 5 (55 enodes) 29.663 * * [simplify]: iters left: 4 (70 enodes) 29.684 * * [simplify]: iters left: 3 (95 enodes) 29.710 * * [simplify]: iters left: 2 (101 enodes) 29.735 * * [simplify]: Extracting #0: cost 1 inf + 0 29.735 * * [simplify]: Extracting #1: cost 0 inf + 1 29.735 * [simplify]: Simplified to 0 29.735 * [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)) 29.736 * * * * [progress]: [ 2 / 77 ] simplifiying candidate # 29.736 * [simplify]: Simplifying (fma (sqrt (cos delta)) (sqrt (cos delta)) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))) 29.736 * * [simplify]: iters left: 6 (17 enodes) 29.743 * * [simplify]: iters left: 5 (62 enodes) 29.762 * * [simplify]: iters left: 4 (77 enodes) 29.784 * * [simplify]: iters left: 3 (95 enodes) 29.810 * * [simplify]: iters left: 2 (101 enodes) 29.834 * * [simplify]: Extracting #0: cost 1 inf + 0 29.834 * * [simplify]: Extracting #1: cost 6 inf + 0 29.834 * * [simplify]: Extracting #2: cost 15 inf + 0 29.834 * * [simplify]: Extracting #3: cost 20 inf + 1 29.834 * * [simplify]: Extracting #4: cost 20 inf + 63 29.834 * * [simplify]: Extracting #5: cost 25 inf + 387 29.835 * * [simplify]: Extracting #6: cost 28 inf + 1096 29.835 * * [simplify]: Extracting #7: cost 21 inf + 2069 29.837 * * [simplify]: Extracting #8: cost 9 inf + 5808 29.839 * * [simplify]: Extracting #9: cost 1 inf + 11072 29.843 * * [simplify]: Extracting #10: cost 0 inf + 11715 29.846 * [simplify]: Simplified to (- (cos delta) (* (sin phi1) (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))))) 29.846 * [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)) 29.846 * [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))) 29.847 * * [simplify]: iters left: 6 (16 enodes) 29.853 * * [simplify]: iters left: 5 (55 enodes) 29.872 * * [simplify]: iters left: 4 (70 enodes) 29.893 * * [simplify]: iters left: 3 (95 enodes) 29.918 * * [simplify]: iters left: 2 (101 enodes) 29.941 * * [simplify]: Extracting #0: cost 1 inf + 0 29.941 * * [simplify]: Extracting #1: cost 0 inf + 1 29.941 * [simplify]: Simplified to 0 29.941 * [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)) 29.942 * * * * [progress]: [ 3 / 77 ] simplifiying candidate # 29.942 * [simplify]: Simplifying (fma 1 (cos delta) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))) 29.942 * * [simplify]: iters left: 6 (17 enodes) 29.950 * * [simplify]: iters left: 5 (64 enodes) 29.970 * * [simplify]: iters left: 4 (82 enodes) 29.986 * * [simplify]: iters left: 3 (105 enodes) 30.001 * * [simplify]: iters left: 2 (106 enodes) 30.024 * * [simplify]: iters left: 1 (128 enodes) 30.058 * * [simplify]: Extracting #0: cost 1 inf + 0 30.058 * * [simplify]: Extracting #1: cost 10 inf + 0 30.058 * * [simplify]: Extracting #2: cost 20 inf + 1 30.059 * * [simplify]: Extracting #3: cost 19 inf + 4 30.059 * * [simplify]: Extracting #4: cost 25 inf + 187 30.059 * * [simplify]: Extracting #5: cost 27 inf + 896 30.060 * * [simplify]: Extracting #6: cost 18 inf + 1789 30.061 * * [simplify]: Extracting #7: cost 11 inf + 4223 30.064 * * [simplify]: Extracting #8: cost 2 inf + 9745 30.068 * * [simplify]: Extracting #9: cost 0 inf + 11111 30.073 * [simplify]: Simplified to (- (cos delta) (* (sin phi1) (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (cos delta) (sin phi1))))))) 30.073 * [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)) 30.073 * [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))) 30.074 * * [simplify]: iters left: 6 (16 enodes) 30.080 * * [simplify]: iters left: 5 (55 enodes) 30.096 * * [simplify]: iters left: 4 (70 enodes) 30.116 * * [simplify]: iters left: 3 (95 enodes) 30.143 * * [simplify]: iters left: 2 (101 enodes) 30.166 * * [simplify]: Extracting #0: cost 1 inf + 0 30.166 * * [simplify]: Extracting #1: cost 0 inf + 1 30.166 * [simplify]: Simplified to 0 30.166 * [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)) 30.166 * * * * [progress]: [ 4 / 77 ] simplifiying candidate # 30.166 * * * * [progress]: [ 5 / 77 ] simplifiying candidate # 30.166 * * * * [progress]: [ 6 / 77 ] simplifiying candidate # 30.166 * [simplify]: Simplifying (* (cbrt (cos delta)) (cbrt (cos delta))) 30.167 * * [simplify]: iters left: 4 (4 enodes) 30.168 * * [simplify]: iters left: 3 (12 enodes) 30.172 * * [simplify]: Extracting #0: cost 1 inf + 0 30.172 * * [simplify]: Extracting #1: cost 3 inf + 0 30.172 * * [simplify]: Extracting #2: cost 5 inf + 0 30.172 * * [simplify]: Extracting #3: cost 7 inf + 0 30.172 * * [simplify]: Extracting #4: cost 6 inf + 1 30.172 * * [simplify]: Extracting #5: cost 0 inf + 767 30.172 * [simplify]: Simplified to (* (cbrt (cos delta)) (cbrt (cos delta))) 30.172 * [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)) 30.173 * * * * [progress]: [ 7 / 77 ] simplifiying candidate # 30.173 * [simplify]: Simplifying (sqrt (cos delta)) 30.173 * * [simplify]: iters left: 2 (3 enodes) 30.174 * * [simplify]: iters left: 1 (9 enodes) 30.177 * * [simplify]: Extracting #0: cost 1 inf + 0 30.177 * * [simplify]: Extracting #1: cost 3 inf + 0 30.177 * * [simplify]: Extracting #2: cost 5 inf + 0 30.177 * * [simplify]: Extracting #3: cost 4 inf + 1 30.177 * * [simplify]: Extracting #4: cost 0 inf + 325 30.177 * [simplify]: Simplified to (sqrt (cos delta)) 30.177 * [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)) 30.177 * * * * [progress]: [ 8 / 77 ] simplifiying candidate # 30.177 * * * * [progress]: [ 9 / 77 ] simplifiying candidate # 30.178 * [simplify]: Simplifying (/ (exp (cos delta)) (exp (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) 30.178 * * [simplify]: iters left: 6 (17 enodes) 30.185 * * [simplify]: iters left: 5 (60 enodes) 30.202 * * [simplify]: iters left: 4 (80 enodes) 30.226 * * [simplify]: iters left: 3 (119 enodes) 30.260 * * [simplify]: iters left: 2 (169 enodes) 30.295 * * [simplify]: iters left: 1 (274 enodes) 30.378 * * [simplify]: Extracting #0: cost 1 inf + 0 30.378 * * [simplify]: Extracting #1: cost 48 inf + 0 30.378 * * [simplify]: Extracting #2: cost 128 inf + 1 30.379 * * [simplify]: Extracting #3: cost 179 inf + 3 30.380 * * [simplify]: Extracting #4: cost 178 inf + 684 30.381 * * [simplify]: Extracting #5: cost 177 inf + 1869 30.385 * * [simplify]: Extracting #6: cost 174 inf + 3513 30.389 * * [simplify]: Extracting #7: cost 150 inf + 14771 30.403 * * [simplify]: Extracting #8: cost 85 inf + 67888 30.437 * * [simplify]: Extracting #9: cost 3 inf + 153557 30.475 * * [simplify]: Extracting #10: cost 0 inf + 155583 30.504 * [simplify]: Simplified to (exp (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) 30.504 * [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)) 30.504 * * * * [progress]: [ 10 / 77 ] simplifiying candidate # 30.504 * * * * [progress]: [ 11 / 77 ] simplifiying candidate # 30.504 * * * * [progress]: [ 12 / 77 ] simplifiying candidate # 30.504 * * * * [progress]: [ 13 / 77 ] simplifiying candidate # 30.504 * * * * [progress]: [ 14 / 77 ] simplifiying candidate # 30.504 * * * * [progress]: [ 15 / 77 ] simplifiying candidate # 30.504 * * * * [progress]: [ 16 / 77 ] simplifiying candidate # 30.504 * * * * [progress]: [ 17 / 77 ] simplifiying candidate # 30.504 * * * * [progress]: [ 18 / 77 ] simplifiying candidate # 30.504 * * * * [progress]: [ 19 / 77 ] simplifiying candidate # 30.505 * * * * [progress]: [ 20 / 77 ] simplifiying candidate # 30.505 * * * * [progress]: [ 21 / 77 ] simplifiying candidate #real (real->posit16 (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 30.505 * * * * [progress]: [ 22 / 77 ] simplifiying candidate # 30.505 * * * * [progress]: [ 23 / 77 ] simplifiying candidate # 30.505 * * * * [progress]: [ 24 / 77 ] simplifiying candidate # 30.505 * * * * [progress]: [ 25 / 77 ] simplifiying candidate # 30.505 * * * * [progress]: [ 26 / 77 ] simplifiying candidate # 30.505 * * * * [progress]: [ 27 / 77 ] simplifiying candidate # 30.505 * * * * [progress]: [ 28 / 77 ] simplifiying candidate # 30.505 * * * * [progress]: [ 29 / 77 ] simplifiying candidate # 30.505 * * * * [progress]: [ 30 / 77 ] simplifiying candidate # 30.505 * * * * [progress]: [ 31 / 77 ] simplifiying candidate # 30.505 * * * * [progress]: [ 32 / 77 ] simplifiying candidate #real (real->posit16 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 30.505 * * * * [progress]: [ 33 / 77 ] simplifiying candidate # 30.505 * * * * [progress]: [ 34 / 77 ] simplifiying candidate # 30.505 * * * * [progress]: [ 35 / 77 ] simplifiying candidate # 30.505 * [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))))))) 30.505 * * [simplify]: iters left: 6 (17 enodes) 30.509 * * [simplify]: iters left: 5 (60 enodes) 30.517 * * [simplify]: iters left: 4 (74 enodes) 30.537 * * [simplify]: iters left: 3 (87 enodes) 30.559 * * [simplify]: Extracting #0: cost 1 inf + 0 30.559 * * [simplify]: Extracting #1: cost 5 inf + 0 30.559 * * [simplify]: Extracting #2: cost 10 inf + 0 30.559 * * [simplify]: Extracting #3: cost 15 inf + 0 30.559 * * [simplify]: Extracting #4: cost 17 inf + 1 30.559 * * [simplify]: Extracting #5: cost 28 inf + 1 30.560 * * [simplify]: Extracting #6: cost 38 inf + 123 30.560 * * [simplify]: Extracting #7: cost 32 inf + 369 30.560 * * [simplify]: Extracting #8: cost 20 inf + 2010 30.562 * * [simplify]: Extracting #9: cost 13 inf + 5080 30.564 * * [simplify]: Extracting #10: cost 3 inf + 11290 30.568 * * [simplify]: Extracting #11: cost 0 inf + 13399 30.571 * [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))))))) 30.571 * [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)) 30.572 * * * * [progress]: [ 36 / 77 ] simplifiying candidate # 30.572 * [simplify]: Simplifying (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) 30.572 * * [simplify]: iters left: 6 (14 enodes) 30.578 * * [simplify]: iters left: 5 (47 enodes) 30.592 * * [simplify]: iters left: 4 (55 enodes) 30.608 * * [simplify]: iters left: 3 (68 enodes) 30.625 * * [simplify]: Extracting #0: cost 1 inf + 0 30.626 * * [simplify]: Extracting #1: cost 4 inf + 0 30.626 * * [simplify]: Extracting #2: cost 8 inf + 0 30.626 * * [simplify]: Extracting #3: cost 9 inf + 1 30.626 * * [simplify]: Extracting #4: cost 17 inf + 123 30.626 * * [simplify]: Extracting #5: cost 27 inf + 184 30.626 * * [simplify]: Extracting #6: cost 21 inf + 531 30.627 * * [simplify]: Extracting #7: cost 12 inf + 1888 30.628 * * [simplify]: Extracting #8: cost 2 inf + 5643 30.630 * * [simplify]: Extracting #9: cost 0 inf + 6889 30.632 * [simplify]: Simplified to (* (sin phi1) (sin (asin (fma (cos theta) (* (sin delta) (cos phi1)) (* (cos delta) (sin phi1)))))) 30.632 * [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)) 30.632 * * * * [progress]: [ 37 / 77 ] simplifiying candidate # 30.632 * * * * [progress]: [ 38 / 77 ] simplifiying candidate # 30.632 * [simplify]: Simplifying (+ (log (sin phi1)) (log (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) 30.633 * * [simplify]: iters left: 6 (16 enodes) 30.639 * * [simplify]: iters left: 5 (53 enodes) 30.654 * * [simplify]: iters left: 4 (61 enodes) 30.668 * * [simplify]: iters left: 3 (74 enodes) 30.678 * * [simplify]: Extracting #0: cost 1 inf + 0 30.678 * * [simplify]: Extracting #1: cost 4 inf + 0 30.678 * * [simplify]: Extracting #2: cost 8 inf + 0 30.678 * * [simplify]: Extracting #3: cost 12 inf + 0 30.678 * * [simplify]: Extracting #4: cost 13 inf + 1 30.678 * * [simplify]: Extracting #5: cost 21 inf + 123 30.679 * * [simplify]: Extracting #6: cost 29 inf + 446 30.679 * * [simplify]: Extracting #7: cost 17 inf + 1563 30.679 * * [simplify]: Extracting #8: cost 5 inf + 5262 30.680 * * [simplify]: Extracting #9: cost 0 inf + 8777 30.681 * [simplify]: Simplified to (+ (log (sin (asin (fma (sin phi1) (cos delta) (* (* (sin delta) (cos theta)) (cos phi1)))))) (log (sin phi1))) 30.682 * [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)) 30.682 * * * * [progress]: [ 39 / 77 ] simplifiying candidate # 30.682 * * * * [progress]: [ 40 / 77 ] simplifiying candidate # 30.682 * * * * [progress]: [ 41 / 77 ] simplifiying candidate # 30.682 * [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))))))) 30.682 * * [simplify]: iters left: 6 (18 enodes) 30.686 * * [simplify]: iters left: 5 (65 enodes) 30.697 * * [simplify]: iters left: 4 (102 enodes) 30.723 * * [simplify]: iters left: 3 (170 enodes) 30.771 * * [simplify]: iters left: 2 (256 enodes) 30.849 * * [simplify]: iters left: 1 (416 enodes) 31.019 * * [simplify]: Extracting #0: cost 1 inf + 0 31.020 * * [simplify]: Extracting #1: cost 50 inf + 0 31.021 * * [simplify]: Extracting #2: cost 154 inf + 1 31.021 * * [simplify]: Extracting #3: cost 157 inf + 851 31.022 * * [simplify]: Extracting #4: cost 158 inf + 3289 31.023 * * [simplify]: Extracting #5: cost 165 inf + 4397 31.026 * * [simplify]: Extracting #6: cost 129 inf + 23954 31.043 * * [simplify]: Extracting #7: cost 17 inf + 129774 31.067 * * [simplify]: Extracting #8: cost 0 inf + 145896 31.113 * [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))))))) 31.114 * [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)) 31.114 * * * * [progress]: [ 42 / 77 ] simplifiying candidate # 31.114 * * * * [progress]: [ 43 / 77 ] simplifiying candidate # 31.114 * * * * [progress]: [ 44 / 77 ] simplifiying candidate # 31.114 * * * * [progress]: [ 45 / 77 ] simplifiying candidate # 31.114 * * * * [progress]: [ 46 / 77 ] simplifiying candidate # 31.115 * [simplify]: Simplifying (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) 31.115 * * [simplify]: iters left: 6 (16 enodes) 31.121 * * [simplify]: iters left: 5 (53 enodes) 31.137 * * [simplify]: iters left: 4 (61 enodes) 31.152 * * [simplify]: iters left: 3 (74 enodes) 31.162 * * [simplify]: Extracting #0: cost 1 inf + 0 31.162 * * [simplify]: Extracting #1: cost 4 inf + 0 31.162 * * [simplify]: Extracting #2: cost 8 inf + 0 31.162 * * [simplify]: Extracting #3: cost 12 inf + 0 31.162 * * [simplify]: Extracting #4: cost 13 inf + 1 31.162 * * [simplify]: Extracting #5: cost 21 inf + 123 31.162 * * [simplify]: Extracting #6: cost 29 inf + 386 31.162 * * [simplify]: Extracting #7: cost 17 inf + 1503 31.163 * * [simplify]: Extracting #8: cost 5 inf + 5202 31.164 * * [simplify]: Extracting #9: cost 0 inf + 8537 31.165 * [simplify]: Simplified to (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (sin phi1) (cos delta) (* (* (sin delta) (cos theta)) (cos phi1))))))) 31.165 * [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)) 31.165 * [simplify]: Simplifying (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) 31.165 * * [simplify]: iters left: 6 (16 enodes) 31.168 * * [simplify]: iters left: 5 (53 enodes) 31.176 * * [simplify]: iters left: 4 (61 enodes) 31.184 * * [simplify]: iters left: 3 (74 enodes) 31.194 * * [simplify]: Extracting #0: cost 1 inf + 0 31.194 * * [simplify]: Extracting #1: cost 4 inf + 0 31.194 * * [simplify]: Extracting #2: cost 8 inf + 0 31.194 * * [simplify]: Extracting #3: cost 12 inf + 0 31.194 * * [simplify]: Extracting #4: cost 13 inf + 1 31.194 * * [simplify]: Extracting #5: cost 21 inf + 123 31.194 * * [simplify]: Extracting #6: cost 29 inf + 386 31.195 * * [simplify]: Extracting #7: cost 17 inf + 1503 31.196 * * [simplify]: Extracting #8: cost 5 inf + 5202 31.197 * * [simplify]: Extracting #9: cost 0 inf + 8537 31.199 * [simplify]: Simplified to (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (sin phi1) (cos delta) (* (* (sin delta) (cos theta)) (cos phi1))))))) 31.199 * [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)) 31.199 * * * * [progress]: [ 47 / 77 ] simplifiying candidate # 31.199 * [simplify]: Simplifying (cbrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) 31.199 * * [simplify]: iters left: 6 (14 enodes) 31.202 * * [simplify]: iters left: 5 (46 enodes) 31.208 * * [simplify]: iters left: 4 (54 enodes) 31.215 * * [simplify]: iters left: 3 (67 enodes) 31.224 * * [simplify]: Extracting #0: cost 1 inf + 0 31.224 * * [simplify]: Extracting #1: cost 3 inf + 0 31.224 * * [simplify]: Extracting #2: cost 5 inf + 0 31.224 * * [simplify]: Extracting #3: cost 7 inf + 0 31.224 * * [simplify]: Extracting #4: cost 18 inf + 0 31.224 * * [simplify]: Extracting #5: cost 31 inf + 0 31.224 * * [simplify]: Extracting #6: cost 21 inf + 430 31.224 * * [simplify]: Extracting #7: cost 9 inf + 2273 31.225 * * [simplify]: Extracting #8: cost 2 inf + 5683 31.226 * * [simplify]: Extracting #9: cost 0 inf + 6969 31.227 * [simplify]: Simplified to (cbrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) 31.227 * [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)) 31.227 * * * * [progress]: [ 48 / 77 ] simplifiying candidate # 31.227 * [simplify]: Simplifying (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) 31.227 * * [simplify]: iters left: 6 (14 enodes) 31.230 * * [simplify]: iters left: 5 (46 enodes) 31.236 * * [simplify]: iters left: 4 (54 enodes) 31.244 * * [simplify]: iters left: 3 (67 enodes) 31.253 * * [simplify]: Extracting #0: cost 1 inf + 0 31.253 * * [simplify]: Extracting #1: cost 3 inf + 0 31.253 * * [simplify]: Extracting #2: cost 5 inf + 0 31.253 * * [simplify]: Extracting #3: cost 7 inf + 0 31.253 * * [simplify]: Extracting #4: cost 18 inf + 0 31.253 * * [simplify]: Extracting #5: cost 31 inf + 0 31.254 * * [simplify]: Extracting #6: cost 21 inf + 430 31.254 * * [simplify]: Extracting #7: cost 9 inf + 2273 31.255 * * [simplify]: Extracting #8: cost 2 inf + 5643 31.255 * * [simplify]: Extracting #9: cost 0 inf + 6889 31.256 * [simplify]: Simplified to (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) 31.256 * [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)) 31.256 * * * * [progress]: [ 49 / 77 ] simplifiying candidate # 31.257 * [simplify]: Simplifying (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) 31.257 * * [simplify]: iters left: 6 (13 enodes) 31.259 * * [simplify]: iters left: 5 (43 enodes) 31.265 * * [simplify]: iters left: 4 (51 enodes) 31.273 * * [simplify]: iters left: 3 (64 enodes) 31.281 * * [simplify]: Extracting #0: cost 1 inf + 0 31.281 * * [simplify]: Extracting #1: cost 3 inf + 0 31.281 * * [simplify]: Extracting #2: cost 5 inf + 0 31.281 * * [simplify]: Extracting #3: cost 16 inf + 0 31.281 * * [simplify]: Extracting #4: cost 29 inf + 0 31.281 * * [simplify]: Extracting #5: cost 17 inf + 1158 31.282 * * [simplify]: Extracting #6: cost 10 inf + 1888 31.283 * * [simplify]: Extracting #7: cost 3 inf + 4019 31.285 * * [simplify]: Extracting #8: cost 0 inf + 5603 31.286 * [simplify]: Simplified to (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) 31.286 * [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)) 31.286 * * * * [progress]: [ 50 / 77 ] simplifiying candidate # 31.287 * [simplify]: Simplifying (* (cbrt (sin phi1)) (cbrt (sin phi1))) 31.287 * * [simplify]: iters left: 4 (4 enodes) 31.289 * * [simplify]: iters left: 3 (12 enodes) 31.292 * * [simplify]: Extracting #0: cost 1 inf + 0 31.292 * * [simplify]: Extracting #1: cost 3 inf + 0 31.292 * * [simplify]: Extracting #2: cost 5 inf + 0 31.292 * * [simplify]: Extracting #3: cost 7 inf + 0 31.292 * * [simplify]: Extracting #4: cost 6 inf + 1 31.292 * * [simplify]: Extracting #5: cost 0 inf + 767 31.292 * [simplify]: Simplified to (* (cbrt (sin phi1)) (cbrt (sin phi1))) 31.293 * [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)) 31.293 * * * * [progress]: [ 51 / 77 ] simplifiying candidate # 31.293 * [simplify]: Simplifying (sqrt (sin phi1)) 31.293 * * [simplify]: iters left: 2 (3 enodes) 31.294 * * [simplify]: iters left: 1 (9 enodes) 31.297 * * [simplify]: Extracting #0: cost 1 inf + 0 31.297 * * [simplify]: Extracting #1: cost 3 inf + 0 31.297 * * [simplify]: Extracting #2: cost 5 inf + 0 31.297 * * [simplify]: Extracting #3: cost 4 inf + 1 31.297 * * [simplify]: Extracting #4: cost 0 inf + 325 31.298 * [simplify]: Simplified to (sqrt (sin phi1)) 31.298 * [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)) 31.298 * * * * [progress]: [ 52 / 77 ] simplifiying candidate # 31.298 * * * * [progress]: [ 53 / 77 ] simplifiying candidate #real (real->posit16 (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 31.298 * * * * [progress]: [ 54 / 77 ] simplifiying candidate # 31.298 * * * * [progress]: [ 55 / 77 ] simplifiying candidate # 31.298 * * * * [progress]: [ 56 / 77 ] simplifiying candidate # 31.298 * * * * [progress]: [ 57 / 77 ] simplifiying candidate # 31.298 * * * * [progress]: [ 58 / 77 ] simplifiying candidate # 31.298 * * * * [progress]: [ 59 / 77 ] simplifiying candidate # 31.298 * * * * [progress]: [ 60 / 77 ] simplifiying candidate # 31.299 * * * * [progress]: [ 61 / 77 ] simplifiying candidate # 31.299 * * * * [progress]: [ 62 / 77 ] simplifiying candidate # 31.299 * * * * [progress]: [ 63 / 77 ] simplifiying candidate # 31.299 * * * * [progress]: [ 64 / 77 ] simplifiying candidate # 31.299 * * * * [progress]: [ 65 / 77 ] simplifiying candidate #real (real->posit16 (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 31.299 * * * * [progress]: [ 66 / 77 ] simplifiying candidate # 31.299 * [simplify]: Simplifying (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) 31.299 * * [simplify]: iters left: 6 (10 enodes) 31.306 * * [simplify]: iters left: 5 (44 enodes) 31.320 * * [simplify]: iters left: 4 (66 enodes) 31.332 * * [simplify]: iters left: 3 (115 enodes) 31.354 * * [simplify]: iters left: 2 (226 enodes) 31.427 * * [simplify]: iters left: 1 (314 enodes) 31.517 * * [simplify]: Extracting #0: cost 1 inf + 0 31.517 * * [simplify]: Extracting #1: cost 29 inf + 0 31.518 * * [simplify]: Extracting #2: cost 43 inf + 390 31.520 * * [simplify]: Extracting #3: cost 15 inf + 2617 31.523 * * [simplify]: Extracting #4: cost 2 inf + 4019 31.527 * * [simplify]: Extracting #5: cost 0 inf + 4155 31.530 * [simplify]: Simplified to (- 1 (* (fma delta 1/2 phi1) delta)) 31.531 * [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)) 31.531 * * * * [progress]: [ 67 / 77 ] simplifiying candidate # 31.531 * [simplify]: Simplifying (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (sin phi1) (* (cos theta) (cos phi1)))))) 31.531 * * [simplify]: iters left: 6 (16 enodes) 31.540 * * [simplify]: iters left: 5 (67 enodes) 31.563 * * [simplify]: iters left: 4 (124 enodes) 31.613 * * [simplify]: iters left: 3 (263 enodes) 31.704 * * [simplify]: Extracting #0: cost 1 inf + 0 31.705 * * [simplify]: Extracting #1: cost 44 inf + 0 31.706 * * [simplify]: Extracting #2: cost 133 inf + 0 31.707 * * [simplify]: Extracting #3: cost 129 inf + 1057 31.715 * * [simplify]: Extracting #4: cost 38 inf + 23638 31.731 * * [simplify]: Extracting #5: cost 2 inf + 34441 31.748 * * [simplify]: Extracting #6: cost 0 inf + 34985 31.764 * [simplify]: Simplified to (- (cos delta) (* (sin phi1) (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta))))) 31.765 * [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)) 31.765 * * * * [progress]: [ 68 / 77 ] simplifiying candidate # 31.765 * [simplify]: Simplifying (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos theta) (* (sin delta) (cos phi1)))))) 31.765 * * [simplify]: iters left: 6 (16 enodes) 31.773 * * [simplify]: iters left: 5 (67 enodes) 31.797 * * [simplify]: iters left: 4 (124 enodes) 31.844 * * [simplify]: iters left: 3 (263 enodes) 31.922 * * [simplify]: Extracting #0: cost 1 inf + 0 31.922 * * [simplify]: Extracting #1: cost 44 inf + 0 31.923 * * [simplify]: Extracting #2: cost 140 inf + 0 31.924 * * [simplify]: Extracting #3: cost 134 inf + 1137 31.932 * * [simplify]: Extracting #4: cost 39 inf + 24533 31.949 * * [simplify]: Extracting #5: cost 0 inf + 36983 31.966 * * [simplify]: Extracting #6: cost 0 inf + 36903 31.983 * [simplify]: Simplified to (- (cos delta) (* (sin phi1) (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta))))) 31.983 * [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)) 31.984 * * * * [progress]: [ 69 / 77 ] simplifiying candidate # 31.984 * [simplify]: Simplifying (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 31.984 * * [simplify]: iters left: 5 (12 enodes) 31.989 * * [simplify]: iters left: 4 (40 enodes) 32.000 * * [simplify]: iters left: 3 (48 enodes) 32.015 * * [simplify]: iters left: 2 (61 enodes) 32.022 * * [simplify]: Extracting #0: cost 1 inf + 0 32.022 * * [simplify]: Extracting #1: cost 3 inf + 0 32.022 * * [simplify]: Extracting #2: cost 14 inf + 0 32.022 * * [simplify]: Extracting #3: cost 27 inf + 0 32.023 * * [simplify]: Extracting #4: cost 16 inf + 592 32.023 * * [simplify]: Extracting #5: cost 1 inf + 4134 32.024 * * [simplify]: Extracting #6: cost 0 inf + 4397 32.024 * [simplify]: Simplified to (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 32.024 * [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)) 32.025 * * * * [progress]: [ 70 / 77 ] simplifiying candidate # 32.025 * [simplify]: Simplifying (asin (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta)))) 32.025 * * [simplify]: iters left: 5 (12 enodes) 32.027 * * [simplify]: iters left: 4 (40 enodes) 32.032 * * [simplify]: iters left: 3 (48 enodes) 32.039 * * [simplify]: iters left: 2 (61 enodes) 32.049 * * [simplify]: Extracting #0: cost 1 inf + 0 32.049 * * [simplify]: Extracting #1: cost 3 inf + 0 32.049 * * [simplify]: Extracting #2: cost 14 inf + 0 32.049 * * [simplify]: Extracting #3: cost 27 inf + 0 32.050 * * [simplify]: Extracting #4: cost 19 inf + 308 32.050 * * [simplify]: Extracting #5: cost 6 inf + 2010 32.051 * * [simplify]: Extracting #6: cost 0 inf + 4397 32.053 * [simplify]: Simplified to (asin (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta)))) 32.053 * [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)) 32.053 * * * * [progress]: [ 71 / 77 ] simplifiying candidate # 32.053 * [simplify]: Simplifying (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 32.054 * * [simplify]: iters left: 5 (12 enodes) 32.058 * * [simplify]: iters left: 4 (40 enodes) 32.070 * * [simplify]: iters left: 3 (48 enodes) 32.080 * * [simplify]: iters left: 2 (61 enodes) 32.087 * * [simplify]: Extracting #0: cost 1 inf + 0 32.087 * * [simplify]: Extracting #1: cost 3 inf + 0 32.087 * * [simplify]: Extracting #2: cost 14 inf + 0 32.087 * * [simplify]: Extracting #3: cost 27 inf + 0 32.088 * * [simplify]: Extracting #4: cost 16 inf + 592 32.088 * * [simplify]: Extracting #5: cost 1 inf + 4134 32.089 * * [simplify]: Extracting #6: cost 0 inf + 4397 32.089 * [simplify]: Simplified to (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 32.089 * [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)) 32.090 * * * * [progress]: [ 72 / 77 ] simplifiying candidate # 32.090 * [simplify]: Simplifying (+ (* phi1 delta) (pow phi1 2)) 32.090 * * [simplify]: iters left: 4 (6 enodes) 32.092 * * [simplify]: iters left: 3 (26 enodes) 32.096 * * [simplify]: iters left: 2 (37 enodes) 32.103 * * [simplify]: iters left: 1 (44 enodes) 32.108 * * [simplify]: Extracting #0: cost 1 inf + 0 32.108 * * [simplify]: Extracting #1: cost 7 inf + 0 32.108 * * [simplify]: Extracting #2: cost 9 inf + 2 32.108 * * [simplify]: Extracting #3: cost 2 inf + 308 32.108 * * [simplify]: Extracting #4: cost 0 inf + 432 32.109 * * [simplify]: Extracting #5: cost 0 inf + 417 32.109 * [simplify]: Simplified to (* (+ delta phi1) phi1) 32.109 * [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)) 32.109 * * * * [progress]: [ 73 / 77 ] simplifiying candidate # 32.109 * [simplify]: Simplifying (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta))))) 32.109 * * [simplify]: iters left: 6 (13 enodes) 32.114 * * [simplify]: iters left: 5 (53 enodes) 32.130 * * [simplify]: iters left: 4 (90 enodes) 32.154 * * [simplify]: iters left: 3 (146 enodes) 32.180 * * [simplify]: iters left: 2 (161 enodes) 32.200 * * [simplify]: Extracting #0: cost 1 inf + 0 32.200 * * [simplify]: Extracting #1: cost 18 inf + 0 32.200 * * [simplify]: Extracting #2: cost 40 inf + 0 32.200 * * [simplify]: Extracting #3: cost 38 inf + 307 32.200 * * [simplify]: Extracting #4: cost 20 inf + 2595 32.203 * * [simplify]: Extracting #5: cost 2 inf + 7503 32.206 * * [simplify]: Extracting #6: cost 0 inf + 8143 32.210 * [simplify]: Simplified to (* (fma (* (cos theta) (cos phi1)) (sin delta) (* (cos delta) (sin phi1))) (sin phi1)) 32.210 * [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)) 32.210 * * * * [progress]: [ 74 / 77 ] simplifiying candidate # 32.211 * [simplify]: Simplifying (* (sin phi1) (+ (* (cos phi1) (* (sin delta) (cos theta))) (* (sin phi1) (cos delta)))) 32.211 * * [simplify]: iters left: 6 (13 enodes) 32.217 * * [simplify]: iters left: 5 (53 enodes) 32.235 * * [simplify]: iters left: 4 (90 enodes) 32.263 * * [simplify]: iters left: 3 (144 enodes) 32.292 * * [simplify]: iters left: 2 (159 enodes) 32.313 * * [simplify]: Extracting #0: cost 1 inf + 0 32.313 * * [simplify]: Extracting #1: cost 18 inf + 0 32.313 * * [simplify]: Extracting #2: cost 41 inf + 0 32.314 * * [simplify]: Extracting #3: cost 39 inf + 186 32.315 * * [simplify]: Extracting #4: cost 8 inf + 6304 32.319 * * [simplify]: Extracting #5: cost 1 inf + 7780 32.322 * * [simplify]: Extracting #6: cost 0 inf + 8143 32.323 * [simplify]: Simplified to (* (fma (* (cos theta) (sin delta)) (cos phi1) (* (sin phi1) (cos delta))) (sin phi1)) 32.323 * [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)) 32.323 * * * * [progress]: [ 75 / 77 ] simplifiying candidate # 32.324 * [simplify]: Simplifying (+ phi1 delta) 32.324 * * [simplify]: iters left: 2 (3 enodes) 32.324 * * [simplify]: iters left: 1 (10 enodes) 32.326 * * [simplify]: Extracting #0: cost 1 inf + 0 32.326 * * [simplify]: Extracting #1: cost 4 inf + 0 32.326 * * [simplify]: Extracting #2: cost 2 inf + 2 32.326 * * [simplify]: Extracting #3: cost 0 inf + 86 32.326 * [simplify]: Simplified to (+ delta phi1) 32.326 * [simplify]: Simplified (2 1 2 2 2 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (+ delta phi1)))))) lambda1)) 32.326 * * * * [progress]: [ 76 / 77 ] simplifiying candidate # 32.326 * [simplify]: Simplifying (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta)))) 32.326 * * [simplify]: iters left: 6 (12 enodes) 32.328 * * [simplify]: iters left: 5 (43 enodes) 32.334 * * [simplify]: iters left: 4 (55 enodes) 32.341 * * [simplify]: iters left: 3 (61 enodes) 32.348 * * [simplify]: Extracting #0: cost 1 inf + 0 32.348 * * [simplify]: Extracting #1: cost 10 inf + 0 32.349 * * [simplify]: Extracting #2: cost 22 inf + 0 32.349 * * [simplify]: Extracting #3: cost 20 inf + 185 32.349 * * [simplify]: Extracting #4: cost 12 inf + 916 32.349 * * [simplify]: Extracting #5: cost 0 inf + 3311 32.350 * [simplify]: Simplified to (fma (sin phi1) (cos delta) (* (* (cos theta) (sin delta)) (cos phi1))) 32.350 * [simplify]: Simplified (2 1 2 2 2 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (fma (sin phi1) (cos delta) (* (* (cos theta) (sin delta)) (cos phi1)))))))) lambda1)) 32.350 * * * * [progress]: [ 77 / 77 ] simplifiying candidate # 32.351 * [simplify]: Simplifying (+ (* (cos phi1) (* (sin delta) (cos theta))) (* (sin phi1) (cos delta))) 32.351 * * [simplify]: iters left: 6 (12 enodes) 32.355 * * [simplify]: iters left: 5 (43 enodes) 32.366 * * [simplify]: iters left: 4 (55 enodes) 32.379 * * [simplify]: iters left: 3 (60 enodes) 32.391 * * [simplify]: Extracting #0: cost 1 inf + 0 32.391 * * [simplify]: Extracting #1: cost 10 inf + 0 32.391 * * [simplify]: Extracting #2: cost 23 inf + 0 32.392 * * [simplify]: Extracting #3: cost 19 inf + 186 32.392 * * [simplify]: Extracting #4: cost 9 inf + 1200 32.393 * * [simplify]: Extracting #5: cost 1 inf + 3048 32.393 * * [simplify]: Extracting #6: cost 0 inf + 3311 32.394 * [simplify]: Simplified to (fma (sin phi1) (cos delta) (* (cos theta) (* (sin delta) (cos phi1)))) 32.394 * [simplify]: Simplified (2 1 2 2 2 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (fma (sin phi1) (cos delta) (* (cos theta) (* (sin delta) (cos phi1))))))))) lambda1)) 32.394 * * * [progress]: adding candidates to table 34.061 * [progress]: [Phase 3 of 3] Extracting. 34.068 * [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) 34.068 * * [simplify]: iters left: 6 (21 enodes) 34.069 * * [simplify]: iters left: 5 (27 enodes) 34.070 * * [simplify]: Extracting #0: cost 1 inf + 0 34.070 * * [simplify]: Extracting #1: cost 3 inf + 0 34.070 * * [simplify]: Extracting #2: cost 4 inf + 1 34.070 * * [simplify]: Extracting #3: cost 8 inf + 1 34.070 * * [simplify]: Extracting #4: cost 13 inf + 1 34.070 * * [simplify]: Extracting #5: cost 15 inf + 2 34.070 * * [simplify]: Extracting #6: cost 9 inf + 309 34.070 * * [simplify]: Extracting #7: cost 10 inf + 734 34.070 * * [simplify]: Extracting #8: cost 6 inf + 1557 34.071 * * [simplify]: Extracting #9: cost 4 inf + 2703 34.071 * * [simplify]: Extracting #10: cost 3 inf + 3346 34.072 * * [simplify]: Extracting #11: cost 0 inf + 5996 34.072 * [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)))))))))