0.002 * [progress]: [Phase 1 of 3] Setting up. 0.002 * * * [progress]: [1/2] Preparing points 28.060 * * * [progress]: [2/2] Setting up program. 28.068 * [progress]: [Phase 2 of 3] Improving. 28.068 * * * * [progress]: [ 1 / 1 ] simplifiying candidate # 28.068 * [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))))))))) 28.068 * * [simplify]: iters left: 6 (22 enodes) 28.073 * * [simplify]: iters left: 5 (80 enodes) 28.086 * * [simplify]: iters left: 4 (107 enodes) 28.137 * * [simplify]: iters left: 3 (125 enodes) 28.160 * * [simplify]: Extracting #0: cost 1 inf + 0 28.160 * * [simplify]: Extracting #1: cost 4 inf + 0 28.160 * * [simplify]: Extracting #2: cost 6 inf + 1 28.160 * * [simplify]: Extracting #3: cost 21 inf + 1 28.160 * * [simplify]: Extracting #4: cost 38 inf + 1 28.160 * * [simplify]: Extracting #5: cost 28 inf + 734 28.161 * * [simplify]: Extracting #6: cost 24 inf + 1889 28.161 * * [simplify]: Extracting #7: cost 25 inf + 2537 28.162 * * [simplify]: Extracting #8: cost 18 inf + 4766 28.163 * * [simplify]: Extracting #9: cost 12 inf + 7142 28.164 * * [simplify]: Extracting #10: cost 3 inf + 13414 28.168 * * [simplify]: Extracting #11: cost 0 inf + 16385 28.172 * * [simplify]: Extracting #12: cost 0 inf + 16340 28.177 * [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) 28.177 * [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)) 28.205 * * [progress]: iteration 1 / 4 28.205 * * * [progress]: picking best candidate 28.218 * * * * [pick]: Picked # 28.218 * * * [progress]: localizing error 28.304 * * * [progress]: generating rewritten candidates 28.304 * * * * [progress]: [ 1 / 4 ] rewriting at (2 1 2) 28.311 * * * * [progress]: [ 2 / 4 ] rewriting at (2 1 2 2 2 1) 28.312 * * * * [progress]: [ 3 / 4 ] rewriting at (2 1 1) 28.341 * * * * [progress]: [ 4 / 4 ] rewriting at (2 1 2 2 2 1 1 3) 28.354 * * * [progress]: generating series expansions 28.354 * * * * [progress]: [ 1 / 4 ] generating series at (2 1 2) 28.354 * [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))))) 28.354 * [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 28.354 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in theta 28.354 * [taylor]: Taking taylor expansion of (cos delta) in theta 28.354 * [taylor]: Taking taylor expansion of delta in theta 28.354 * [backup-simplify]: Simplify delta into delta 28.354 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.354 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.354 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 28.354 * [taylor]: Taking taylor expansion of (sin phi1) in theta 28.354 * [taylor]: Taking taylor expansion of phi1 in theta 28.354 * [backup-simplify]: Simplify phi1 into phi1 28.354 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.354 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.354 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 28.354 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 28.354 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 28.354 * [taylor]: Taking taylor expansion of (cos theta) in theta 28.354 * [taylor]: Taking taylor expansion of theta in theta 28.354 * [backup-simplify]: Simplify 0 into 0 28.354 * [backup-simplify]: Simplify 1 into 1 28.355 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 28.355 * [taylor]: Taking taylor expansion of (cos phi1) in theta 28.355 * [taylor]: Taking taylor expansion of phi1 in theta 28.355 * [backup-simplify]: Simplify phi1 into phi1 28.355 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.355 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.355 * [taylor]: Taking taylor expansion of (sin delta) in theta 28.355 * [taylor]: Taking taylor expansion of delta in theta 28.355 * [backup-simplify]: Simplify delta into delta 28.355 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.355 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.355 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 28.355 * [taylor]: Taking taylor expansion of (sin phi1) in theta 28.355 * [taylor]: Taking taylor expansion of phi1 in theta 28.355 * [backup-simplify]: Simplify phi1 into phi1 28.355 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.355 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.355 * [taylor]: Taking taylor expansion of (cos delta) in theta 28.355 * [taylor]: Taking taylor expansion of delta in theta 28.355 * [backup-simplify]: Simplify delta into delta 28.355 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.355 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.355 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in phi1 28.355 * [taylor]: Taking taylor expansion of (cos delta) in phi1 28.355 * [taylor]: Taking taylor expansion of delta in phi1 28.355 * [backup-simplify]: Simplify delta into delta 28.355 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.355 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.355 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 28.355 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.355 * [taylor]: Taking taylor expansion of phi1 in phi1 28.355 * [backup-simplify]: Simplify 0 into 0 28.355 * [backup-simplify]: Simplify 1 into 1 28.355 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 28.355 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 28.355 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 28.355 * [taylor]: Taking taylor expansion of (cos theta) in phi1 28.355 * [taylor]: Taking taylor expansion of theta in phi1 28.355 * [backup-simplify]: Simplify theta into theta 28.355 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.355 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.355 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 28.355 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 28.355 * [taylor]: Taking taylor expansion of phi1 in phi1 28.355 * [backup-simplify]: Simplify 0 into 0 28.355 * [backup-simplify]: Simplify 1 into 1 28.355 * [taylor]: Taking taylor expansion of (sin delta) in phi1 28.355 * [taylor]: Taking taylor expansion of delta in phi1 28.355 * [backup-simplify]: Simplify delta into delta 28.355 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.355 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.355 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 28.355 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.356 * [taylor]: Taking taylor expansion of phi1 in phi1 28.356 * [backup-simplify]: Simplify 0 into 0 28.356 * [backup-simplify]: Simplify 1 into 1 28.356 * [taylor]: Taking taylor expansion of (cos delta) in phi1 28.356 * [taylor]: Taking taylor expansion of delta in phi1 28.356 * [backup-simplify]: Simplify delta into delta 28.356 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.356 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.356 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in delta 28.356 * [taylor]: Taking taylor expansion of (cos delta) in delta 28.356 * [taylor]: Taking taylor expansion of delta in delta 28.356 * [backup-simplify]: Simplify 0 into 0 28.356 * [backup-simplify]: Simplify 1 into 1 28.356 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 28.356 * [taylor]: Taking taylor expansion of (sin phi1) in delta 28.356 * [taylor]: Taking taylor expansion of phi1 in delta 28.356 * [backup-simplify]: Simplify phi1 into phi1 28.356 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.356 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.356 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 28.356 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 28.356 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 28.356 * [taylor]: Taking taylor expansion of (cos theta) in delta 28.356 * [taylor]: Taking taylor expansion of theta in delta 28.356 * [backup-simplify]: Simplify theta into theta 28.356 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.356 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.356 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 28.356 * [taylor]: Taking taylor expansion of (cos phi1) in delta 28.356 * [taylor]: Taking taylor expansion of phi1 in delta 28.356 * [backup-simplify]: Simplify phi1 into phi1 28.356 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.356 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.356 * [taylor]: Taking taylor expansion of (sin delta) in delta 28.356 * [taylor]: Taking taylor expansion of delta in delta 28.356 * [backup-simplify]: Simplify 0 into 0 28.356 * [backup-simplify]: Simplify 1 into 1 28.356 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 28.357 * [taylor]: Taking taylor expansion of (sin phi1) in delta 28.357 * [taylor]: Taking taylor expansion of phi1 in delta 28.357 * [backup-simplify]: Simplify phi1 into phi1 28.357 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.357 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.357 * [taylor]: Taking taylor expansion of (cos delta) in delta 28.357 * [taylor]: Taking taylor expansion of delta in delta 28.357 * [backup-simplify]: Simplify 0 into 0 28.357 * [backup-simplify]: Simplify 1 into 1 28.357 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in delta 28.357 * [taylor]: Taking taylor expansion of (cos delta) in delta 28.357 * [taylor]: Taking taylor expansion of delta in delta 28.357 * [backup-simplify]: Simplify 0 into 0 28.357 * [backup-simplify]: Simplify 1 into 1 28.357 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 28.357 * [taylor]: Taking taylor expansion of (sin phi1) in delta 28.357 * [taylor]: Taking taylor expansion of phi1 in delta 28.357 * [backup-simplify]: Simplify phi1 into phi1 28.357 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.357 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.357 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 28.357 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 28.357 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 28.357 * [taylor]: Taking taylor expansion of (cos theta) in delta 28.357 * [taylor]: Taking taylor expansion of theta in delta 28.357 * [backup-simplify]: Simplify theta into theta 28.357 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.357 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.357 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 28.357 * [taylor]: Taking taylor expansion of (cos phi1) in delta 28.357 * [taylor]: Taking taylor expansion of phi1 in delta 28.357 * [backup-simplify]: Simplify phi1 into phi1 28.357 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.357 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.357 * [taylor]: Taking taylor expansion of (sin delta) in delta 28.357 * [taylor]: Taking taylor expansion of delta in delta 28.357 * [backup-simplify]: Simplify 0 into 0 28.357 * [backup-simplify]: Simplify 1 into 1 28.357 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 28.357 * [taylor]: Taking taylor expansion of (sin phi1) in delta 28.357 * [taylor]: Taking taylor expansion of phi1 in delta 28.357 * [backup-simplify]: Simplify phi1 into phi1 28.357 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.357 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.357 * [taylor]: Taking taylor expansion of (cos delta) in delta 28.357 * [taylor]: Taking taylor expansion of delta in delta 28.357 * [backup-simplify]: Simplify 0 into 0 28.357 * [backup-simplify]: Simplify 1 into 1 28.358 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 28.358 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 28.358 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 28.358 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 28.358 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 28.359 * [backup-simplify]: Simplify (- 0) into 0 28.359 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 28.359 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 28.359 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 28.359 * [backup-simplify]: Simplify (- 0) into 0 28.359 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 28.359 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 28.359 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 28.359 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 28.359 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 28.359 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 28.359 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 28.359 * [backup-simplify]: Simplify (+ 0 (sin phi1)) into (sin phi1) 28.359 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 28.359 * [backup-simplify]: Simplify (- (pow (sin phi1) 2)) into (- (pow (sin phi1) 2)) 28.360 * [backup-simplify]: Simplify (+ 1 (- (pow (sin phi1) 2))) into (- 1 (pow (sin phi1) 2)) 28.360 * [taylor]: Taking taylor expansion of (- 1 (pow (sin phi1) 2)) in phi1 28.360 * [taylor]: Taking taylor expansion of 1 in phi1 28.360 * [backup-simplify]: Simplify 1 into 1 28.360 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 28.360 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.360 * [taylor]: Taking taylor expansion of phi1 in phi1 28.360 * [backup-simplify]: Simplify 0 into 0 28.360 * [backup-simplify]: Simplify 1 into 1 28.361 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.361 * [backup-simplify]: Simplify (+ 1 0) into 1 28.361 * [taylor]: Taking taylor expansion of 1 in theta 28.361 * [backup-simplify]: Simplify 1 into 1 28.361 * [backup-simplify]: Simplify 1 into 1 28.361 * [backup-simplify]: Simplify (+ 0) into 0 28.362 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.362 * [backup-simplify]: Simplify (+ 0) into 0 28.363 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 28.363 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.364 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 28.364 * [backup-simplify]: Simplify (- 0) into 0 28.364 * [backup-simplify]: Simplify (+ 0 0) into 0 28.364 * [backup-simplify]: Simplify (+ (* (cos phi1) 1) (* 0 0)) into (cos phi1) 28.365 * [backup-simplify]: Simplify (+ 0) into 0 28.365 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 28.366 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.366 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 28.366 * [backup-simplify]: Simplify (- 0) into 0 28.366 * [backup-simplify]: Simplify (+ 0 0) into 0 28.367 * [backup-simplify]: Simplify (+ (* (cos theta) (cos phi1)) (* 0 0)) into (* (cos theta) (cos phi1)) 28.367 * [backup-simplify]: Simplify (+ 0) into 0 28.367 * [backup-simplify]: Simplify (+ 0) into 0 28.368 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 28.368 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.369 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 28.369 * [backup-simplify]: Simplify (+ 0 0) into 0 28.369 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 28.369 * [backup-simplify]: Simplify (+ (* (cos theta) (cos phi1)) 0) into (* (cos theta) (cos phi1)) 28.370 * [backup-simplify]: Simplify (+ 0) into 0 28.370 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 28.371 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.371 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 28.371 * [backup-simplify]: Simplify (+ 0 0) into 0 28.371 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos theta) (cos phi1))) (* 0 (sin phi1))) into (* (sin phi1) (* (cos theta) (cos phi1))) 28.371 * [backup-simplify]: Simplify (- (* (sin phi1) (* (cos theta) (cos phi1)))) into (- (* (sin phi1) (* (cos theta) (cos phi1)))) 28.371 * [backup-simplify]: Simplify (+ 0 (- (* (sin phi1) (* (cos theta) (cos phi1))))) into (- (* (sin phi1) (* (cos theta) (cos phi1)))) 28.371 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (* (cos theta) (cos phi1)))) in phi1 28.371 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos theta) (cos phi1))) in phi1 28.371 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.371 * [taylor]: Taking taylor expansion of phi1 in phi1 28.371 * [backup-simplify]: Simplify 0 into 0 28.371 * [backup-simplify]: Simplify 1 into 1 28.371 * [taylor]: Taking taylor expansion of (* (cos theta) (cos phi1)) in phi1 28.372 * [taylor]: Taking taylor expansion of (cos theta) in phi1 28.372 * [taylor]: Taking taylor expansion of theta in phi1 28.372 * [backup-simplify]: Simplify theta into theta 28.372 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.372 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.372 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 28.372 * [taylor]: Taking taylor expansion of phi1 in phi1 28.372 * [backup-simplify]: Simplify 0 into 0 28.372 * [backup-simplify]: Simplify 1 into 1 28.372 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 28.372 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 28.372 * [backup-simplify]: Simplify (- 0) into 0 28.372 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 28.372 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 28.372 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 28.372 * [backup-simplify]: Simplify (- 0) into 0 28.372 * [taylor]: Taking taylor expansion of 0 in theta 28.372 * [backup-simplify]: Simplify 0 into 0 28.372 * [backup-simplify]: Simplify 0 into 0 28.373 * [backup-simplify]: Simplify (+ 0 0) into 0 28.373 * [taylor]: Taking taylor expansion of 0 in theta 28.373 * [backup-simplify]: Simplify 0 into 0 28.373 * [backup-simplify]: Simplify 0 into 0 28.373 * [backup-simplify]: Simplify 0 into 0 28.373 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 28.374 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.374 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.375 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 28.375 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.376 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 28.376 * [backup-simplify]: Simplify (- 0) into 0 28.376 * [backup-simplify]: Simplify (+ 0 0) into 0 28.377 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 1) (* 0 0))) into 0 28.377 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.378 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 28.378 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.378 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 28.379 * [backup-simplify]: Simplify (- 0) into 0 28.379 * [backup-simplify]: Simplify (+ 0 0) into 0 28.379 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 (cos phi1)) (* 0 0))) into 0 28.380 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 28.380 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.381 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 28.381 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.381 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 28.382 * [backup-simplify]: Simplify (+ 0 0) into 0 28.382 * [backup-simplify]: Simplify (+ (* (sin phi1) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (sin phi1))) 28.382 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (sin phi1)))) into (- (* 1/2 (sin phi1))) 28.383 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.383 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 28.384 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.384 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 28.384 * [backup-simplify]: Simplify (+ 0 0) into 0 28.384 * [backup-simplify]: Simplify (+ (* (sin phi1) (- (* 1/2 (sin phi1)))) (+ (* 0 (* (cos theta) (cos phi1))) (* 0 (sin phi1)))) into (- (* 1/2 (pow (sin phi1) 2))) 28.384 * [backup-simplify]: Simplify (- (- (* 1/2 (pow (sin phi1) 2)))) into (* 1/2 (pow (sin phi1) 2)) 28.385 * [backup-simplify]: Simplify (+ -1/2 (* 1/2 (pow (sin phi1) 2))) into (- (* 1/2 (pow (sin phi1) 2)) 1/2) 28.385 * [taylor]: Taking taylor expansion of (- (* 1/2 (pow (sin phi1) 2)) 1/2) in phi1 28.385 * [taylor]: Taking taylor expansion of (* 1/2 (pow (sin phi1) 2)) in phi1 28.385 * [taylor]: Taking taylor expansion of 1/2 in phi1 28.385 * [backup-simplify]: Simplify 1/2 into 1/2 28.385 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 28.385 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.385 * [taylor]: Taking taylor expansion of phi1 in phi1 28.385 * [backup-simplify]: Simplify 0 into 0 28.385 * [backup-simplify]: Simplify 1 into 1 28.385 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.385 * [taylor]: Taking taylor expansion of 1/2 in phi1 28.385 * [backup-simplify]: Simplify 1/2 into 1/2 28.385 * [backup-simplify]: Simplify (- 1/2) into -1/2 28.386 * [backup-simplify]: Simplify (+ 0 -1/2) into -1/2 28.386 * [taylor]: Taking taylor expansion of -1/2 in theta 28.386 * [backup-simplify]: Simplify -1/2 into -1/2 28.386 * [backup-simplify]: Simplify -1/2 into -1/2 28.386 * [backup-simplify]: Simplify (+ 0) into 0 28.386 * [backup-simplify]: Simplify (+ 0) into 0 28.387 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 28.387 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.387 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 28.388 * [backup-simplify]: Simplify (- 0) into 0 28.388 * [backup-simplify]: Simplify (+ 0 0) into 0 28.388 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 28.389 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.389 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos theta))) into (cos theta) 28.389 * [backup-simplify]: Simplify (- (cos theta)) into (- (cos theta)) 28.389 * [taylor]: Taking taylor expansion of (- (cos theta)) in theta 28.389 * [taylor]: Taking taylor expansion of (cos theta) in theta 28.389 * [taylor]: Taking taylor expansion of theta in theta 28.389 * [backup-simplify]: Simplify 0 into 0 28.389 * [backup-simplify]: Simplify 1 into 1 28.389 * [backup-simplify]: Simplify (- 1) into -1 28.389 * [backup-simplify]: Simplify -1 into -1 28.389 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* phi1 delta))) (+ (* -1/2 (pow (* 1 (* 1 delta)) 2)) 1)) into (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) 28.390 * [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)))) 28.390 * [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 28.390 * [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 28.390 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 28.390 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.390 * [taylor]: Taking taylor expansion of delta in theta 28.390 * [backup-simplify]: Simplify delta into delta 28.390 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.390 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.390 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.390 * [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 28.390 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 28.390 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 28.390 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 28.390 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 28.390 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 28.390 * [taylor]: Taking taylor expansion of theta in theta 28.390 * [backup-simplify]: Simplify 0 into 0 28.390 * [backup-simplify]: Simplify 1 into 1 28.390 * [backup-simplify]: Simplify (/ 1 1) into 1 28.390 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.390 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 28.390 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 28.390 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.391 * [taylor]: Taking taylor expansion of delta in theta 28.391 * [backup-simplify]: Simplify delta into delta 28.391 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.391 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.391 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.391 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 28.391 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.391 * [taylor]: Taking taylor expansion of phi1 in theta 28.391 * [backup-simplify]: Simplify phi1 into phi1 28.391 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.391 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.391 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.391 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 28.391 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 28.391 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.391 * [taylor]: Taking taylor expansion of phi1 in theta 28.391 * [backup-simplify]: Simplify phi1 into phi1 28.391 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.391 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.391 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.391 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 28.391 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.391 * [taylor]: Taking taylor expansion of delta in theta 28.391 * [backup-simplify]: Simplify delta into delta 28.391 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.391 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.391 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.391 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 28.391 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.391 * [taylor]: Taking taylor expansion of phi1 in theta 28.391 * [backup-simplify]: Simplify phi1 into phi1 28.391 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.391 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.391 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.391 * [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 28.391 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 28.391 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.391 * [taylor]: Taking taylor expansion of delta in phi1 28.391 * [backup-simplify]: Simplify delta into delta 28.392 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.392 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.392 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.392 * [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 28.392 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 28.392 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 28.392 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 28.392 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 28.392 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 28.392 * [taylor]: Taking taylor expansion of theta in phi1 28.392 * [backup-simplify]: Simplify theta into theta 28.392 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.392 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.392 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.392 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 28.392 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 28.392 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.392 * [taylor]: Taking taylor expansion of delta in phi1 28.392 * [backup-simplify]: Simplify delta into delta 28.392 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.392 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.392 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.392 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 28.392 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.392 * [taylor]: Taking taylor expansion of phi1 in phi1 28.392 * [backup-simplify]: Simplify 0 into 0 28.392 * [backup-simplify]: Simplify 1 into 1 28.392 * [backup-simplify]: Simplify (/ 1 1) into 1 28.392 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.393 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 28.393 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.393 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.393 * [taylor]: Taking taylor expansion of phi1 in phi1 28.393 * [backup-simplify]: Simplify 0 into 0 28.393 * [backup-simplify]: Simplify 1 into 1 28.393 * [backup-simplify]: Simplify (/ 1 1) into 1 28.393 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.393 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 28.393 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.393 * [taylor]: Taking taylor expansion of delta in phi1 28.393 * [backup-simplify]: Simplify delta into delta 28.393 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.393 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.393 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.393 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.393 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.393 * [taylor]: Taking taylor expansion of phi1 in phi1 28.393 * [backup-simplify]: Simplify 0 into 0 28.393 * [backup-simplify]: Simplify 1 into 1 28.393 * [backup-simplify]: Simplify (/ 1 1) into 1 28.394 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.394 * [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 28.394 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 28.394 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.394 * [taylor]: Taking taylor expansion of delta in delta 28.394 * [backup-simplify]: Simplify 0 into 0 28.394 * [backup-simplify]: Simplify 1 into 1 28.394 * [backup-simplify]: Simplify (/ 1 1) into 1 28.394 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.394 * [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 28.394 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 28.394 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 28.394 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 28.394 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 28.394 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 28.394 * [taylor]: Taking taylor expansion of theta in delta 28.394 * [backup-simplify]: Simplify theta into theta 28.394 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.394 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.394 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.394 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 28.394 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 28.394 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.394 * [taylor]: Taking taylor expansion of delta in delta 28.394 * [backup-simplify]: Simplify 0 into 0 28.394 * [backup-simplify]: Simplify 1 into 1 28.395 * [backup-simplify]: Simplify (/ 1 1) into 1 28.395 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.395 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 28.395 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.395 * [taylor]: Taking taylor expansion of phi1 in delta 28.395 * [backup-simplify]: Simplify phi1 into phi1 28.395 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.395 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.395 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.395 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 28.395 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.395 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.395 * [taylor]: Taking taylor expansion of phi1 in delta 28.395 * [backup-simplify]: Simplify phi1 into phi1 28.395 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.395 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.395 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.395 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 28.395 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.395 * [taylor]: Taking taylor expansion of delta in delta 28.395 * [backup-simplify]: Simplify 0 into 0 28.395 * [backup-simplify]: Simplify 1 into 1 28.395 * [backup-simplify]: Simplify (/ 1 1) into 1 28.395 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.395 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.395 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.395 * [taylor]: Taking taylor expansion of phi1 in delta 28.395 * [backup-simplify]: Simplify phi1 into phi1 28.395 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.396 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.396 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.396 * [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 28.396 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 28.396 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.396 * [taylor]: Taking taylor expansion of delta in delta 28.396 * [backup-simplify]: Simplify 0 into 0 28.396 * [backup-simplify]: Simplify 1 into 1 28.396 * [backup-simplify]: Simplify (/ 1 1) into 1 28.396 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.396 * [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 28.396 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 28.396 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 28.396 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 28.396 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 28.396 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 28.396 * [taylor]: Taking taylor expansion of theta in delta 28.396 * [backup-simplify]: Simplify theta into theta 28.396 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.396 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.396 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.396 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 28.396 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 28.396 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.396 * [taylor]: Taking taylor expansion of delta in delta 28.396 * [backup-simplify]: Simplify 0 into 0 28.396 * [backup-simplify]: Simplify 1 into 1 28.397 * [backup-simplify]: Simplify (/ 1 1) into 1 28.397 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.397 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 28.397 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.397 * [taylor]: Taking taylor expansion of phi1 in delta 28.397 * [backup-simplify]: Simplify phi1 into phi1 28.397 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.397 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.397 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.397 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 28.397 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.397 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.397 * [taylor]: Taking taylor expansion of phi1 in delta 28.397 * [backup-simplify]: Simplify phi1 into phi1 28.397 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.397 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.397 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.397 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 28.397 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.397 * [taylor]: Taking taylor expansion of delta in delta 28.397 * [backup-simplify]: Simplify 0 into 0 28.397 * [backup-simplify]: Simplify 1 into 1 28.397 * [backup-simplify]: Simplify (/ 1 1) into 1 28.397 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.397 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.397 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.398 * [taylor]: Taking taylor expansion of phi1 in delta 28.398 * [backup-simplify]: Simplify phi1 into phi1 28.398 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.398 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.398 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.398 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 28.398 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 28.398 * [backup-simplify]: Simplify (- 0) into 0 28.398 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 28.398 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 28.398 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 28.399 * [backup-simplify]: Simplify (- 0) into 0 28.399 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 28.399 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (cos (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 delta))) 28.399 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 28.399 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 28.399 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 28.399 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 28.399 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 28.399 * [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))))) 28.399 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 28.399 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 28.399 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 28.400 * [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))) 28.400 * [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)))) 28.400 * [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)))) 28.400 * [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 28.401 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 28.401 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.401 * [taylor]: Taking taylor expansion of delta in phi1 28.401 * [backup-simplify]: Simplify delta into delta 28.401 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.401 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.401 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.401 * [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 28.401 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in phi1 28.401 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 28.401 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.401 * [taylor]: Taking taylor expansion of phi1 in phi1 28.401 * [backup-simplify]: Simplify 0 into 0 28.401 * [backup-simplify]: Simplify 1 into 1 28.401 * [backup-simplify]: Simplify (/ 1 1) into 1 28.401 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.401 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in phi1 28.401 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.401 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.401 * [taylor]: Taking taylor expansion of phi1 in phi1 28.401 * [backup-simplify]: Simplify 0 into 0 28.401 * [backup-simplify]: Simplify 1 into 1 28.401 * [backup-simplify]: Simplify (/ 1 1) into 1 28.402 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.402 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in phi1 28.402 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 28.402 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 28.402 * [taylor]: Taking taylor expansion of theta in phi1 28.402 * [backup-simplify]: Simplify theta into theta 28.402 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.402 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.402 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.402 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 28.402 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.402 * [taylor]: Taking taylor expansion of delta in phi1 28.402 * [backup-simplify]: Simplify delta into delta 28.402 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.402 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.402 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.402 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in phi1 28.402 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 28.402 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.402 * [taylor]: Taking taylor expansion of delta in phi1 28.402 * [backup-simplify]: Simplify delta into delta 28.402 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.402 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.402 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.402 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 28.402 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.402 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.402 * [taylor]: Taking taylor expansion of phi1 in phi1 28.402 * [backup-simplify]: Simplify 0 into 0 28.402 * [backup-simplify]: Simplify 1 into 1 28.403 * [backup-simplify]: Simplify (/ 1 1) into 1 28.403 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.403 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 28.403 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 28.403 * [backup-simplify]: Simplify (- 0) into 0 28.403 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 28.403 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 28.403 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 28.403 * [backup-simplify]: Simplify (- 0) into 0 28.404 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 28.404 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 28.404 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 28.404 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 28.404 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 28.404 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) 28.404 * [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))))) 28.404 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 28.404 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 28.404 * [backup-simplify]: Simplify (- 0) into 0 28.405 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 28.405 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 28.405 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 28.405 * [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)))) 28.406 * [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)))) 28.407 * [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)))) 28.407 * [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 28.407 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 28.407 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.407 * [taylor]: Taking taylor expansion of delta in theta 28.407 * [backup-simplify]: Simplify delta into delta 28.407 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.407 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.407 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.407 * [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 28.407 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) in theta 28.408 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 28.408 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.408 * [taylor]: Taking taylor expansion of phi1 in theta 28.408 * [backup-simplify]: Simplify phi1 into phi1 28.408 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.408 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.408 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.408 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) in theta 28.408 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 28.408 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.408 * [taylor]: Taking taylor expansion of delta in theta 28.408 * [backup-simplify]: Simplify delta into delta 28.408 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.408 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.408 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.408 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 phi1))) in theta 28.408 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 28.408 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 28.408 * [taylor]: Taking taylor expansion of theta in theta 28.408 * [backup-simplify]: Simplify 0 into 0 28.408 * [backup-simplify]: Simplify 1 into 1 28.409 * [backup-simplify]: Simplify (/ 1 1) into 1 28.409 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.409 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 28.409 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.409 * [taylor]: Taking taylor expansion of phi1 in theta 28.409 * [backup-simplify]: Simplify phi1 into phi1 28.409 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.409 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.410 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.410 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in theta 28.410 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 28.410 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.410 * [taylor]: Taking taylor expansion of delta in theta 28.410 * [backup-simplify]: Simplify delta into delta 28.410 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.410 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.410 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.410 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 28.410 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 28.410 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.410 * [taylor]: Taking taylor expansion of phi1 in theta 28.410 * [backup-simplify]: Simplify phi1 into phi1 28.410 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.410 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.410 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.410 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 28.411 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 28.411 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 28.411 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 28.411 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 28.411 * [backup-simplify]: Simplify (- 0) into 0 28.412 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 28.412 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 28.412 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 28.412 * [backup-simplify]: Simplify (- 0) into 0 28.412 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 28.412 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 28.413 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 28.413 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 28.413 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 28.413 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 28.413 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 28.413 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 phi1))) into (* (cos (/ 1 theta)) (sin (/ 1 phi1))) 28.413 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) into (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 28.414 * [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))))) 28.414 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 28.414 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 28.414 * [backup-simplify]: Simplify (- 0) into 0 28.414 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 28.415 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 28.415 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 28.415 * [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)))) 28.416 * [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))))))) 28.417 * [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))))))) 28.417 * [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))))) 28.418 * [backup-simplify]: Simplify (+ 0) into 0 28.419 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 28.419 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.420 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.420 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 28.421 * [backup-simplify]: Simplify (+ 0 0) into 0 28.421 * [backup-simplify]: Simplify (+ 0) into 0 28.422 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 28.422 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.423 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.423 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 28.424 * [backup-simplify]: Simplify (- 0) into 0 28.424 * [backup-simplify]: Simplify (+ 0 0) into 0 28.424 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 28.425 * [backup-simplify]: Simplify (+ 0) into 0 28.425 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 28.425 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 28.426 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.427 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 28.427 * [backup-simplify]: Simplify (- 0) into 0 28.427 * [backup-simplify]: Simplify (+ 0 0) into 0 28.428 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta))))) into 0 28.428 * [backup-simplify]: Simplify (+ 0) into 0 28.429 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 28.429 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.429 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.430 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 28.430 * [backup-simplify]: Simplify (+ 0 0) into 0 28.430 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 28.431 * [backup-simplify]: Simplify (+ 0 0) into 0 28.431 * [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 28.432 * [backup-simplify]: Simplify (- 0) into 0 28.432 * [backup-simplify]: Simplify (+ 0 0) into 0 28.432 * [taylor]: Taking taylor expansion of 0 in phi1 28.432 * [backup-simplify]: Simplify 0 into 0 28.432 * [taylor]: Taking taylor expansion of 0 in theta 28.432 * [backup-simplify]: Simplify 0 into 0 28.432 * [backup-simplify]: Simplify 0 into 0 28.433 * [backup-simplify]: Simplify (+ 0) into 0 28.433 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 28.433 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.434 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.434 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 28.435 * [backup-simplify]: Simplify (- 0) into 0 28.435 * [backup-simplify]: Simplify (+ 0 0) into 0 28.436 * [backup-simplify]: Simplify (+ 0) into 0 28.436 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 28.436 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.437 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.437 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 28.438 * [backup-simplify]: Simplify (+ 0 0) into 0 28.438 * [backup-simplify]: Simplify (+ 0) into 0 28.439 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 28.439 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 28.440 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.440 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 28.440 * [backup-simplify]: Simplify (- 0) into 0 28.444 * [backup-simplify]: Simplify (+ 0 0) into 0 28.444 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 28.444 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 28.445 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))))) into 0 28.445 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 28.445 * [backup-simplify]: Simplify (+ 0) into 0 28.446 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 28.446 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.447 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.447 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 28.448 * [backup-simplify]: Simplify (- 0) into 0 28.448 * [backup-simplify]: Simplify (+ 0 0) into 0 28.448 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 28.449 * [backup-simplify]: Simplify (+ 0 0) into 0 28.449 * [backup-simplify]: Simplify (- 0) into 0 28.449 * [backup-simplify]: Simplify (+ 0 0) into 0 28.449 * [taylor]: Taking taylor expansion of 0 in theta 28.449 * [backup-simplify]: Simplify 0 into 0 28.449 * [backup-simplify]: Simplify 0 into 0 28.450 * [backup-simplify]: Simplify (+ 0) into 0 28.450 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 28.450 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.451 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.452 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 28.452 * [backup-simplify]: Simplify (- 0) into 0 28.452 * [backup-simplify]: Simplify (+ 0 0) into 0 28.453 * [backup-simplify]: Simplify (+ 0) into 0 28.453 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 28.453 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.454 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.455 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 28.455 * [backup-simplify]: Simplify (+ 0 0) into 0 28.455 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 28.456 * [backup-simplify]: Simplify (+ 0) into 0 28.456 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 28.456 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.457 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.457 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 28.458 * [backup-simplify]: Simplify (+ 0 0) into 0 28.458 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) into 0 28.458 * [backup-simplify]: Simplify (+ 0) into 0 28.459 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 28.459 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.460 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.460 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 28.461 * [backup-simplify]: Simplify (- 0) into 0 28.461 * [backup-simplify]: Simplify (+ 0 0) into 0 28.461 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 28.462 * [backup-simplify]: Simplify (+ 0) into 0 28.462 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 28.462 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.463 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.463 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 28.464 * [backup-simplify]: Simplify (+ 0 0) into 0 28.464 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 28.464 * [backup-simplify]: Simplify (+ 0) into 0 28.465 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 28.465 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.466 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.467 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 28.467 * [backup-simplify]: Simplify (- 0) into 0 28.467 * [backup-simplify]: Simplify (+ 0 0) into 0 28.468 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 28.468 * [backup-simplify]: Simplify (+ 0 0) into 0 28.468 * [backup-simplify]: Simplify (- 0) into 0 28.469 * [backup-simplify]: Simplify (+ 0 0) into 0 28.469 * [backup-simplify]: Simplify 0 into 0 28.470 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.470 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.470 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.471 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.472 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.472 * [backup-simplify]: Simplify (+ 0 0) into 0 28.473 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.474 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.474 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.475 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.475 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.476 * [backup-simplify]: Simplify (- 0) into 0 28.476 * [backup-simplify]: Simplify (+ 0 0) into 0 28.477 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 28.478 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.478 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.479 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.480 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.480 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.480 * [backup-simplify]: Simplify (- 0) into 0 28.481 * [backup-simplify]: Simplify (+ 0 0) into 0 28.481 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta)))))) into 0 28.482 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.483 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.483 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.484 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.484 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.485 * [backup-simplify]: Simplify (+ 0 0) into 0 28.485 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 28.486 * [backup-simplify]: Simplify (+ 0 0) into 0 28.487 * [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 28.487 * [backup-simplify]: Simplify (- 0) into 0 28.487 * [backup-simplify]: Simplify (+ 0 0) into 0 28.487 * [taylor]: Taking taylor expansion of 0 in phi1 28.487 * [backup-simplify]: Simplify 0 into 0 28.487 * [taylor]: Taking taylor expansion of 0 in theta 28.487 * [backup-simplify]: Simplify 0 into 0 28.487 * [backup-simplify]: Simplify 0 into 0 28.487 * [taylor]: Taking taylor expansion of 0 in theta 28.488 * [backup-simplify]: Simplify 0 into 0 28.488 * [backup-simplify]: Simplify 0 into 0 28.488 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.489 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.489 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.490 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.491 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.491 * [backup-simplify]: Simplify (- 0) into 0 28.492 * [backup-simplify]: Simplify (+ 0 0) into 0 28.493 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.493 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.494 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.494 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.495 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.496 * [backup-simplify]: Simplify (+ 0 0) into 0 28.497 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.497 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.498 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.498 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.499 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.499 * [backup-simplify]: Simplify (- 0) into 0 28.500 * [backup-simplify]: Simplify (+ 0 0) into 0 28.500 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 28.501 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 28.501 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))))) into 0 28.502 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 28.503 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.504 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.504 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.505 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.506 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.506 * [backup-simplify]: Simplify (- 0) into 0 28.506 * [backup-simplify]: Simplify (+ 0 0) into 0 28.507 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 1 phi1)) 2)))) into 0 28.507 * [backup-simplify]: Simplify (+ 0 0) into 0 28.508 * [backup-simplify]: Simplify (- 0) into 0 28.508 * [backup-simplify]: Simplify (+ 0 0) into 0 28.508 * [taylor]: Taking taylor expansion of 0 in theta 28.508 * [backup-simplify]: Simplify 0 into 0 28.508 * [backup-simplify]: Simplify 0 into 0 28.509 * [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)))))) 28.510 * [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)))))) 28.510 * [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 28.510 * [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 28.510 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 28.510 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.510 * [taylor]: Taking taylor expansion of -1 in theta 28.510 * [backup-simplify]: Simplify -1 into -1 28.510 * [taylor]: Taking taylor expansion of delta in theta 28.510 * [backup-simplify]: Simplify delta into delta 28.510 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.510 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.510 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.510 * [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 28.510 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 28.510 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.510 * [taylor]: Taking taylor expansion of -1 in theta 28.510 * [backup-simplify]: Simplify -1 into -1 28.510 * [taylor]: Taking taylor expansion of phi1 in theta 28.510 * [backup-simplify]: Simplify phi1 into phi1 28.510 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.510 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.510 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.510 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 28.511 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 28.511 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 28.511 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 28.511 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 28.511 * [taylor]: Taking taylor expansion of -1 in theta 28.511 * [backup-simplify]: Simplify -1 into -1 28.511 * [taylor]: Taking taylor expansion of theta in theta 28.511 * [backup-simplify]: Simplify 0 into 0 28.511 * [backup-simplify]: Simplify 1 into 1 28.511 * [backup-simplify]: Simplify (/ -1 1) into -1 28.511 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.511 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 28.511 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 28.511 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.512 * [taylor]: Taking taylor expansion of -1 in theta 28.512 * [backup-simplify]: Simplify -1 into -1 28.512 * [taylor]: Taking taylor expansion of phi1 in theta 28.512 * [backup-simplify]: Simplify phi1 into phi1 28.512 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.512 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.512 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.512 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 28.512 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.512 * [taylor]: Taking taylor expansion of -1 in theta 28.512 * [backup-simplify]: Simplify -1 into -1 28.512 * [taylor]: Taking taylor expansion of delta in theta 28.512 * [backup-simplify]: Simplify delta into delta 28.512 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.512 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.512 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.512 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 28.512 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 28.512 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.512 * [taylor]: Taking taylor expansion of -1 in theta 28.512 * [backup-simplify]: Simplify -1 into -1 28.512 * [taylor]: Taking taylor expansion of phi1 in theta 28.512 * [backup-simplify]: Simplify phi1 into phi1 28.512 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.512 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.513 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.513 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 28.513 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.513 * [taylor]: Taking taylor expansion of -1 in theta 28.513 * [backup-simplify]: Simplify -1 into -1 28.513 * [taylor]: Taking taylor expansion of delta in theta 28.513 * [backup-simplify]: Simplify delta into delta 28.513 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.513 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.513 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.513 * [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 28.513 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 28.513 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.513 * [taylor]: Taking taylor expansion of -1 in phi1 28.513 * [backup-simplify]: Simplify -1 into -1 28.513 * [taylor]: Taking taylor expansion of delta in phi1 28.513 * [backup-simplify]: Simplify delta into delta 28.513 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.513 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.513 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.513 * [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 28.513 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.513 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.513 * [taylor]: Taking taylor expansion of -1 in phi1 28.513 * [backup-simplify]: Simplify -1 into -1 28.513 * [taylor]: Taking taylor expansion of phi1 in phi1 28.513 * [backup-simplify]: Simplify 0 into 0 28.513 * [backup-simplify]: Simplify 1 into 1 28.514 * [backup-simplify]: Simplify (/ -1 1) into -1 28.514 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.514 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 28.514 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 28.514 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 28.514 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 28.514 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 28.514 * [taylor]: Taking taylor expansion of -1 in phi1 28.514 * [backup-simplify]: Simplify -1 into -1 28.514 * [taylor]: Taking taylor expansion of theta in phi1 28.514 * [backup-simplify]: Simplify theta into theta 28.514 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.515 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.515 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.515 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 28.515 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 28.515 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.515 * [taylor]: Taking taylor expansion of -1 in phi1 28.515 * [backup-simplify]: Simplify -1 into -1 28.515 * [taylor]: Taking taylor expansion of phi1 in phi1 28.515 * [backup-simplify]: Simplify 0 into 0 28.515 * [backup-simplify]: Simplify 1 into 1 28.515 * [backup-simplify]: Simplify (/ -1 1) into -1 28.515 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.515 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 28.515 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.516 * [taylor]: Taking taylor expansion of -1 in phi1 28.516 * [backup-simplify]: Simplify -1 into -1 28.516 * [taylor]: Taking taylor expansion of delta in phi1 28.516 * [backup-simplify]: Simplify delta into delta 28.516 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.516 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.516 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.516 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 28.516 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.516 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.516 * [taylor]: Taking taylor expansion of -1 in phi1 28.516 * [backup-simplify]: Simplify -1 into -1 28.516 * [taylor]: Taking taylor expansion of phi1 in phi1 28.516 * [backup-simplify]: Simplify 0 into 0 28.516 * [backup-simplify]: Simplify 1 into 1 28.517 * [backup-simplify]: Simplify (/ -1 1) into -1 28.517 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.517 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 28.517 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.517 * [taylor]: Taking taylor expansion of -1 in phi1 28.517 * [backup-simplify]: Simplify -1 into -1 28.517 * [taylor]: Taking taylor expansion of delta in phi1 28.517 * [backup-simplify]: Simplify delta into delta 28.517 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.517 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.517 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.517 * [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 28.517 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 28.517 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.517 * [taylor]: Taking taylor expansion of -1 in delta 28.517 * [backup-simplify]: Simplify -1 into -1 28.517 * [taylor]: Taking taylor expansion of delta in delta 28.517 * [backup-simplify]: Simplify 0 into 0 28.517 * [backup-simplify]: Simplify 1 into 1 28.518 * [backup-simplify]: Simplify (/ -1 1) into -1 28.518 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.518 * [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 28.518 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.518 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.518 * [taylor]: Taking taylor expansion of -1 in delta 28.518 * [backup-simplify]: Simplify -1 into -1 28.518 * [taylor]: Taking taylor expansion of phi1 in delta 28.518 * [backup-simplify]: Simplify phi1 into phi1 28.518 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.518 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.518 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.518 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 28.518 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 28.518 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 28.518 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 28.518 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 28.518 * [taylor]: Taking taylor expansion of -1 in delta 28.518 * [backup-simplify]: Simplify -1 into -1 28.518 * [taylor]: Taking taylor expansion of theta in delta 28.518 * [backup-simplify]: Simplify theta into theta 28.518 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.519 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.519 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.519 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 28.519 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 28.519 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.519 * [taylor]: Taking taylor expansion of -1 in delta 28.519 * [backup-simplify]: Simplify -1 into -1 28.519 * [taylor]: Taking taylor expansion of phi1 in delta 28.519 * [backup-simplify]: Simplify phi1 into phi1 28.519 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.519 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.519 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.519 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 28.519 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.519 * [taylor]: Taking taylor expansion of -1 in delta 28.519 * [backup-simplify]: Simplify -1 into -1 28.519 * [taylor]: Taking taylor expansion of delta in delta 28.519 * [backup-simplify]: Simplify 0 into 0 28.519 * [backup-simplify]: Simplify 1 into 1 28.520 * [backup-simplify]: Simplify (/ -1 1) into -1 28.520 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.520 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 28.520 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.520 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.520 * [taylor]: Taking taylor expansion of -1 in delta 28.520 * [backup-simplify]: Simplify -1 into -1 28.520 * [taylor]: Taking taylor expansion of phi1 in delta 28.520 * [backup-simplify]: Simplify phi1 into phi1 28.520 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.520 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.520 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.520 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 28.520 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.520 * [taylor]: Taking taylor expansion of -1 in delta 28.520 * [backup-simplify]: Simplify -1 into -1 28.520 * [taylor]: Taking taylor expansion of delta in delta 28.520 * [backup-simplify]: Simplify 0 into 0 28.520 * [backup-simplify]: Simplify 1 into 1 28.521 * [backup-simplify]: Simplify (/ -1 1) into -1 28.521 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.521 * [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 28.521 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 28.521 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.521 * [taylor]: Taking taylor expansion of -1 in delta 28.521 * [backup-simplify]: Simplify -1 into -1 28.521 * [taylor]: Taking taylor expansion of delta in delta 28.521 * [backup-simplify]: Simplify 0 into 0 28.521 * [backup-simplify]: Simplify 1 into 1 28.521 * [backup-simplify]: Simplify (/ -1 1) into -1 28.522 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.522 * [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 28.522 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.522 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.522 * [taylor]: Taking taylor expansion of -1 in delta 28.522 * [backup-simplify]: Simplify -1 into -1 28.522 * [taylor]: Taking taylor expansion of phi1 in delta 28.522 * [backup-simplify]: Simplify phi1 into phi1 28.522 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.522 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.522 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.522 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 28.522 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 28.522 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 28.522 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 28.522 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 28.522 * [taylor]: Taking taylor expansion of -1 in delta 28.522 * [backup-simplify]: Simplify -1 into -1 28.522 * [taylor]: Taking taylor expansion of theta in delta 28.522 * [backup-simplify]: Simplify theta into theta 28.522 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.522 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.522 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.522 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 28.522 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 28.522 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.522 * [taylor]: Taking taylor expansion of -1 in delta 28.523 * [backup-simplify]: Simplify -1 into -1 28.523 * [taylor]: Taking taylor expansion of phi1 in delta 28.523 * [backup-simplify]: Simplify phi1 into phi1 28.523 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.523 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.523 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.523 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 28.523 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.523 * [taylor]: Taking taylor expansion of -1 in delta 28.523 * [backup-simplify]: Simplify -1 into -1 28.523 * [taylor]: Taking taylor expansion of delta in delta 28.523 * [backup-simplify]: Simplify 0 into 0 28.523 * [backup-simplify]: Simplify 1 into 1 28.523 * [backup-simplify]: Simplify (/ -1 1) into -1 28.523 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.523 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 28.524 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.524 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.524 * [taylor]: Taking taylor expansion of -1 in delta 28.524 * [backup-simplify]: Simplify -1 into -1 28.524 * [taylor]: Taking taylor expansion of phi1 in delta 28.524 * [backup-simplify]: Simplify phi1 into phi1 28.524 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.524 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.524 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.524 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 28.524 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.524 * [taylor]: Taking taylor expansion of -1 in delta 28.524 * [backup-simplify]: Simplify -1 into -1 28.524 * [taylor]: Taking taylor expansion of delta in delta 28.524 * [backup-simplify]: Simplify 0 into 0 28.524 * [backup-simplify]: Simplify 1 into 1 28.524 * [backup-simplify]: Simplify (/ -1 1) into -1 28.525 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.525 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 28.525 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 28.525 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 28.525 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 28.525 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 28.526 * [backup-simplify]: Simplify (- 0) into 0 28.526 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 28.526 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 28.526 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 28.526 * [backup-simplify]: Simplify (- 0) into 0 28.526 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 28.526 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 28.527 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 28.527 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 28.527 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 28.527 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 28.527 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 28.528 * [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)))) 28.528 * [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))))) 28.528 * [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))))))) 28.529 * [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))))))) 28.529 * [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 28.529 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 28.529 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.529 * [taylor]: Taking taylor expansion of -1 in phi1 28.529 * [backup-simplify]: Simplify -1 into -1 28.529 * [taylor]: Taking taylor expansion of delta in phi1 28.530 * [backup-simplify]: Simplify delta into delta 28.530 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.530 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.530 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.530 * [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 28.530 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in phi1 28.530 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 28.530 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.530 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.530 * [taylor]: Taking taylor expansion of -1 in phi1 28.530 * [backup-simplify]: Simplify -1 into -1 28.530 * [taylor]: Taking taylor expansion of phi1 in phi1 28.530 * [backup-simplify]: Simplify 0 into 0 28.530 * [backup-simplify]: Simplify 1 into 1 28.531 * [backup-simplify]: Simplify (/ -1 1) into -1 28.531 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.531 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 28.531 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.531 * [taylor]: Taking taylor expansion of -1 in phi1 28.531 * [backup-simplify]: Simplify -1 into -1 28.531 * [taylor]: Taking taylor expansion of delta in phi1 28.531 * [backup-simplify]: Simplify delta into delta 28.531 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.531 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.531 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.531 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) in phi1 28.531 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.531 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.531 * [taylor]: Taking taylor expansion of -1 in phi1 28.531 * [backup-simplify]: Simplify -1 into -1 28.531 * [taylor]: Taking taylor expansion of phi1 in phi1 28.531 * [backup-simplify]: Simplify 0 into 0 28.531 * [backup-simplify]: Simplify 1 into 1 28.532 * [backup-simplify]: Simplify (/ -1 1) into -1 28.532 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.532 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))) in phi1 28.532 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 28.532 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 28.532 * [taylor]: Taking taylor expansion of -1 in phi1 28.532 * [backup-simplify]: Simplify -1 into -1 28.532 * [taylor]: Taking taylor expansion of theta in phi1 28.532 * [backup-simplify]: Simplify theta into theta 28.532 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.532 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.532 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.532 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 phi1))) in phi1 28.532 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 28.532 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.532 * [taylor]: Taking taylor expansion of -1 in phi1 28.532 * [backup-simplify]: Simplify -1 into -1 28.532 * [taylor]: Taking taylor expansion of delta in phi1 28.532 * [backup-simplify]: Simplify delta into delta 28.532 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.532 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.532 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.533 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 28.533 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.533 * [taylor]: Taking taylor expansion of -1 in phi1 28.533 * [backup-simplify]: Simplify -1 into -1 28.533 * [taylor]: Taking taylor expansion of phi1 in phi1 28.533 * [backup-simplify]: Simplify 0 into 0 28.533 * [backup-simplify]: Simplify 1 into 1 28.533 * [backup-simplify]: Simplify (/ -1 1) into -1 28.533 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.533 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 28.533 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 28.534 * [backup-simplify]: Simplify (- 0) into 0 28.534 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 28.534 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 28.534 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 28.534 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 28.535 * [backup-simplify]: Simplify (- 0) into 0 28.535 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 28.535 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 28.535 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 28.535 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 28.535 * [backup-simplify]: Simplify (- 0) into 0 28.535 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 28.536 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 28.536 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 28.536 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 28.536 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 28.536 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 28.536 * [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))))) 28.537 * [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)))))) 28.537 * [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))))))) 28.538 * [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))))))) 28.538 * [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 28.538 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 28.538 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.538 * [taylor]: Taking taylor expansion of -1 in theta 28.538 * [backup-simplify]: Simplify -1 into -1 28.538 * [taylor]: Taking taylor expansion of delta in theta 28.538 * [backup-simplify]: Simplify delta into delta 28.538 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.538 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.539 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.539 * [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 28.539 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in theta 28.539 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in theta 28.539 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 28.539 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.539 * [taylor]: Taking taylor expansion of -1 in theta 28.539 * [backup-simplify]: Simplify -1 into -1 28.539 * [taylor]: Taking taylor expansion of phi1 in theta 28.539 * [backup-simplify]: Simplify phi1 into phi1 28.539 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.539 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.539 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.539 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 28.539 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 28.539 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 28.539 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 28.539 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.539 * [taylor]: Taking taylor expansion of -1 in theta 28.539 * [backup-simplify]: Simplify -1 into -1 28.539 * [taylor]: Taking taylor expansion of delta in theta 28.539 * [backup-simplify]: Simplify delta into delta 28.539 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.540 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.540 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.540 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) in theta 28.540 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 28.540 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.540 * [taylor]: Taking taylor expansion of -1 in theta 28.540 * [backup-simplify]: Simplify -1 into -1 28.540 * [taylor]: Taking taylor expansion of phi1 in theta 28.540 * [backup-simplify]: Simplify phi1 into phi1 28.540 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.540 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.540 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.540 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))) in theta 28.540 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 28.540 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 28.540 * [taylor]: Taking taylor expansion of -1 in theta 28.540 * [backup-simplify]: Simplify -1 into -1 28.540 * [taylor]: Taking taylor expansion of theta in theta 28.540 * [backup-simplify]: Simplify 0 into 0 28.540 * [backup-simplify]: Simplify 1 into 1 28.541 * [backup-simplify]: Simplify (/ -1 1) into -1 28.541 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.541 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 phi1))) in theta 28.541 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 28.541 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.541 * [taylor]: Taking taylor expansion of -1 in theta 28.541 * [backup-simplify]: Simplify -1 into -1 28.541 * [taylor]: Taking taylor expansion of delta in theta 28.541 * [backup-simplify]: Simplify delta into delta 28.541 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.541 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.541 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.541 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 28.541 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.541 * [taylor]: Taking taylor expansion of -1 in theta 28.541 * [backup-simplify]: Simplify -1 into -1 28.541 * [taylor]: Taking taylor expansion of phi1 in theta 28.541 * [backup-simplify]: Simplify phi1 into phi1 28.542 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.542 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.542 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.542 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 28.542 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 28.542 * [backup-simplify]: Simplify (- 0) into 0 28.542 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 28.543 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 28.543 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 28.543 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 28.543 * [backup-simplify]: Simplify (- 0) into 0 28.543 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 28.543 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 28.543 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 28.544 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 28.544 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 28.544 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 28.544 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 28.544 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 28.544 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 28.544 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 28.544 * [backup-simplify]: Simplify (- 0) into 0 28.545 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 28.545 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 28.545 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 28.545 * [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))))) 28.546 * [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)))))) 28.546 * [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))))))) 28.547 * [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))))))) 28.548 * [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))))))) 28.548 * [backup-simplify]: Simplify (+ 0) into 0 28.549 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 28.549 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.550 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.550 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 28.551 * [backup-simplify]: Simplify (- 0) into 0 28.551 * [backup-simplify]: Simplify (+ 0 0) into 0 28.551 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 28.552 * [backup-simplify]: Simplify (+ 0) into 0 28.552 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 28.552 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 28.553 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.553 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 28.554 * [backup-simplify]: Simplify (- 0) into 0 28.554 * [backup-simplify]: Simplify (+ 0 0) into 0 28.554 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 28.555 * [backup-simplify]: Simplify (+ 0) into 0 28.555 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 28.556 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.556 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.557 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 28.557 * [backup-simplify]: Simplify (+ 0 0) into 0 28.557 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 28.558 * [backup-simplify]: Simplify (+ 0 0) into 0 28.558 * [backup-simplify]: Simplify (+ 0) into 0 28.559 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 28.559 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.560 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.560 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 28.561 * [backup-simplify]: Simplify (+ 0 0) into 0 28.561 * [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 28.561 * [backup-simplify]: Simplify (- 0) into 0 28.562 * [backup-simplify]: Simplify (+ 0 0) into 0 28.562 * [taylor]: Taking taylor expansion of 0 in phi1 28.562 * [backup-simplify]: Simplify 0 into 0 28.562 * [taylor]: Taking taylor expansion of 0 in theta 28.562 * [backup-simplify]: Simplify 0 into 0 28.562 * [backup-simplify]: Simplify 0 into 0 28.562 * [backup-simplify]: Simplify (+ 0) into 0 28.562 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 28.562 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.563 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.563 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 28.563 * [backup-simplify]: Simplify (- 0) into 0 28.563 * [backup-simplify]: Simplify (+ 0 0) into 0 28.564 * [backup-simplify]: Simplify (+ 0) into 0 28.564 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 28.564 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.565 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.565 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 28.565 * [backup-simplify]: Simplify (- 0) into 0 28.565 * [backup-simplify]: Simplify (+ 0 0) into 0 28.565 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 28.566 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 28.566 * [backup-simplify]: Simplify (+ 0) into 0 28.566 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 28.566 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.567 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.567 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 28.567 * [backup-simplify]: Simplify (+ 0 0) into 0 28.567 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 28.568 * [backup-simplify]: Simplify (+ 0) into 0 28.568 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 28.568 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 28.568 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.569 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 28.569 * [backup-simplify]: Simplify (- 0) into 0 28.569 * [backup-simplify]: Simplify (+ 0 0) into 0 28.569 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 28.569 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 28.570 * [backup-simplify]: Simplify (+ 0 0) into 0 28.570 * [backup-simplify]: Simplify (- 0) into 0 28.570 * [backup-simplify]: Simplify (+ 0 0) into 0 28.570 * [taylor]: Taking taylor expansion of 0 in theta 28.570 * [backup-simplify]: Simplify 0 into 0 28.570 * [backup-simplify]: Simplify 0 into 0 28.571 * [backup-simplify]: Simplify (+ 0) into 0 28.571 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 28.571 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.571 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.572 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 28.572 * [backup-simplify]: Simplify (- 0) into 0 28.572 * [backup-simplify]: Simplify (+ 0 0) into 0 28.573 * [backup-simplify]: Simplify (+ 0) into 0 28.573 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 28.573 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.573 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.574 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 28.574 * [backup-simplify]: Simplify (- 0) into 0 28.574 * [backup-simplify]: Simplify (+ 0 0) into 0 28.574 * [backup-simplify]: Simplify (+ 0) into 0 28.575 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 28.575 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.575 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.576 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 28.576 * [backup-simplify]: Simplify (+ 0 0) into 0 28.576 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 28.576 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 28.576 * [backup-simplify]: Simplify (+ 0) into 0 28.577 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 28.577 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.577 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.578 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 28.578 * [backup-simplify]: Simplify (- 0) into 0 28.578 * [backup-simplify]: Simplify (+ 0 0) into 0 28.578 * [backup-simplify]: Simplify (+ 0) into 0 28.579 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 28.579 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.579 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.580 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 28.580 * [backup-simplify]: Simplify (+ 0 0) into 0 28.580 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 28.580 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 28.580 * [backup-simplify]: Simplify (+ 0) into 0 28.581 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 28.581 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.581 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.581 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 28.582 * [backup-simplify]: Simplify (+ 0 0) into 0 28.582 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 28.582 * [backup-simplify]: Simplify (+ 0 0) into 0 28.584 * [backup-simplify]: Simplify (- 0) into 0 28.584 * [backup-simplify]: Simplify (+ 0 0) into 0 28.584 * [backup-simplify]: Simplify 0 into 0 28.585 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.585 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.585 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.586 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.586 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.586 * [backup-simplify]: Simplify (- 0) into 0 28.587 * [backup-simplify]: Simplify (+ 0 0) into 0 28.587 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 28.587 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.588 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.588 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.588 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.589 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.589 * [backup-simplify]: Simplify (- 0) into 0 28.589 * [backup-simplify]: Simplify (+ 0 0) into 0 28.590 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 28.591 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.592 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.592 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.593 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.593 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.594 * [backup-simplify]: Simplify (+ 0 0) into 0 28.594 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 28.594 * [backup-simplify]: Simplify (+ 0 0) into 0 28.595 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.596 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.596 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.597 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.598 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.598 * [backup-simplify]: Simplify (+ 0 0) into 0 28.599 * [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 28.599 * [backup-simplify]: Simplify (- 0) into 0 28.599 * [backup-simplify]: Simplify (+ 0 0) into 0 28.599 * [taylor]: Taking taylor expansion of 0 in phi1 28.599 * [backup-simplify]: Simplify 0 into 0 28.600 * [taylor]: Taking taylor expansion of 0 in theta 28.600 * [backup-simplify]: Simplify 0 into 0 28.600 * [backup-simplify]: Simplify 0 into 0 28.600 * [taylor]: Taking taylor expansion of 0 in theta 28.600 * [backup-simplify]: Simplify 0 into 0 28.600 * [backup-simplify]: Simplify 0 into 0 28.601 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.602 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.602 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.603 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.603 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.604 * [backup-simplify]: Simplify (- 0) into 0 28.604 * [backup-simplify]: Simplify (+ 0 0) into 0 28.605 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.605 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.606 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.606 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.606 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.607 * [backup-simplify]: Simplify (- 0) into 0 28.607 * [backup-simplify]: Simplify (+ 0 0) into 0 28.607 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 28.607 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 28.608 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.608 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.609 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.609 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.609 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.610 * [backup-simplify]: Simplify (+ 0 0) into 0 28.610 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 phi1))))) into 0 28.610 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.611 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.611 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.611 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.612 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.612 * [backup-simplify]: Simplify (- 0) into 0 28.612 * [backup-simplify]: Simplify (+ 0 0) into 0 28.613 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 28.613 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))))) into 0 28.613 * [backup-simplify]: Simplify (+ 0 0) into 0 28.614 * [backup-simplify]: Simplify (- 0) into 0 28.614 * [backup-simplify]: Simplify (+ 0 0) into 0 28.614 * [taylor]: Taking taylor expansion of 0 in theta 28.614 * [backup-simplify]: Simplify 0 into 0 28.614 * [backup-simplify]: Simplify 0 into 0 28.614 * [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)))))) 28.614 * * * * [progress]: [ 2 / 4 ] generating series at (2 1 2 2 2 1) 28.614 * [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)))) 28.615 * [approximate]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in (theta phi1 delta) around 0 28.615 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 28.615 * [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)))) 28.615 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 28.615 * [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)))) 28.615 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 28.615 * [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)))) 28.615 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 28.615 * [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)))) 28.615 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 28.615 * [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)))) 28.615 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 28.615 * [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)))) 28.616 * [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)))) 28.616 * [taylor]: Taking taylor expansion of 0 in phi1 28.616 * [backup-simplify]: Simplify 0 into 0 28.616 * [taylor]: Taking taylor expansion of 0 in delta 28.616 * [backup-simplify]: Simplify 0 into 0 28.616 * [backup-simplify]: Simplify 0 into 0 28.616 * [taylor]: Taking taylor expansion of 0 in delta 28.616 * [backup-simplify]: Simplify 0 into 0 28.616 * [backup-simplify]: Simplify 0 into 0 28.616 * [backup-simplify]: Simplify 0 into 0 28.616 * [taylor]: Taking taylor expansion of 0 in phi1 28.616 * [backup-simplify]: Simplify 0 into 0 28.616 * [taylor]: Taking taylor expansion of 0 in delta 28.616 * [backup-simplify]: Simplify 0 into 0 28.616 * [backup-simplify]: Simplify 0 into 0 28.616 * [taylor]: Taking taylor expansion of 0 in delta 28.616 * [backup-simplify]: Simplify 0 into 0 28.616 * [backup-simplify]: Simplify 0 into 0 28.616 * [taylor]: Taking taylor expansion of 0 in delta 28.616 * [backup-simplify]: Simplify 0 into 0 28.616 * [backup-simplify]: Simplify 0 into 0 28.616 * [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)))) 28.616 * [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))))) 28.616 * [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 28.616 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in delta 28.616 * [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))))) 28.617 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in phi1 28.617 * [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))))) 28.617 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in theta 28.617 * [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))))) 28.617 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in theta 28.617 * [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))))) 28.617 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in phi1 28.617 * [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))))) 28.617 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in delta 28.617 * [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))))) 28.618 * [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))))) 28.618 * [taylor]: Taking taylor expansion of 0 in phi1 28.618 * [backup-simplify]: Simplify 0 into 0 28.618 * [taylor]: Taking taylor expansion of 0 in delta 28.618 * [backup-simplify]: Simplify 0 into 0 28.618 * [backup-simplify]: Simplify 0 into 0 28.618 * [taylor]: Taking taylor expansion of 0 in delta 28.618 * [backup-simplify]: Simplify 0 into 0 28.618 * [backup-simplify]: Simplify 0 into 0 28.618 * [backup-simplify]: Simplify 0 into 0 28.618 * [taylor]: Taking taylor expansion of 0 in phi1 28.618 * [backup-simplify]: Simplify 0 into 0 28.618 * [taylor]: Taking taylor expansion of 0 in delta 28.618 * [backup-simplify]: Simplify 0 into 0 28.618 * [backup-simplify]: Simplify 0 into 0 28.618 * [taylor]: Taking taylor expansion of 0 in delta 28.618 * [backup-simplify]: Simplify 0 into 0 28.618 * [backup-simplify]: Simplify 0 into 0 28.618 * [taylor]: Taking taylor expansion of 0 in delta 28.618 * [backup-simplify]: Simplify 0 into 0 28.618 * [backup-simplify]: Simplify 0 into 0 28.618 * [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)))) 28.618 * [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))))) 28.618 * [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 28.618 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 28.619 * [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))))) 28.619 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 28.619 * [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))))) 28.619 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 28.619 * [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))))) 28.619 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 28.619 * [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))))) 28.619 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 28.619 * [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))))) 28.619 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 28.620 * [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))))) 28.620 * [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))))) 28.620 * [taylor]: Taking taylor expansion of 0 in phi1 28.620 * [backup-simplify]: Simplify 0 into 0 28.620 * [taylor]: Taking taylor expansion of 0 in delta 28.620 * [backup-simplify]: Simplify 0 into 0 28.620 * [backup-simplify]: Simplify 0 into 0 28.620 * [taylor]: Taking taylor expansion of 0 in delta 28.620 * [backup-simplify]: Simplify 0 into 0 28.620 * [backup-simplify]: Simplify 0 into 0 28.620 * [backup-simplify]: Simplify 0 into 0 28.620 * [taylor]: Taking taylor expansion of 0 in phi1 28.620 * [backup-simplify]: Simplify 0 into 0 28.620 * [taylor]: Taking taylor expansion of 0 in delta 28.620 * [backup-simplify]: Simplify 0 into 0 28.620 * [backup-simplify]: Simplify 0 into 0 28.620 * [taylor]: Taking taylor expansion of 0 in delta 28.620 * [backup-simplify]: Simplify 0 into 0 28.620 * [backup-simplify]: Simplify 0 into 0 28.620 * [taylor]: Taking taylor expansion of 0 in delta 28.620 * [backup-simplify]: Simplify 0 into 0 28.620 * [backup-simplify]: Simplify 0 into 0 28.620 * [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)))) 28.620 * * * * [progress]: [ 3 / 4 ] generating series at (2 1 1) 28.621 * [backup-simplify]: Simplify (* (sin delta) (* (cos phi1) (sin theta))) into (* (sin delta) (* (cos phi1) (sin theta))) 28.621 * [approximate]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in (delta phi1 theta) around 0 28.621 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in theta 28.621 * [taylor]: Taking taylor expansion of (sin delta) in theta 28.621 * [taylor]: Taking taylor expansion of delta in theta 28.621 * [backup-simplify]: Simplify delta into delta 28.621 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.621 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.621 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in theta 28.621 * [taylor]: Taking taylor expansion of (cos phi1) in theta 28.621 * [taylor]: Taking taylor expansion of phi1 in theta 28.621 * [backup-simplify]: Simplify phi1 into phi1 28.621 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.621 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.621 * [taylor]: Taking taylor expansion of (sin theta) in theta 28.621 * [taylor]: Taking taylor expansion of theta in theta 28.621 * [backup-simplify]: Simplify 0 into 0 28.621 * [backup-simplify]: Simplify 1 into 1 28.621 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in phi1 28.621 * [taylor]: Taking taylor expansion of (sin delta) in phi1 28.621 * [taylor]: Taking taylor expansion of delta in phi1 28.621 * [backup-simplify]: Simplify delta into delta 28.621 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.621 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.621 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in phi1 28.621 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 28.621 * [taylor]: Taking taylor expansion of phi1 in phi1 28.621 * [backup-simplify]: Simplify 0 into 0 28.621 * [backup-simplify]: Simplify 1 into 1 28.621 * [taylor]: Taking taylor expansion of (sin theta) in phi1 28.621 * [taylor]: Taking taylor expansion of theta in phi1 28.621 * [backup-simplify]: Simplify theta into theta 28.621 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.621 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.621 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in delta 28.621 * [taylor]: Taking taylor expansion of (sin delta) in delta 28.621 * [taylor]: Taking taylor expansion of delta in delta 28.621 * [backup-simplify]: Simplify 0 into 0 28.621 * [backup-simplify]: Simplify 1 into 1 28.621 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in delta 28.621 * [taylor]: Taking taylor expansion of (cos phi1) in delta 28.621 * [taylor]: Taking taylor expansion of phi1 in delta 28.621 * [backup-simplify]: Simplify phi1 into phi1 28.621 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.621 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.621 * [taylor]: Taking taylor expansion of (sin theta) in delta 28.621 * [taylor]: Taking taylor expansion of theta in delta 28.621 * [backup-simplify]: Simplify theta into theta 28.621 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.621 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.621 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in delta 28.621 * [taylor]: Taking taylor expansion of (sin delta) in delta 28.621 * [taylor]: Taking taylor expansion of delta in delta 28.622 * [backup-simplify]: Simplify 0 into 0 28.622 * [backup-simplify]: Simplify 1 into 1 28.622 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in delta 28.622 * [taylor]: Taking taylor expansion of (cos phi1) in delta 28.622 * [taylor]: Taking taylor expansion of phi1 in delta 28.622 * [backup-simplify]: Simplify phi1 into phi1 28.622 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.622 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.622 * [taylor]: Taking taylor expansion of (sin theta) in delta 28.622 * [taylor]: Taking taylor expansion of theta in delta 28.622 * [backup-simplify]: Simplify theta into theta 28.622 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.622 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.622 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 28.622 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 28.622 * [backup-simplify]: Simplify (- 0) into 0 28.622 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 28.622 * [backup-simplify]: Simplify (* (sin theta) 1) into (sin theta) 28.622 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 28.622 * [backup-simplify]: Simplify (+ (sin theta) 0) into (sin theta) 28.622 * [backup-simplify]: Simplify (* (cos phi1) (sin theta)) into (* (cos phi1) (sin theta)) 28.623 * [backup-simplify]: Simplify (* 0 (* (cos phi1) (sin theta))) into 0 28.623 * [taylor]: Taking taylor expansion of 0 in phi1 28.623 * [backup-simplify]: Simplify 0 into 0 28.623 * [taylor]: Taking taylor expansion of 0 in theta 28.623 * [backup-simplify]: Simplify 0 into 0 28.623 * [backup-simplify]: Simplify 0 into 0 28.623 * [backup-simplify]: Simplify (+ 0) into 0 28.623 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 1)) into 0 28.624 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.624 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 0)) into 0 28.624 * [backup-simplify]: Simplify (+ 0 0) into 0 28.624 * [backup-simplify]: Simplify (+ 0) into 0 28.625 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 28.625 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.625 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 28.626 * [backup-simplify]: Simplify (- 0) into 0 28.626 * [backup-simplify]: Simplify (+ 0 0) into 0 28.626 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 (sin theta))) into 0 28.626 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.627 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos phi1) (sin theta)))) into (* (cos phi1) (sin theta)) 28.627 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in phi1 28.627 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 28.627 * [taylor]: Taking taylor expansion of phi1 in phi1 28.627 * [backup-simplify]: Simplify 0 into 0 28.627 * [backup-simplify]: Simplify 1 into 1 28.627 * [taylor]: Taking taylor expansion of (sin theta) in phi1 28.627 * [taylor]: Taking taylor expansion of theta in phi1 28.627 * [backup-simplify]: Simplify theta into theta 28.627 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.627 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.627 * [backup-simplify]: Simplify (* (sin theta) 1) into (sin theta) 28.627 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 28.627 * [backup-simplify]: Simplify (+ (sin theta) 0) into (sin theta) 28.627 * [backup-simplify]: Simplify (* 1 (sin theta)) into (sin theta) 28.627 * [taylor]: Taking taylor expansion of (sin theta) in theta 28.627 * [taylor]: Taking taylor expansion of theta in theta 28.627 * [backup-simplify]: Simplify 0 into 0 28.627 * [backup-simplify]: Simplify 1 into 1 28.627 * [backup-simplify]: Simplify 0 into 0 28.627 * [taylor]: Taking taylor expansion of 0 in theta 28.627 * [backup-simplify]: Simplify 0 into 0 28.627 * [backup-simplify]: Simplify 0 into 0 28.628 * [backup-simplify]: Simplify 0 into 0 28.628 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.628 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 1))) into 0 28.629 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.630 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 0))) into 0 28.630 * [backup-simplify]: Simplify (+ 0 0) into 0 28.631 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.631 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 28.632 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.633 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 28.633 * [backup-simplify]: Simplify (- 0) into 0 28.633 * [backup-simplify]: Simplify (+ 0 0) into 0 28.634 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 (sin theta)))) into 0 28.635 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.636 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (cos phi1) (sin theta))))) into 0 28.636 * [taylor]: Taking taylor expansion of 0 in phi1 28.636 * [backup-simplify]: Simplify 0 into 0 28.636 * [taylor]: Taking taylor expansion of 0 in theta 28.636 * [backup-simplify]: Simplify 0 into 0 28.636 * [backup-simplify]: Simplify 0 into 0 28.636 * [backup-simplify]: Simplify (+ 0) into 0 28.637 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 1)) into 0 28.637 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.638 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 0)) into 0 28.638 * [backup-simplify]: Simplify (+ 0 0) into 0 28.639 * [backup-simplify]: Simplify (+ 0) into 0 28.639 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin theta))) into 0 28.640 * [taylor]: Taking taylor expansion of 0 in theta 28.640 * [backup-simplify]: Simplify 0 into 0 28.640 * [backup-simplify]: Simplify 0 into 0 28.640 * [backup-simplify]: Simplify 0 into 0 28.640 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) 28.640 * [approximate]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in (delta phi1 theta) around 0 28.640 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in theta 28.640 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 28.640 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.640 * [taylor]: Taking taylor expansion of phi1 in theta 28.640 * [backup-simplify]: Simplify phi1 into phi1 28.640 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.640 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.640 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.640 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in theta 28.640 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in theta 28.640 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 28.640 * [taylor]: Taking taylor expansion of theta in theta 28.640 * [backup-simplify]: Simplify 0 into 0 28.640 * [backup-simplify]: Simplify 1 into 1 28.641 * [backup-simplify]: Simplify (/ 1 1) into 1 28.641 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.641 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 28.641 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.641 * [taylor]: Taking taylor expansion of delta in theta 28.641 * [backup-simplify]: Simplify delta into delta 28.641 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.641 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.641 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.641 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in phi1 28.641 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 28.641 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.641 * [taylor]: Taking taylor expansion of phi1 in phi1 28.641 * [backup-simplify]: Simplify 0 into 0 28.641 * [backup-simplify]: Simplify 1 into 1 28.642 * [backup-simplify]: Simplify (/ 1 1) into 1 28.642 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.642 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in phi1 28.642 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in phi1 28.642 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 28.642 * [taylor]: Taking taylor expansion of theta in phi1 28.642 * [backup-simplify]: Simplify theta into theta 28.642 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.642 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.642 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.642 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 28.642 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.642 * [taylor]: Taking taylor expansion of delta in phi1 28.642 * [backup-simplify]: Simplify delta into delta 28.642 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.642 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.642 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.643 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in delta 28.643 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 28.643 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.643 * [taylor]: Taking taylor expansion of phi1 in delta 28.643 * [backup-simplify]: Simplify phi1 into phi1 28.643 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.643 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.643 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.643 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in delta 28.643 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in delta 28.643 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 28.643 * [taylor]: Taking taylor expansion of theta in delta 28.643 * [backup-simplify]: Simplify theta into theta 28.643 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.643 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.643 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.643 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 28.643 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.643 * [taylor]: Taking taylor expansion of delta in delta 28.643 * [backup-simplify]: Simplify 0 into 0 28.643 * [backup-simplify]: Simplify 1 into 1 28.644 * [backup-simplify]: Simplify (/ 1 1) into 1 28.644 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.644 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in delta 28.644 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 28.644 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.644 * [taylor]: Taking taylor expansion of phi1 in delta 28.644 * [backup-simplify]: Simplify phi1 into phi1 28.644 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.644 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.644 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.644 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in delta 28.644 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in delta 28.644 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 28.644 * [taylor]: Taking taylor expansion of theta in delta 28.644 * [backup-simplify]: Simplify theta into theta 28.644 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.644 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.644 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.644 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 28.644 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.644 * [taylor]: Taking taylor expansion of delta in delta 28.644 * [backup-simplify]: Simplify 0 into 0 28.644 * [backup-simplify]: Simplify 1 into 1 28.645 * [backup-simplify]: Simplify (/ 1 1) into 1 28.645 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.645 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 28.645 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 28.646 * [backup-simplify]: Simplify (- 0) into 0 28.646 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 28.646 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 1) into (sin (/ 1 theta)) 28.646 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 0) into 0 28.646 * [backup-simplify]: Simplify (+ (sin (/ 1 theta)) 0) into (sin (/ 1 theta)) 28.646 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (sin (/ 1 delta))) into (* (sin (/ 1 theta)) (sin (/ 1 delta))) 28.646 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) 28.646 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 28.646 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 28.646 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.646 * [taylor]: Taking taylor expansion of delta in phi1 28.646 * [backup-simplify]: Simplify delta into delta 28.646 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.647 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.647 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.647 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (cos (/ 1 phi1))) in phi1 28.647 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in phi1 28.647 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 28.647 * [taylor]: Taking taylor expansion of theta in phi1 28.647 * [backup-simplify]: Simplify theta into theta 28.647 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.647 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.647 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.647 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 28.647 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.647 * [taylor]: Taking taylor expansion of phi1 in phi1 28.647 * [backup-simplify]: Simplify 0 into 0 28.647 * [backup-simplify]: Simplify 1 into 1 28.648 * [backup-simplify]: Simplify (/ 1 1) into 1 28.648 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.648 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 28.648 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 28.648 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 28.648 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 1) into (sin (/ 1 theta)) 28.648 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 0) into 0 28.648 * [backup-simplify]: Simplify (+ (sin (/ 1 theta)) 0) into (sin (/ 1 theta)) 28.648 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (cos (/ 1 phi1))) into (* (sin (/ 1 theta)) (cos (/ 1 phi1))) 28.648 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) 28.648 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in theta 28.649 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 28.649 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.649 * [taylor]: Taking taylor expansion of phi1 in theta 28.649 * [backup-simplify]: Simplify phi1 into phi1 28.649 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.649 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.649 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.649 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in theta 28.649 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in theta 28.649 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 28.649 * [taylor]: Taking taylor expansion of theta in theta 28.649 * [backup-simplify]: Simplify 0 into 0 28.649 * [backup-simplify]: Simplify 1 into 1 28.649 * [backup-simplify]: Simplify (/ 1 1) into 1 28.649 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.649 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 28.649 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.649 * [taylor]: Taking taylor expansion of delta in theta 28.649 * [backup-simplify]: Simplify delta into delta 28.649 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.649 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.649 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.650 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 28.650 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 28.650 * [backup-simplify]: Simplify (- 0) into 0 28.650 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 28.650 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 28.650 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 28.650 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 28.650 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (sin (/ 1 delta))) into (* (sin (/ 1 theta)) (sin (/ 1 delta))) 28.650 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) 28.650 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) 28.651 * [backup-simplify]: Simplify (+ 0) into 0 28.651 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 1)) into 0 28.651 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 28.651 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.652 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 0)) into 0 28.652 * [backup-simplify]: Simplify (+ 0 0) into 0 28.652 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 28.652 * [backup-simplify]: Simplify (+ 0) into 0 28.653 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 28.653 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.653 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.653 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 28.654 * [backup-simplify]: Simplify (- 0) into 0 28.654 * [backup-simplify]: Simplify (+ 0 0) into 0 28.654 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 theta)) (sin (/ 1 delta))))) into 0 28.654 * [taylor]: Taking taylor expansion of 0 in phi1 28.654 * [backup-simplify]: Simplify 0 into 0 28.654 * [taylor]: Taking taylor expansion of 0 in theta 28.654 * [backup-simplify]: Simplify 0 into 0 28.654 * [backup-simplify]: Simplify 0 into 0 28.654 * [backup-simplify]: Simplify (+ 0) into 0 28.655 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 1)) into 0 28.655 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 28.655 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.656 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 0)) into 0 28.656 * [backup-simplify]: Simplify (+ 0 0) into 0 28.656 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 28.656 * [backup-simplify]: Simplify (+ 0) into 0 28.656 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 28.656 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.657 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.657 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 28.657 * [backup-simplify]: Simplify (+ 0 0) into 0 28.658 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (sin (/ 1 theta)) (cos (/ 1 phi1))))) into 0 28.658 * [taylor]: Taking taylor expansion of 0 in theta 28.658 * [backup-simplify]: Simplify 0 into 0 28.658 * [backup-simplify]: Simplify 0 into 0 28.658 * [backup-simplify]: Simplify (+ 0) into 0 28.658 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 28.658 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.659 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.659 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 28.659 * [backup-simplify]: Simplify (+ 0 0) into 0 28.659 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 28.660 * [backup-simplify]: Simplify (+ 0) into 0 28.660 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 28.660 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.661 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.661 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 28.661 * [backup-simplify]: Simplify (- 0) into 0 28.661 * [backup-simplify]: Simplify (+ 0 0) into 0 28.661 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 theta)) (sin (/ 1 delta))))) into 0 28.661 * [backup-simplify]: Simplify 0 into 0 28.662 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.662 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.663 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.663 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.663 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.664 * [backup-simplify]: Simplify (+ 0 0) into 0 28.664 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 28.664 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.665 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.665 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.665 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.666 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.666 * [backup-simplify]: Simplify (- 0) into 0 28.666 * [backup-simplify]: Simplify (+ 0 0) into 0 28.667 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 theta)) (sin (/ 1 delta)))))) into 0 28.667 * [taylor]: Taking taylor expansion of 0 in phi1 28.667 * [backup-simplify]: Simplify 0 into 0 28.667 * [taylor]: Taking taylor expansion of 0 in theta 28.667 * [backup-simplify]: Simplify 0 into 0 28.667 * [backup-simplify]: Simplify 0 into 0 28.667 * [taylor]: Taking taylor expansion of 0 in theta 28.667 * [backup-simplify]: Simplify 0 into 0 28.667 * [backup-simplify]: Simplify 0 into 0 28.667 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.668 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.668 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.668 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.669 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.669 * [backup-simplify]: Simplify (+ 0 0) into 0 28.669 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 28.670 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.670 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.670 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.671 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.671 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.671 * [backup-simplify]: Simplify (+ 0 0) into 0 28.672 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 28.672 * [taylor]: Taking taylor expansion of 0 in theta 28.672 * [backup-simplify]: Simplify 0 into 0 28.672 * [backup-simplify]: Simplify 0 into 0 28.672 * [backup-simplify]: Simplify (* (cos (/ 1 (/ 1 phi1))) (* (sin (/ 1 (/ 1 theta))) (sin (/ 1 (/ 1 delta))))) into (* (cos phi1) (* (sin theta) (sin delta))) 28.672 * [backup-simplify]: Simplify (* (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (sin (/ 1 (- theta))))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) 28.672 * [approximate]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in (delta phi1 theta) around 0 28.672 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in theta 28.672 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 28.672 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.672 * [taylor]: Taking taylor expansion of -1 in theta 28.672 * [backup-simplify]: Simplify -1 into -1 28.672 * [taylor]: Taking taylor expansion of phi1 in theta 28.672 * [backup-simplify]: Simplify phi1 into phi1 28.672 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.672 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.672 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.672 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in theta 28.672 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in theta 28.672 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 28.672 * [taylor]: Taking taylor expansion of -1 in theta 28.673 * [backup-simplify]: Simplify -1 into -1 28.673 * [taylor]: Taking taylor expansion of theta in theta 28.673 * [backup-simplify]: Simplify 0 into 0 28.673 * [backup-simplify]: Simplify 1 into 1 28.673 * [backup-simplify]: Simplify (/ -1 1) into -1 28.673 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.673 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 28.673 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.673 * [taylor]: Taking taylor expansion of -1 in theta 28.673 * [backup-simplify]: Simplify -1 into -1 28.673 * [taylor]: Taking taylor expansion of delta in theta 28.673 * [backup-simplify]: Simplify delta into delta 28.673 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.673 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.673 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.673 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in phi1 28.673 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 28.673 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.673 * [taylor]: Taking taylor expansion of -1 in phi1 28.673 * [backup-simplify]: Simplify -1 into -1 28.673 * [taylor]: Taking taylor expansion of phi1 in phi1 28.673 * [backup-simplify]: Simplify 0 into 0 28.673 * [backup-simplify]: Simplify 1 into 1 28.674 * [backup-simplify]: Simplify (/ -1 1) into -1 28.674 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.674 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in phi1 28.674 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in phi1 28.674 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 28.674 * [taylor]: Taking taylor expansion of -1 in phi1 28.674 * [backup-simplify]: Simplify -1 into -1 28.674 * [taylor]: Taking taylor expansion of theta in phi1 28.674 * [backup-simplify]: Simplify theta into theta 28.674 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.674 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.674 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.674 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 28.674 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.674 * [taylor]: Taking taylor expansion of -1 in phi1 28.674 * [backup-simplify]: Simplify -1 into -1 28.674 * [taylor]: Taking taylor expansion of delta in phi1 28.674 * [backup-simplify]: Simplify delta into delta 28.674 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.674 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.674 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.674 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in delta 28.674 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 28.674 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.674 * [taylor]: Taking taylor expansion of -1 in delta 28.674 * [backup-simplify]: Simplify -1 into -1 28.674 * [taylor]: Taking taylor expansion of phi1 in delta 28.674 * [backup-simplify]: Simplify phi1 into phi1 28.674 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.674 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.674 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.674 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in delta 28.674 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in delta 28.674 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 28.674 * [taylor]: Taking taylor expansion of -1 in delta 28.674 * [backup-simplify]: Simplify -1 into -1 28.674 * [taylor]: Taking taylor expansion of theta in delta 28.674 * [backup-simplify]: Simplify theta into theta 28.674 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.674 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.674 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.675 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 28.675 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.675 * [taylor]: Taking taylor expansion of -1 in delta 28.675 * [backup-simplify]: Simplify -1 into -1 28.675 * [taylor]: Taking taylor expansion of delta in delta 28.675 * [backup-simplify]: Simplify 0 into 0 28.675 * [backup-simplify]: Simplify 1 into 1 28.675 * [backup-simplify]: Simplify (/ -1 1) into -1 28.675 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.675 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in delta 28.675 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 28.675 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.675 * [taylor]: Taking taylor expansion of -1 in delta 28.675 * [backup-simplify]: Simplify -1 into -1 28.675 * [taylor]: Taking taylor expansion of phi1 in delta 28.675 * [backup-simplify]: Simplify phi1 into phi1 28.675 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.675 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.675 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.675 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in delta 28.675 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in delta 28.675 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 28.675 * [taylor]: Taking taylor expansion of -1 in delta 28.675 * [backup-simplify]: Simplify -1 into -1 28.675 * [taylor]: Taking taylor expansion of theta in delta 28.675 * [backup-simplify]: Simplify theta into theta 28.675 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.675 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.675 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.675 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 28.675 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.675 * [taylor]: Taking taylor expansion of -1 in delta 28.675 * [backup-simplify]: Simplify -1 into -1 28.675 * [taylor]: Taking taylor expansion of delta in delta 28.675 * [backup-simplify]: Simplify 0 into 0 28.676 * [backup-simplify]: Simplify 1 into 1 28.676 * [backup-simplify]: Simplify (/ -1 1) into -1 28.676 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.676 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 28.676 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 28.676 * [backup-simplify]: Simplify (- 0) into 0 28.676 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 28.676 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 1) into (sin (/ -1 theta)) 28.676 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 0) into 0 28.676 * [backup-simplify]: Simplify (+ (sin (/ -1 theta)) 0) into (sin (/ -1 theta)) 28.677 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (sin (/ -1 theta))) 28.677 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) 28.677 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) in phi1 28.677 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 28.677 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.677 * [taylor]: Taking taylor expansion of -1 in phi1 28.677 * [backup-simplify]: Simplify -1 into -1 28.677 * [taylor]: Taking taylor expansion of phi1 in phi1 28.677 * [backup-simplify]: Simplify 0 into 0 28.677 * [backup-simplify]: Simplify 1 into 1 28.677 * [backup-simplify]: Simplify (/ -1 1) into -1 28.677 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.677 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (sin (/ -1 theta))) in phi1 28.677 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 28.677 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.677 * [taylor]: Taking taylor expansion of -1 in phi1 28.677 * [backup-simplify]: Simplify -1 into -1 28.677 * [taylor]: Taking taylor expansion of delta in phi1 28.677 * [backup-simplify]: Simplify delta into delta 28.677 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.677 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.677 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.677 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in phi1 28.677 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 28.677 * [taylor]: Taking taylor expansion of -1 in phi1 28.678 * [backup-simplify]: Simplify -1 into -1 28.678 * [taylor]: Taking taylor expansion of theta in phi1 28.678 * [backup-simplify]: Simplify theta into theta 28.678 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.678 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.678 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.678 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 28.678 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 28.678 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 28.678 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 1) into (sin (/ -1 theta)) 28.678 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 0) into 0 28.678 * [backup-simplify]: Simplify (+ (sin (/ -1 theta)) 0) into (sin (/ -1 theta)) 28.678 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (sin (/ -1 theta))) into (* (sin (/ -1 theta)) (sin (/ -1 delta))) 28.678 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) 28.678 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in theta 28.678 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 28.678 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.678 * [taylor]: Taking taylor expansion of -1 in theta 28.678 * [backup-simplify]: Simplify -1 into -1 28.678 * [taylor]: Taking taylor expansion of phi1 in theta 28.678 * [backup-simplify]: Simplify phi1 into phi1 28.678 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.678 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.678 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.678 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in theta 28.679 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in theta 28.679 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 28.679 * [taylor]: Taking taylor expansion of -1 in theta 28.679 * [backup-simplify]: Simplify -1 into -1 28.679 * [taylor]: Taking taylor expansion of theta in theta 28.679 * [backup-simplify]: Simplify 0 into 0 28.679 * [backup-simplify]: Simplify 1 into 1 28.679 * [backup-simplify]: Simplify (/ -1 1) into -1 28.679 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.679 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 28.679 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.679 * [taylor]: Taking taylor expansion of -1 in theta 28.679 * [backup-simplify]: Simplify -1 into -1 28.679 * [taylor]: Taking taylor expansion of delta in theta 28.679 * [backup-simplify]: Simplify delta into delta 28.679 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.679 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.679 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.679 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 28.679 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 28.680 * [backup-simplify]: Simplify (- 0) into 0 28.680 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 28.680 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 28.680 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 28.680 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 28.680 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (sin (/ -1 theta))) 28.680 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) 28.680 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) 28.680 * [backup-simplify]: Simplify (+ 0) into 0 28.681 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 1)) into 0 28.681 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 28.681 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.682 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 0)) into 0 28.682 * [backup-simplify]: Simplify (+ 0 0) into 0 28.682 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 28.683 * [backup-simplify]: Simplify (+ 0) into 0 28.683 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 28.683 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.684 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.685 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 28.685 * [backup-simplify]: Simplify (- 0) into 0 28.685 * [backup-simplify]: Simplify (+ 0 0) into 0 28.686 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (sin (/ -1 theta))))) into 0 28.686 * [taylor]: Taking taylor expansion of 0 in phi1 28.686 * [backup-simplify]: Simplify 0 into 0 28.686 * [taylor]: Taking taylor expansion of 0 in theta 28.686 * [backup-simplify]: Simplify 0 into 0 28.686 * [backup-simplify]: Simplify 0 into 0 28.686 * [backup-simplify]: Simplify (+ 0) into 0 28.687 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 1)) into 0 28.687 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 28.688 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.688 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 0)) into 0 28.688 * [backup-simplify]: Simplify (+ 0 0) into 0 28.689 * [backup-simplify]: Simplify (+ 0) into 0 28.689 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 28.689 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.690 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.690 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 28.690 * [backup-simplify]: Simplify (+ 0 0) into 0 28.690 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (sin (/ -1 theta)))) into 0 28.691 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 theta)) (sin (/ -1 delta))))) into 0 28.691 * [taylor]: Taking taylor expansion of 0 in theta 28.691 * [backup-simplify]: Simplify 0 into 0 28.691 * [backup-simplify]: Simplify 0 into 0 28.691 * [backup-simplify]: Simplify (+ 0) into 0 28.691 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 28.691 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.692 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.692 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 28.692 * [backup-simplify]: Simplify (+ 0 0) into 0 28.692 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 28.693 * [backup-simplify]: Simplify (+ 0) into 0 28.693 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 28.693 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.695 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.696 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 28.696 * [backup-simplify]: Simplify (- 0) into 0 28.696 * [backup-simplify]: Simplify (+ 0 0) into 0 28.696 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (sin (/ -1 theta))))) into 0 28.696 * [backup-simplify]: Simplify 0 into 0 28.697 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.697 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.697 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.698 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.698 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.698 * [backup-simplify]: Simplify (+ 0 0) into 0 28.699 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 28.699 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.700 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.700 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.700 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.701 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.701 * [backup-simplify]: Simplify (- 0) into 0 28.701 * [backup-simplify]: Simplify (+ 0 0) into 0 28.701 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -1 delta)) (sin (/ -1 theta)))))) into 0 28.701 * [taylor]: Taking taylor expansion of 0 in phi1 28.701 * [backup-simplify]: Simplify 0 into 0 28.701 * [taylor]: Taking taylor expansion of 0 in theta 28.702 * [backup-simplify]: Simplify 0 into 0 28.702 * [backup-simplify]: Simplify 0 into 0 28.702 * [taylor]: Taking taylor expansion of 0 in theta 28.702 * [backup-simplify]: Simplify 0 into 0 28.702 * [backup-simplify]: Simplify 0 into 0 28.702 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.703 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.703 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.703 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.703 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.704 * [backup-simplify]: Simplify (+ 0 0) into 0 28.704 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.705 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.705 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.705 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.706 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.706 * [backup-simplify]: Simplify (+ 0 0) into 0 28.706 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 theta))))) into 0 28.707 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -1 theta)) (sin (/ -1 delta)))))) into 0 28.707 * [taylor]: Taking taylor expansion of 0 in theta 28.707 * [backup-simplify]: Simplify 0 into 0 28.707 * [backup-simplify]: Simplify 0 into 0 28.707 * [backup-simplify]: Simplify (* (cos (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- delta)))) (sin (/ -1 (/ 1 (- theta)))))) into (* (cos phi1) (* (sin delta) (sin theta))) 28.707 * * * * [progress]: [ 4 / 4 ] generating series at (2 1 2 2 2 1 1 3) 28.707 * [backup-simplify]: Simplify (* (cos delta) (sin phi1)) into (* (sin phi1) (cos delta)) 28.707 * [approximate]: Taking taylor expansion of (* (sin phi1) (cos delta)) in (delta phi1) around 0 28.707 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 28.707 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.707 * [taylor]: Taking taylor expansion of phi1 in phi1 28.707 * [backup-simplify]: Simplify 0 into 0 28.707 * [backup-simplify]: Simplify 1 into 1 28.707 * [taylor]: Taking taylor expansion of (cos delta) in phi1 28.707 * [taylor]: Taking taylor expansion of delta in phi1 28.707 * [backup-simplify]: Simplify delta into delta 28.707 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.707 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.707 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 28.707 * [taylor]: Taking taylor expansion of (sin phi1) in delta 28.707 * [taylor]: Taking taylor expansion of phi1 in delta 28.707 * [backup-simplify]: Simplify phi1 into phi1 28.707 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.707 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.707 * [taylor]: Taking taylor expansion of (cos delta) in delta 28.707 * [taylor]: Taking taylor expansion of delta in delta 28.707 * [backup-simplify]: Simplify 0 into 0 28.707 * [backup-simplify]: Simplify 1 into 1 28.707 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 28.707 * [taylor]: Taking taylor expansion of (sin phi1) in delta 28.707 * [taylor]: Taking taylor expansion of phi1 in delta 28.707 * [backup-simplify]: Simplify phi1 into phi1 28.707 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.707 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.707 * [taylor]: Taking taylor expansion of (cos delta) in delta 28.707 * [taylor]: Taking taylor expansion of delta in delta 28.707 * [backup-simplify]: Simplify 0 into 0 28.707 * [backup-simplify]: Simplify 1 into 1 28.708 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 28.708 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 28.708 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 28.708 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 28.708 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.708 * [taylor]: Taking taylor expansion of phi1 in phi1 28.708 * [backup-simplify]: Simplify 0 into 0 28.708 * [backup-simplify]: Simplify 1 into 1 28.708 * [backup-simplify]: Simplify 0 into 0 28.708 * [backup-simplify]: Simplify (+ 0) into 0 28.708 * [backup-simplify]: Simplify (+ 0) into 0 28.709 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 28.709 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.709 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 28.710 * [backup-simplify]: Simplify (+ 0 0) into 0 28.710 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 28.710 * [taylor]: Taking taylor expansion of 0 in phi1 28.710 * [backup-simplify]: Simplify 0 into 0 28.710 * [backup-simplify]: Simplify 0 into 0 28.710 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.710 * [backup-simplify]: Simplify 1 into 1 28.711 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 28.712 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.712 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 28.713 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.713 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 28.713 * [backup-simplify]: Simplify (+ 0 0) into 0 28.714 * [backup-simplify]: Simplify (+ (* (sin phi1) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (sin phi1))) 28.714 * [taylor]: Taking taylor expansion of (- (* 1/2 (sin phi1))) in phi1 28.714 * [taylor]: Taking taylor expansion of (* 1/2 (sin phi1)) in phi1 28.714 * [taylor]: Taking taylor expansion of 1/2 in phi1 28.714 * [backup-simplify]: Simplify 1/2 into 1/2 28.714 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.714 * [taylor]: Taking taylor expansion of phi1 in phi1 28.714 * [backup-simplify]: Simplify 0 into 0 28.714 * [backup-simplify]: Simplify 1 into 1 28.714 * [backup-simplify]: Simplify (* 1/2 0) into 0 28.714 * [backup-simplify]: Simplify (- 0) into 0 28.714 * [backup-simplify]: Simplify 0 into 0 28.714 * [backup-simplify]: Simplify 0 into 0 28.715 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.715 * [backup-simplify]: Simplify 0 into 0 28.716 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 1 1) 1) (/ (pow 0 1) 1)) 0) into 0 28.716 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 28.717 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 28.718 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 28.718 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 28.718 * [backup-simplify]: Simplify (+ 0 0) into 0 28.719 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 -1/2) (+ (* 0 0) (* 0 1)))) into 0 28.719 * [taylor]: Taking taylor expansion of 0 in phi1 28.719 * [backup-simplify]: Simplify 0 into 0 28.719 * [backup-simplify]: Simplify 0 into 0 28.720 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.720 * [backup-simplify]: Simplify (+ (* 1/2 1) (* 0 0)) into 1/2 28.720 * [backup-simplify]: Simplify (- 1/2) into -1/2 28.720 * [backup-simplify]: Simplify -1/2 into -1/2 28.720 * [backup-simplify]: Simplify 0 into 0 28.721 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into -1/6 28.721 * [backup-simplify]: Simplify -1/6 into -1/6 28.722 * [backup-simplify]: Simplify (+ (* -1/6 (pow (* phi1 1) 3)) (+ (* -1/2 (* phi1 (pow delta 2))) (* 1 (* phi1 1)))) into (- phi1 (+ (* 1/2 (* phi1 (pow delta 2))) (* 1/6 (pow phi1 3)))) 28.722 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 28.722 * [approximate]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in (delta phi1) around 0 28.722 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 28.722 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.722 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.722 * [taylor]: Taking taylor expansion of phi1 in phi1 28.722 * [backup-simplify]: Simplify 0 into 0 28.722 * [backup-simplify]: Simplify 1 into 1 28.723 * [backup-simplify]: Simplify (/ 1 1) into 1 28.723 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.723 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 28.723 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.723 * [taylor]: Taking taylor expansion of delta in phi1 28.723 * [backup-simplify]: Simplify delta into delta 28.723 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.723 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.723 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.723 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 28.723 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.723 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.723 * [taylor]: Taking taylor expansion of phi1 in delta 28.723 * [backup-simplify]: Simplify phi1 into phi1 28.723 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.723 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.723 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.723 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 28.723 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.724 * [taylor]: Taking taylor expansion of delta in delta 28.724 * [backup-simplify]: Simplify 0 into 0 28.724 * [backup-simplify]: Simplify 1 into 1 28.724 * [backup-simplify]: Simplify (/ 1 1) into 1 28.724 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.724 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 28.724 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.724 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.724 * [taylor]: Taking taylor expansion of phi1 in delta 28.724 * [backup-simplify]: Simplify phi1 into phi1 28.724 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.724 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.724 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.724 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 28.724 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.725 * [taylor]: Taking taylor expansion of delta in delta 28.725 * [backup-simplify]: Simplify 0 into 0 28.725 * [backup-simplify]: Simplify 1 into 1 28.725 * [backup-simplify]: Simplify (/ 1 1) into 1 28.725 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.725 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 28.725 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 28.725 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 28.726 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 28.726 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in phi1 28.726 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 28.726 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.726 * [taylor]: Taking taylor expansion of delta in phi1 28.726 * [backup-simplify]: Simplify delta into delta 28.726 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.726 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.726 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.726 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.726 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.726 * [taylor]: Taking taylor expansion of phi1 in phi1 28.726 * [backup-simplify]: Simplify 0 into 0 28.726 * [backup-simplify]: Simplify 1 into 1 28.726 * [backup-simplify]: Simplify (/ 1 1) into 1 28.727 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.727 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 28.727 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 28.727 * [backup-simplify]: Simplify (- 0) into 0 28.727 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 28.727 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 28.727 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 28.728 * [backup-simplify]: Simplify (+ 0) into 0 28.729 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 28.729 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.730 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.730 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 28.731 * [backup-simplify]: Simplify (+ 0 0) into 0 28.731 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 28.731 * [taylor]: Taking taylor expansion of 0 in phi1 28.731 * [backup-simplify]: Simplify 0 into 0 28.731 * [backup-simplify]: Simplify 0 into 0 28.731 * [backup-simplify]: Simplify (+ 0) into 0 28.732 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 28.732 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.733 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.733 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 28.734 * [backup-simplify]: Simplify (- 0) into 0 28.734 * [backup-simplify]: Simplify (+ 0 0) into 0 28.734 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 28.734 * [backup-simplify]: Simplify 0 into 0 28.735 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.736 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.736 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.737 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.737 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.738 * [backup-simplify]: Simplify (+ 0 0) into 0 28.738 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 28.738 * [taylor]: Taking taylor expansion of 0 in phi1 28.738 * [backup-simplify]: Simplify 0 into 0 28.738 * [backup-simplify]: Simplify 0 into 0 28.738 * [backup-simplify]: Simplify 0 into 0 28.739 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.740 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.740 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.741 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.741 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.742 * [backup-simplify]: Simplify (- 0) into 0 28.742 * [backup-simplify]: Simplify (+ 0 0) into 0 28.743 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 28.743 * [backup-simplify]: Simplify 0 into 0 28.744 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 28.745 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 28.745 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.747 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 28.747 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 28.748 * [backup-simplify]: Simplify (+ 0 0) into 0 28.748 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ 1 delta)))))) into 0 28.749 * [taylor]: Taking taylor expansion of 0 in phi1 28.749 * [backup-simplify]: Simplify 0 into 0 28.749 * [backup-simplify]: Simplify 0 into 0 28.749 * [backup-simplify]: Simplify (* (cos (/ 1 (/ 1 delta))) (sin (/ 1 (/ 1 phi1)))) into (* (sin phi1) (cos delta)) 28.749 * [backup-simplify]: Simplify (* (cos (/ 1 (- delta))) (sin (/ 1 (- phi1)))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 28.749 * [approximate]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in (delta phi1) around 0 28.749 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 28.749 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.749 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.749 * [taylor]: Taking taylor expansion of -1 in phi1 28.749 * [backup-simplify]: Simplify -1 into -1 28.749 * [taylor]: Taking taylor expansion of phi1 in phi1 28.749 * [backup-simplify]: Simplify 0 into 0 28.749 * [backup-simplify]: Simplify 1 into 1 28.750 * [backup-simplify]: Simplify (/ -1 1) into -1 28.750 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.750 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 28.750 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.750 * [taylor]: Taking taylor expansion of -1 in phi1 28.750 * [backup-simplify]: Simplify -1 into -1 28.750 * [taylor]: Taking taylor expansion of delta in phi1 28.750 * [backup-simplify]: Simplify delta into delta 28.750 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.750 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.750 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.750 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 28.750 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.750 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.750 * [taylor]: Taking taylor expansion of -1 in delta 28.750 * [backup-simplify]: Simplify -1 into -1 28.750 * [taylor]: Taking taylor expansion of phi1 in delta 28.750 * [backup-simplify]: Simplify phi1 into phi1 28.750 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.750 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.750 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.750 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 28.751 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.751 * [taylor]: Taking taylor expansion of -1 in delta 28.751 * [backup-simplify]: Simplify -1 into -1 28.751 * [taylor]: Taking taylor expansion of delta in delta 28.751 * [backup-simplify]: Simplify 0 into 0 28.751 * [backup-simplify]: Simplify 1 into 1 28.751 * [backup-simplify]: Simplify (/ -1 1) into -1 28.751 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.751 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 28.751 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.751 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.751 * [taylor]: Taking taylor expansion of -1 in delta 28.751 * [backup-simplify]: Simplify -1 into -1 28.751 * [taylor]: Taking taylor expansion of phi1 in delta 28.751 * [backup-simplify]: Simplify phi1 into phi1 28.751 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.751 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.752 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.752 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 28.752 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.752 * [taylor]: Taking taylor expansion of -1 in delta 28.752 * [backup-simplify]: Simplify -1 into -1 28.752 * [taylor]: Taking taylor expansion of delta in delta 28.752 * [backup-simplify]: Simplify 0 into 0 28.752 * [backup-simplify]: Simplify 1 into 1 28.752 * [backup-simplify]: Simplify (/ -1 1) into -1 28.752 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.752 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 28.753 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 28.753 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 28.753 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 28.753 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 28.753 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.753 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.753 * [taylor]: Taking taylor expansion of -1 in phi1 28.753 * [backup-simplify]: Simplify -1 into -1 28.753 * [taylor]: Taking taylor expansion of phi1 in phi1 28.753 * [backup-simplify]: Simplify 0 into 0 28.753 * [backup-simplify]: Simplify 1 into 1 28.753 * [backup-simplify]: Simplify (/ -1 1) into -1 28.753 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.753 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 28.753 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.753 * [taylor]: Taking taylor expansion of -1 in phi1 28.753 * [backup-simplify]: Simplify -1 into -1 28.753 * [taylor]: Taking taylor expansion of delta in phi1 28.753 * [backup-simplify]: Simplify delta into delta 28.753 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.753 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.754 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.754 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 28.754 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 28.754 * [backup-simplify]: Simplify (- 0) into 0 28.754 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 28.754 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 28.754 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 28.754 * [backup-simplify]: Simplify (+ 0) into 0 28.755 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 28.755 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.755 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.756 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 28.756 * [backup-simplify]: Simplify (+ 0 0) into 0 28.756 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 28.756 * [taylor]: Taking taylor expansion of 0 in phi1 28.756 * [backup-simplify]: Simplify 0 into 0 28.756 * [backup-simplify]: Simplify 0 into 0 28.756 * [backup-simplify]: Simplify (+ 0) into 0 28.756 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 28.757 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.757 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.757 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 28.758 * [backup-simplify]: Simplify (- 0) into 0 28.758 * [backup-simplify]: Simplify (+ 0 0) into 0 28.758 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 28.758 * [backup-simplify]: Simplify 0 into 0 28.758 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.759 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.759 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.759 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.760 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.760 * [backup-simplify]: Simplify (+ 0 0) into 0 28.760 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 28.760 * [taylor]: Taking taylor expansion of 0 in phi1 28.760 * [backup-simplify]: Simplify 0 into 0 28.760 * [backup-simplify]: Simplify 0 into 0 28.761 * [backup-simplify]: Simplify 0 into 0 28.761 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.762 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.762 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.762 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.763 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.763 * [backup-simplify]: Simplify (- 0) into 0 28.763 * [backup-simplify]: Simplify (+ 0 0) into 0 28.763 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 28.763 * [backup-simplify]: Simplify 0 into 0 28.764 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 28.764 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 28.765 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.765 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 28.766 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 28.766 * [backup-simplify]: Simplify (+ 0 0) into 0 28.767 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ -1 delta)))))) into 0 28.767 * [taylor]: Taking taylor expansion of 0 in phi1 28.767 * [backup-simplify]: Simplify 0 into 0 28.767 * [backup-simplify]: Simplify 0 into 0 28.767 * [backup-simplify]: Simplify (* (sin (/ -1 (/ 1 (- phi1)))) (cos (/ -1 (/ 1 (- delta))))) into (* (sin phi1) (cos delta)) 28.767 * * * [progress]: simplifying candidates 28.767 * * * * [progress]: [ 1 / 86 ] simplifiying candidate # 28.767 * [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)))) 28.767 * * [simplify]: iters left: 6 (18 enodes) 28.771 * * [simplify]: iters left: 5 (65 enodes) 28.780 * * [simplify]: iters left: 4 (84 enodes) 28.800 * * [simplify]: iters left: 3 (104 enodes) 28.816 * * [simplify]: iters left: 2 (111 enodes) 28.836 * * [simplify]: iters left: 1 (137 enodes) 28.867 * * [simplify]: Extracting #0: cost 1 inf + 0 28.868 * * [simplify]: Extracting #1: cost 11 inf + 0 28.868 * * [simplify]: Extracting #2: cost 26 inf + 0 28.868 * * [simplify]: Extracting #3: cost 26 inf + 165 28.868 * * [simplify]: Extracting #4: cost 34 inf + 389 28.868 * * [simplify]: Extracting #5: cost 36 inf + 2245 28.869 * * [simplify]: Extracting #6: cost 25 inf + 5855 28.870 * * [simplify]: Extracting #7: cost 5 inf + 14523 28.873 * * [simplify]: Extracting #8: cost 0 inf + 17473 28.875 * [simplify]: Simplified to (- (cos delta) (* (sin (asin (fma (* (cos phi1) (sin delta)) (cos theta) (* (cos delta) (sin phi1))))) (sin phi1))) 28.875 * [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)) 28.875 * [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))) 28.875 * * [simplify]: iters left: 6 (16 enodes) 28.879 * * [simplify]: iters left: 5 (55 enodes) 28.892 * * [simplify]: iters left: 4 (70 enodes) 28.915 * * [simplify]: iters left: 3 (95 enodes) 28.940 * * [simplify]: iters left: 2 (101 enodes) 28.962 * * [simplify]: Extracting #0: cost 1 inf + 0 28.962 * * [simplify]: Extracting #1: cost 0 inf + 1 28.962 * [simplify]: Simplified to 0 28.963 * [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)) 28.963 * * * * [progress]: [ 2 / 86 ] simplifiying candidate # 28.963 * [simplify]: Simplifying (fma (sqrt (cos delta)) (sqrt (cos delta)) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))) 28.963 * * [simplify]: iters left: 6 (17 enodes) 28.970 * * [simplify]: iters left: 5 (62 enodes) 28.978 * * [simplify]: iters left: 4 (77 enodes) 28.989 * * [simplify]: iters left: 3 (95 enodes) 29.005 * * [simplify]: iters left: 2 (101 enodes) 29.031 * * [simplify]: Extracting #0: cost 1 inf + 0 29.031 * * [simplify]: Extracting #1: cost 6 inf + 0 29.032 * * [simplify]: Extracting #2: cost 15 inf + 0 29.032 * * [simplify]: Extracting #3: cost 20 inf + 1 29.032 * * [simplify]: Extracting #4: cost 20 inf + 63 29.032 * * [simplify]: Extracting #5: cost 25 inf + 387 29.032 * * [simplify]: Extracting #6: cost 28 inf + 1096 29.033 * * [simplify]: Extracting #7: cost 21 inf + 2069 29.035 * * [simplify]: Extracting #8: cost 9 inf + 5808 29.037 * * [simplify]: Extracting #9: cost 1 inf + 11072 29.041 * * [simplify]: Extracting #10: cost 0 inf + 11715 29.044 * [simplify]: Simplified to (- (cos delta) (* (sin phi1) (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))))) 29.044 * [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)) 29.045 * [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))) 29.045 * * [simplify]: iters left: 6 (16 enodes) 29.052 * * [simplify]: iters left: 5 (55 enodes) 29.060 * * [simplify]: iters left: 4 (70 enodes) 29.070 * * [simplify]: iters left: 3 (95 enodes) 29.083 * * [simplify]: iters left: 2 (101 enodes) 29.094 * * [simplify]: Extracting #0: cost 1 inf + 0 29.094 * * [simplify]: Extracting #1: cost 0 inf + 1 29.094 * [simplify]: Simplified to 0 29.094 * [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)) 29.095 * * * * [progress]: [ 3 / 86 ] simplifiying candidate # 29.095 * [simplify]: Simplifying (fma 1 (cos delta) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))) 29.095 * * [simplify]: iters left: 6 (17 enodes) 29.100 * * [simplify]: iters left: 5 (64 enodes) 29.120 * * [simplify]: iters left: 4 (82 enodes) 29.147 * * [simplify]: iters left: 3 (105 enodes) 29.164 * * [simplify]: iters left: 2 (106 enodes) 29.178 * * [simplify]: iters left: 1 (128 enodes) 29.198 * * [simplify]: Extracting #0: cost 1 inf + 0 29.198 * * [simplify]: Extracting #1: cost 10 inf + 0 29.198 * * [simplify]: Extracting #2: cost 20 inf + 1 29.199 * * [simplify]: Extracting #3: cost 19 inf + 4 29.199 * * [simplify]: Extracting #4: cost 25 inf + 187 29.199 * * [simplify]: Extracting #5: cost 27 inf + 896 29.199 * * [simplify]: Extracting #6: cost 18 inf + 1789 29.200 * * [simplify]: Extracting #7: cost 11 inf + 4223 29.202 * * [simplify]: Extracting #8: cost 2 inf + 9745 29.204 * * [simplify]: Extracting #9: cost 0 inf + 11111 29.206 * [simplify]: Simplified to (- (cos delta) (* (sin phi1) (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (cos delta) (sin phi1))))))) 29.206 * [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)) 29.207 * [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))) 29.207 * * [simplify]: iters left: 6 (16 enodes) 29.210 * * [simplify]: iters left: 5 (55 enodes) 29.218 * * [simplify]: iters left: 4 (70 enodes) 29.237 * * [simplify]: iters left: 3 (95 enodes) 29.256 * * [simplify]: iters left: 2 (101 enodes) 29.268 * * [simplify]: Extracting #0: cost 1 inf + 0 29.268 * * [simplify]: Extracting #1: cost 0 inf + 1 29.268 * [simplify]: Simplified to 0 29.268 * [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)) 29.269 * * * * [progress]: [ 4 / 86 ] simplifiying candidate # 29.269 * * * * [progress]: [ 5 / 86 ] simplifiying candidate # 29.269 * * * * [progress]: [ 6 / 86 ] simplifiying candidate # 29.269 * [simplify]: Simplifying (* (cbrt (cos delta)) (cbrt (cos delta))) 29.269 * * [simplify]: iters left: 4 (4 enodes) 29.270 * * [simplify]: iters left: 3 (12 enodes) 29.271 * * [simplify]: Extracting #0: cost 1 inf + 0 29.271 * * [simplify]: Extracting #1: cost 3 inf + 0 29.271 * * [simplify]: Extracting #2: cost 5 inf + 0 29.271 * * [simplify]: Extracting #3: cost 7 inf + 0 29.271 * * [simplify]: Extracting #4: cost 6 inf + 1 29.272 * * [simplify]: Extracting #5: cost 0 inf + 767 29.272 * [simplify]: Simplified to (* (cbrt (cos delta)) (cbrt (cos delta))) 29.272 * [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)) 29.272 * * * * [progress]: [ 7 / 86 ] simplifiying candidate # 29.272 * [simplify]: Simplifying (sqrt (cos delta)) 29.272 * * [simplify]: iters left: 2 (3 enodes) 29.273 * * [simplify]: iters left: 1 (9 enodes) 29.274 * * [simplify]: Extracting #0: cost 1 inf + 0 29.274 * * [simplify]: Extracting #1: cost 3 inf + 0 29.274 * * [simplify]: Extracting #2: cost 5 inf + 0 29.274 * * [simplify]: Extracting #3: cost 4 inf + 1 29.274 * * [simplify]: Extracting #4: cost 0 inf + 325 29.274 * [simplify]: Simplified to (sqrt (cos delta)) 29.274 * [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)) 29.274 * * * * [progress]: [ 8 / 86 ] simplifiying candidate # 29.274 * * * * [progress]: [ 9 / 86 ] simplifiying candidate # 29.274 * [simplify]: Simplifying (/ (exp (cos delta)) (exp (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) 29.275 * * [simplify]: iters left: 6 (17 enodes) 29.279 * * [simplify]: iters left: 5 (60 enodes) 29.295 * * [simplify]: iters left: 4 (80 enodes) 29.315 * * [simplify]: iters left: 3 (119 enodes) 29.334 * * [simplify]: iters left: 2 (169 enodes) 29.363 * * [simplify]: iters left: 1 (274 enodes) 29.438 * * [simplify]: Extracting #0: cost 1 inf + 0 29.438 * * [simplify]: Extracting #1: cost 48 inf + 0 29.438 * * [simplify]: Extracting #2: cost 128 inf + 1 29.439 * * [simplify]: Extracting #3: cost 179 inf + 3 29.439 * * [simplify]: Extracting #4: cost 178 inf + 684 29.440 * * [simplify]: Extracting #5: cost 177 inf + 1869 29.441 * * [simplify]: Extracting #6: cost 174 inf + 3513 29.443 * * [simplify]: Extracting #7: cost 150 inf + 14771 29.451 * * [simplify]: Extracting #8: cost 85 inf + 67888 29.483 * * [simplify]: Extracting #9: cost 3 inf + 153557 29.503 * * [simplify]: Extracting #10: cost 0 inf + 155583 29.533 * [simplify]: Simplified to (exp (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) 29.533 * [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)) 29.533 * * * * [progress]: [ 10 / 86 ] simplifiying candidate # 29.533 * * * * [progress]: [ 11 / 86 ] simplifiying candidate # 29.534 * * * * [progress]: [ 12 / 86 ] simplifiying candidate # 29.534 * * * * [progress]: [ 13 / 86 ] simplifiying candidate # 29.534 * * * * [progress]: [ 14 / 86 ] simplifiying candidate # 29.534 * * * * [progress]: [ 15 / 86 ] simplifiying candidate # 29.534 * * * * [progress]: [ 16 / 86 ] simplifiying candidate # 29.534 * * * * [progress]: [ 17 / 86 ] simplifiying candidate # 29.534 * * * * [progress]: [ 18 / 86 ] simplifiying candidate # 29.534 * * * * [progress]: [ 19 / 86 ] simplifiying candidate # 29.534 * * * * [progress]: [ 20 / 86 ] simplifiying candidate # 29.534 * * * * [progress]: [ 21 / 86 ] simplifiying candidate #real (real->posit16 (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 29.534 * * * * [progress]: [ 22 / 86 ] simplifiying candidate # 29.534 * * * * [progress]: [ 23 / 86 ] simplifiying candidate # 29.535 * * * * [progress]: [ 24 / 86 ] simplifiying candidate # 29.535 * * * * [progress]: [ 25 / 86 ] simplifiying candidate # 29.535 * * * * [progress]: [ 26 / 86 ] simplifiying candidate # 29.535 * * * * [progress]: [ 27 / 86 ] simplifiying candidate # 29.535 * * * * [progress]: [ 28 / 86 ] simplifiying candidate # 29.535 * * * * [progress]: [ 29 / 86 ] simplifiying candidate # 29.535 * * * * [progress]: [ 30 / 86 ] simplifiying candidate # 29.535 * * * * [progress]: [ 31 / 86 ] simplifiying candidate # 29.535 * * * * [progress]: [ 32 / 86 ] simplifiying candidate #real (real->posit16 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 29.535 * * * * [progress]: [ 33 / 86 ] simplifiying candidate # 29.535 * * * * [progress]: [ 34 / 86 ] simplifiying candidate # 29.535 * * * * [progress]: [ 35 / 86 ] simplifiying candidate # 29.536 * [simplify]: Simplifying (* (sin delta) (* (cos phi1) (sin theta))) 29.536 * * [simplify]: iters left: 5 (8 enodes) 29.539 * * [simplify]: iters left: 4 (28 enodes) 29.550 * * [simplify]: iters left: 3 (36 enodes) 29.561 * * [simplify]: iters left: 2 (42 enodes) 29.571 * * [simplify]: Extracting #0: cost 1 inf + 0 29.571 * * [simplify]: Extracting #1: cost 8 inf + 0 29.571 * * [simplify]: Extracting #2: cost 17 inf + 0 29.571 * * [simplify]: Extracting #3: cost 12 inf + 125 29.571 * * [simplify]: Extracting #4: cost 5 inf + 1057 29.572 * * [simplify]: Extracting #5: cost 1 inf + 1705 29.572 * * [simplify]: Extracting #6: cost 0 inf + 1867 29.573 * [simplify]: Simplified to (* (* (cos phi1) (sin theta)) (sin delta)) 29.573 * [simplify]: Simplified (2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (pow (* (* (cos phi1) (sin theta)) (sin delta)) 1) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 29.573 * * * * [progress]: [ 36 / 86 ] simplifiying candidate # 29.574 * [simplify]: Simplifying (* (sin delta) (* (cos phi1) (sin theta))) 29.574 * * [simplify]: iters left: 5 (8 enodes) 29.578 * * [simplify]: iters left: 4 (28 enodes) 29.585 * * [simplify]: iters left: 3 (36 enodes) 29.595 * * [simplify]: iters left: 2 (42 enodes) 29.606 * * [simplify]: Extracting #0: cost 1 inf + 0 29.606 * * [simplify]: Extracting #1: cost 8 inf + 0 29.606 * * [simplify]: Extracting #2: cost 17 inf + 0 29.606 * * [simplify]: Extracting #3: cost 12 inf + 125 29.607 * * [simplify]: Extracting #4: cost 5 inf + 1057 29.607 * * [simplify]: Extracting #5: cost 1 inf + 1705 29.608 * * [simplify]: Extracting #6: cost 0 inf + 1867 29.608 * [simplify]: Simplified to (* (* (cos phi1) (sin theta)) (sin delta)) 29.608 * [simplify]: Simplified (2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (pow (* (* (cos phi1) (sin theta)) (sin delta)) 1) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 29.609 * * * * [progress]: [ 37 / 86 ] simplifiying candidate # 29.609 * * * * [progress]: [ 38 / 86 ] simplifiying candidate # 29.609 * [simplify]: Simplifying (+ (log (sin delta)) (+ (log (cos phi1)) (log (sin theta)))) 29.609 * * [simplify]: iters left: 6 (11 enodes) 29.614 * * [simplify]: iters left: 5 (37 enodes) 29.624 * * [simplify]: iters left: 4 (45 enodes) 29.636 * * [simplify]: iters left: 3 (51 enodes) 29.649 * * [simplify]: Extracting #0: cost 1 inf + 0 29.649 * * [simplify]: Extracting #1: cost 8 inf + 0 29.649 * * [simplify]: Extracting #2: cost 17 inf + 0 29.649 * * [simplify]: Extracting #3: cost 23 inf + 0 29.649 * * [simplify]: Extracting #4: cost 19 inf + 64 29.649 * * [simplify]: Extracting #5: cost 12 inf + 701 29.650 * * [simplify]: Extracting #6: cost 5 inf + 2061 29.651 * * [simplify]: Extracting #7: cost 0 inf + 3913 29.652 * [simplify]: Simplified to (+ (+ (log (sin theta)) (log (sin delta))) (log (cos phi1))) 29.652 * [simplify]: Simplified (2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (exp (+ (+ (log (sin theta)) (log (sin delta))) (log (cos phi1)))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 29.652 * * * * [progress]: [ 39 / 86 ] simplifiying candidate # 29.652 * [simplify]: Simplifying (+ (log (sin delta)) (log (* (cos phi1) (sin theta)))) 29.653 * * [simplify]: iters left: 6 (10 enodes) 29.655 * * [simplify]: iters left: 5 (35 enodes) 29.659 * * [simplify]: iters left: 4 (44 enodes) 29.665 * * [simplify]: iters left: 3 (52 enodes) 29.672 * * [simplify]: Extracting #0: cost 1 inf + 0 29.672 * * [simplify]: Extracting #1: cost 8 inf + 0 29.672 * * [simplify]: Extracting #2: cost 18 inf + 0 29.672 * * [simplify]: Extracting #3: cost 25 inf + 0 29.672 * * [simplify]: Extracting #4: cost 19 inf + 186 29.672 * * [simplify]: Extracting #5: cost 6 inf + 2285 29.673 * * [simplify]: Extracting #6: cost 0 inf + 3957 29.673 * [simplify]: Simplified to (+ (log (* (sin theta) (cos phi1))) (log (sin delta))) 29.673 * [simplify]: Simplified (2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (exp (+ (log (* (sin theta) (cos phi1))) (log (sin delta)))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 29.673 * * * * [progress]: [ 40 / 86 ] simplifiying candidate # 29.673 * * * * [progress]: [ 41 / 86 ] simplifiying candidate # 29.674 * * * * [progress]: [ 42 / 86 ] simplifiying candidate # 29.674 * [simplify]: Simplifying (* (* (* (sin delta) (sin delta)) (sin delta)) (* (* (* (cos phi1) (cos phi1)) (cos phi1)) (* (* (sin theta) (sin theta)) (sin theta)))) 29.675 * * [simplify]: iters left: 6 (14 enodes) 29.678 * * [simplify]: iters left: 5 (55 enodes) 29.693 * * [simplify]: iters left: 4 (129 enodes) 29.737 * * [simplify]: iters left: 3 (377 enodes) 29.976 * * [simplify]: Extracting #0: cost 1 inf + 0 29.977 * * [simplify]: Extracting #1: cost 90 inf + 0 29.978 * * [simplify]: Extracting #2: cost 262 inf + 0 29.981 * * [simplify]: Extracting #3: cost 196 inf + 16716 30.013 * * [simplify]: Extracting #4: cost 15 inf + 84091 30.031 * * [simplify]: Extracting #5: cost 0 inf + 86905 30.063 * * [simplify]: Extracting #6: cost 0 inf + 86505 30.099 * [simplify]: Simplified to (* (* (sin theta) (* (* (* (cos phi1) (sin delta)) (* (cos phi1) (sin delta))) (* (cos phi1) (sin delta)))) (* (sin theta) (sin theta))) 30.099 * [simplify]: Simplified (2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (cbrt (* (* (sin theta) (* (* (* (cos phi1) (sin delta)) (* (cos phi1) (sin delta))) (* (cos phi1) (sin delta)))) (* (sin theta) (sin theta)))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 30.099 * * * * [progress]: [ 43 / 86 ] simplifiying candidate # 30.099 * [simplify]: Simplifying (* (* (* (sin delta) (sin delta)) (sin delta)) (* (* (* (cos phi1) (sin theta)) (* (cos phi1) (sin theta))) (* (cos phi1) (sin theta)))) 30.100 * * [simplify]: iters left: 6 (12 enodes) 30.106 * * [simplify]: iters left: 5 (53 enodes) 30.125 * * [simplify]: iters left: 4 (136 enodes) 30.202 * * [simplify]: iters left: 3 (434 enodes) 30.557 * * [simplify]: Extracting #0: cost 1 inf + 0 30.557 * * [simplify]: Extracting #1: cost 83 inf + 0 30.559 * * [simplify]: Extracting #2: cost 211 inf + 0 30.565 * * [simplify]: Extracting #3: cost 163 inf + 12279 30.583 * * [simplify]: Extracting #4: cost 24 inf + 56995 30.601 * * [simplify]: Extracting #5: cost 0 inf + 64809 30.636 * * [simplify]: Extracting #6: cost 0 inf + 64409 30.669 * * [simplify]: Extracting #7: cost 0 inf + 64369 30.704 * [simplify]: Simplified to (* (* (* (sin theta) (cos phi1)) (sin delta)) (* (* (* (sin theta) (cos phi1)) (sin delta)) (* (* (sin theta) (cos phi1)) (sin delta)))) 30.704 * [simplify]: Simplified (2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (cbrt (* (* (* (sin theta) (cos phi1)) (sin delta)) (* (* (* (sin theta) (cos phi1)) (sin delta)) (* (* (sin theta) (cos phi1)) (sin delta))))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 30.704 * * * * [progress]: [ 44 / 86 ] simplifiying candidate # 30.705 * * * * [progress]: [ 45 / 86 ] simplifiying candidate # 30.705 * * * * [progress]: [ 46 / 86 ] simplifiying candidate # 30.705 * * * * [progress]: [ 47 / 86 ] simplifiying candidate # 30.705 * * * * [progress]: [ 48 / 86 ] simplifiying candidate # 30.705 * [simplify]: Simplifying (sin theta) 30.705 * * [simplify]: iters left: 1 (2 enodes) 30.706 * * [simplify]: Extracting #0: cost 1 inf + 0 30.706 * * [simplify]: Extracting #1: cost 3 inf + 0 30.706 * * [simplify]: Extracting #2: cost 2 inf + 1 30.706 * * [simplify]: Extracting #3: cost 0 inf + 123 30.706 * [simplify]: Simplified to (sin theta) 30.706 * [simplify]: Simplified (2 1 1 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (* (sin delta) (cos phi1)) (sin theta)) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 30.707 * * * * [progress]: [ 49 / 86 ] simplifiying candidate # 30.707 * [simplify]: Simplifying (* (cbrt (sin delta)) (cbrt (sin delta))) 30.707 * * [simplify]: iters left: 4 (4 enodes) 30.709 * * [simplify]: iters left: 3 (12 enodes) 30.712 * * [simplify]: Extracting #0: cost 1 inf + 0 30.712 * * [simplify]: Extracting #1: cost 3 inf + 0 30.712 * * [simplify]: Extracting #2: cost 5 inf + 0 30.712 * * [simplify]: Extracting #3: cost 7 inf + 0 30.712 * * [simplify]: Extracting #4: cost 6 inf + 1 30.712 * * [simplify]: Extracting #5: cost 0 inf + 767 30.713 * [simplify]: Simplified to (* (cbrt (sin delta)) (cbrt (sin delta))) 30.713 * [simplify]: Simplified (2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (* (cbrt (sin delta)) (cbrt (sin delta))) (* (cbrt (sin delta)) (* (cos phi1) (sin theta)))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 30.713 * * * * [progress]: [ 50 / 86 ] simplifiying candidate # 30.713 * [simplify]: Simplifying (sqrt (sin delta)) 30.713 * * [simplify]: iters left: 2 (3 enodes) 30.715 * * [simplify]: iters left: 1 (9 enodes) 30.717 * * [simplify]: Extracting #0: cost 1 inf + 0 30.717 * * [simplify]: Extracting #1: cost 3 inf + 0 30.717 * * [simplify]: Extracting #2: cost 5 inf + 0 30.717 * * [simplify]: Extracting #3: cost 4 inf + 1 30.717 * * [simplify]: Extracting #4: cost 0 inf + 325 30.717 * [simplify]: Simplified to (sqrt (sin delta)) 30.717 * [simplify]: Simplified (2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sqrt (sin delta)) (* (sqrt (sin delta)) (* (cos phi1) (sin theta)))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 30.718 * * * * [progress]: [ 51 / 86 ] simplifiying candidate # 30.718 * * * * [progress]: [ 52 / 86 ] simplifiying candidate #real (real->posit16 (* (sin delta) (* (cos phi1) (sin theta))))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1))> 30.718 * * * * [progress]: [ 53 / 86 ] simplifiying candidate # 30.718 * * * * [progress]: [ 54 / 86 ] simplifiying candidate # 30.718 * * * * [progress]: [ 55 / 86 ] simplifiying candidate # 30.718 * * * * [progress]: [ 56 / 86 ] simplifiying candidate # 30.718 * [simplify]: Simplifying (* (cos delta) (sin phi1)) 30.718 * * [simplify]: iters left: 3 (5 enodes) 30.720 * * [simplify]: iters left: 2 (16 enodes) 30.725 * * [simplify]: Extracting #0: cost 1 inf + 0 30.725 * * [simplify]: Extracting #1: cost 4 inf + 0 30.725 * * [simplify]: Extracting #2: cost 8 inf + 0 30.725 * * [simplify]: Extracting #3: cost 4 inf + 124 30.725 * * [simplify]: Extracting #4: cost 0 inf + 570 30.725 * [simplify]: Simplified to (* (sin phi1) (cos delta)) 30.725 * [simplify]: Simplified (2 1 2 2 2 1 1 3 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)) (pow (* (sin phi1) (cos delta)) 1))))))) lambda1)) 30.725 * * * * [progress]: [ 57 / 86 ] simplifiying candidate # 30.725 * * * * [progress]: [ 58 / 86 ] simplifiying candidate # 30.726 * [simplify]: Simplifying (+ (log (cos delta)) (log (sin phi1))) 30.726 * * [simplify]: iters left: 4 (7 enodes) 30.729 * * [simplify]: iters left: 3 (22 enodes) 30.734 * * [simplify]: Extracting #0: cost 1 inf + 0 30.734 * * [simplify]: Extracting #1: cost 4 inf + 0 30.734 * * [simplify]: Extracting #2: cost 8 inf + 0 30.735 * * [simplify]: Extracting #3: cost 12 inf + 0 30.735 * * [simplify]: Extracting #4: cost 10 inf + 2 30.735 * * [simplify]: Extracting #5: cost 4 inf + 508 30.735 * * [simplify]: Extracting #6: cost 1 inf + 1072 30.735 * * [simplify]: Extracting #7: cost 0 inf + 1374 30.736 * [simplify]: Simplified to (+ (log (sin phi1)) (log (cos delta))) 30.736 * [simplify]: Simplified (2 1 2 2 2 1 1 3 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)) (exp (+ (log (sin phi1)) (log (cos delta)))))))))) lambda1)) 30.736 * * * * [progress]: [ 59 / 86 ] simplifiying candidate # 30.736 * * * * [progress]: [ 60 / 86 ] simplifiying candidate # 30.736 * * * * [progress]: [ 61 / 86 ] simplifiying candidate # 30.736 * [simplify]: Simplifying (* (* (* (cos delta) (cos delta)) (cos delta)) (* (* (sin phi1) (sin phi1)) (sin phi1))) 30.737 * * [simplify]: iters left: 6 (9 enodes) 30.741 * * [simplify]: iters left: 5 (34 enodes) 30.752 * * [simplify]: iters left: 4 (63 enodes) 30.777 * * [simplify]: iters left: 3 (122 enodes) 30.824 * * [simplify]: iters left: 2 (196 enodes) 30.882 * * [simplify]: iters left: 1 (356 enodes) 31.039 * * [simplify]: Extracting #0: cost 1 inf + 0 31.040 * * [simplify]: Extracting #1: cost 70 inf + 0 31.041 * * [simplify]: Extracting #2: cost 169 inf + 1 31.042 * * [simplify]: Extracting #3: cost 154 inf + 2658 31.050 * * [simplify]: Extracting #4: cost 86 inf + 31524 31.061 * * [simplify]: Extracting #5: cost 7 inf + 77226 31.069 * * [simplify]: Extracting #6: cost 0 inf + 81813 31.078 * [simplify]: Simplified to (* (* (* (sin phi1) (cos delta)) (* (sin phi1) (cos delta))) (* (sin phi1) (cos delta))) 31.078 * [simplify]: Simplified (2 1 2 2 2 1 1 3 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)) (cbrt (* (* (* (sin phi1) (cos delta)) (* (sin phi1) (cos delta))) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.078 * * * * [progress]: [ 62 / 86 ] simplifiying candidate # 31.078 * * * * [progress]: [ 63 / 86 ] simplifiying candidate # 31.078 * * * * [progress]: [ 64 / 86 ] simplifiying candidate # 31.078 * * * * [progress]: [ 65 / 86 ] simplifiying candidate # 31.078 * * * * [progress]: [ 66 / 86 ] simplifiying candidate # 31.078 * [simplify]: Simplifying (* (sqrt (cos delta)) (sqrt (sin phi1))) 31.079 * * [simplify]: iters left: 4 (7 enodes) 31.080 * * [simplify]: iters left: 3 (22 enodes) 31.085 * * [simplify]: Extracting #0: cost 1 inf + 0 31.085 * * [simplify]: Extracting #1: cost 4 inf + 0 31.085 * * [simplify]: Extracting #2: cost 8 inf + 0 31.086 * * [simplify]: Extracting #3: cost 12 inf + 0 31.086 * * [simplify]: Extracting #4: cost 10 inf + 2 31.086 * * [simplify]: Extracting #5: cost 4 inf + 448 31.086 * * [simplify]: Extracting #6: cost 1 inf + 892 31.086 * * [simplify]: Extracting #7: cost 0 inf + 1134 31.087 * [simplify]: Simplified to (* (sqrt (cos delta)) (sqrt (sin phi1))) 31.087 * [simplify]: Simplified (2 1 2 2 2 1 1 3 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)) (* (* (sqrt (cos delta)) (sqrt (sin phi1))) (* (sqrt (cos delta)) (sqrt (sin phi1)))))))))) lambda1)) 31.087 * [simplify]: Simplifying (* (sqrt (cos delta)) (sqrt (sin phi1))) 31.087 * * [simplify]: iters left: 4 (7 enodes) 31.090 * * [simplify]: iters left: 3 (22 enodes) 31.096 * * [simplify]: Extracting #0: cost 1 inf + 0 31.096 * * [simplify]: Extracting #1: cost 4 inf + 0 31.096 * * [simplify]: Extracting #2: cost 8 inf + 0 31.096 * * [simplify]: Extracting #3: cost 12 inf + 0 31.096 * * [simplify]: Extracting #4: cost 10 inf + 2 31.096 * * [simplify]: Extracting #5: cost 4 inf + 448 31.097 * * [simplify]: Extracting #6: cost 1 inf + 892 31.097 * * [simplify]: Extracting #7: cost 0 inf + 1134 31.097 * [simplify]: Simplified to (* (sqrt (cos delta)) (sqrt (sin phi1))) 31.097 * [simplify]: Simplified (2 1 2 2 2 1 1 3 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)) (* (* (sqrt (cos delta)) (sqrt (sin phi1))) (* (sqrt (cos delta)) (sqrt (sin phi1)))))))))) lambda1)) 31.098 * * * * [progress]: [ 67 / 86 ] simplifiying candidate # 31.098 * [simplify]: Simplifying (cbrt (sin phi1)) 31.098 * * [simplify]: iters left: 2 (3 enodes) 31.099 * * [simplify]: iters left: 1 (9 enodes) 31.102 * * [simplify]: Extracting #0: cost 1 inf + 0 31.102 * * [simplify]: Extracting #1: cost 3 inf + 0 31.102 * * [simplify]: Extracting #2: cost 5 inf + 0 31.102 * * [simplify]: Extracting #3: cost 4 inf + 1 31.102 * * [simplify]: Extracting #4: cost 0 inf + 405 31.102 * [simplify]: Simplified to (cbrt (sin phi1)) 31.102 * [simplify]: Simplified (2 1 2 2 2 1 1 3 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) (* (cbrt (sin phi1)) (cbrt (sin phi1)))) (cbrt (sin phi1))))))))) lambda1)) 31.102 * * * * [progress]: [ 68 / 86 ] simplifiying candidate # 31.103 * [simplify]: Simplifying (sqrt (sin phi1)) 31.103 * * [simplify]: iters left: 2 (3 enodes) 31.104 * * [simplify]: iters left: 1 (9 enodes) 31.106 * * [simplify]: Extracting #0: cost 1 inf + 0 31.106 * * [simplify]: Extracting #1: cost 3 inf + 0 31.106 * * [simplify]: Extracting #2: cost 5 inf + 0 31.106 * * [simplify]: Extracting #3: cost 4 inf + 1 31.107 * * [simplify]: Extracting #4: cost 0 inf + 325 31.107 * [simplify]: Simplified to (sqrt (sin phi1)) 31.107 * [simplify]: Simplified (2 1 2 2 2 1 1 3 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) (sqrt (sin phi1))) (sqrt (sin phi1))))))))) lambda1)) 31.107 * * * * [progress]: [ 69 / 86 ] simplifiying candidate # 31.107 * [simplify]: Simplifying (sin phi1) 31.107 * * [simplify]: iters left: 1 (2 enodes) 31.108 * * [simplify]: Extracting #0: cost 1 inf + 0 31.108 * * [simplify]: Extracting #1: cost 3 inf + 0 31.108 * * [simplify]: Extracting #2: cost 2 inf + 1 31.108 * * [simplify]: Extracting #3: cost 0 inf + 123 31.108 * [simplify]: Simplified to (sin phi1) 31.108 * [simplify]: Simplified (2 1 2 2 2 1 1 3 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) 1) (sin phi1)))))))) lambda1)) 31.109 * * * * [progress]: [ 70 / 86 ] simplifiying candidate # 31.109 * [simplify]: Simplifying (* (cbrt (cos delta)) (cbrt (cos delta))) 31.109 * * [simplify]: iters left: 4 (4 enodes) 31.110 * * [simplify]: iters left: 3 (12 enodes) 31.111 * * [simplify]: Extracting #0: cost 1 inf + 0 31.111 * * [simplify]: Extracting #1: cost 3 inf + 0 31.111 * * [simplify]: Extracting #2: cost 5 inf + 0 31.111 * * [simplify]: Extracting #3: cost 7 inf + 0 31.111 * * [simplify]: Extracting #4: cost 6 inf + 1 31.112 * * [simplify]: Extracting #5: cost 0 inf + 767 31.112 * [simplify]: Simplified to (* (cbrt (cos delta)) (cbrt (cos delta))) 31.112 * [simplify]: Simplified (2 1 2 2 2 1 1 3 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)) (* (* (cbrt (cos delta)) (cbrt (cos delta))) (* (cbrt (cos delta)) (sin phi1))))))))) lambda1)) 31.112 * * * * [progress]: [ 71 / 86 ] simplifiying candidate # 31.112 * [simplify]: Simplifying (sqrt (cos delta)) 31.112 * * [simplify]: iters left: 2 (3 enodes) 31.113 * * [simplify]: iters left: 1 (9 enodes) 31.114 * * [simplify]: Extracting #0: cost 1 inf + 0 31.114 * * [simplify]: Extracting #1: cost 3 inf + 0 31.114 * * [simplify]: Extracting #2: cost 5 inf + 0 31.114 * * [simplify]: Extracting #3: cost 4 inf + 1 31.114 * * [simplify]: Extracting #4: cost 0 inf + 325 31.114 * [simplify]: Simplified to (sqrt (cos delta)) 31.114 * [simplify]: Simplified (2 1 2 2 2 1 1 3 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)) (* (sqrt (cos delta)) (* (sqrt (cos delta)) (sin phi1))))))))) lambda1)) 31.114 * * * * [progress]: [ 72 / 86 ] simplifiying candidate # 31.115 * * * * [progress]: [ 73 / 86 ] simplifiying candidate #real (real->posit16 (* (cos delta) (sin phi1)))))))))) lambda1))> 31.115 * * * * [progress]: [ 74 / 86 ] simplifiying candidate # 31.115 * * * * [progress]: [ 75 / 86 ] simplifiying candidate # 31.115 * [simplify]: Simplifying (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) 31.115 * * [simplify]: iters left: 6 (10 enodes) 31.119 * * [simplify]: iters left: 5 (44 enodes) 31.126 * * [simplify]: iters left: 4 (66 enodes) 31.137 * * [simplify]: iters left: 3 (115 enodes) 31.181 * * [simplify]: iters left: 2 (226 enodes) 31.267 * * [simplify]: iters left: 1 (314 enodes) 31.385 * * [simplify]: Extracting #0: cost 1 inf + 0 31.385 * * [simplify]: Extracting #1: cost 29 inf + 0 31.386 * * [simplify]: Extracting #2: cost 43 inf + 390 31.388 * * [simplify]: Extracting #3: cost 15 inf + 2617 31.392 * * [simplify]: Extracting #4: cost 2 inf + 4019 31.396 * * [simplify]: Extracting #5: cost 0 inf + 4155 31.401 * [simplify]: Simplified to (- 1 (* (fma delta 1/2 phi1) delta)) 31.401 * [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)) 31.401 * * * * [progress]: [ 76 / 86 ] simplifiying candidate # 31.402 * [simplify]: Simplifying (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (sin phi1) (* (cos theta) (cos phi1)))))) 31.402 * * [simplify]: iters left: 6 (16 enodes) 31.411 * * [simplify]: iters left: 5 (67 enodes) 31.429 * * [simplify]: iters left: 4 (124 enodes) 31.457 * * [simplify]: iters left: 3 (263 enodes) 31.549 * * [simplify]: Extracting #0: cost 1 inf + 0 31.549 * * [simplify]: Extracting #1: cost 44 inf + 0 31.550 * * [simplify]: Extracting #2: cost 133 inf + 0 31.551 * * [simplify]: Extracting #3: cost 129 inf + 1057 31.559 * * [simplify]: Extracting #4: cost 38 inf + 23638 31.576 * * [simplify]: Extracting #5: cost 2 inf + 34441 31.593 * * [simplify]: Extracting #6: cost 0 inf + 34985 31.609 * [simplify]: Simplified to (- (cos delta) (* (sin phi1) (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta))))) 31.609 * [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)) 31.610 * * * * [progress]: [ 77 / 86 ] simplifiying candidate # 31.610 * [simplify]: Simplifying (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos theta) (* (sin delta) (cos phi1)))))) 31.610 * * [simplify]: iters left: 6 (16 enodes) 31.618 * * [simplify]: iters left: 5 (67 enodes) 31.634 * * [simplify]: iters left: 4 (124 enodes) 31.663 * * [simplify]: iters left: 3 (263 enodes) 31.796 * * [simplify]: Extracting #0: cost 1 inf + 0 31.796 * * [simplify]: Extracting #1: cost 44 inf + 0 31.797 * * [simplify]: Extracting #2: cost 140 inf + 0 31.798 * * [simplify]: Extracting #3: cost 134 inf + 1137 31.806 * * [simplify]: Extracting #4: cost 39 inf + 24533 31.824 * * [simplify]: Extracting #5: cost 0 inf + 36983 31.841 * * [simplify]: Extracting #6: cost 0 inf + 36903 31.858 * [simplify]: Simplified to (- (cos delta) (* (sin phi1) (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta))))) 31.859 * [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)) 31.859 * * * * [progress]: [ 78 / 86 ] simplifiying candidate # 31.859 * [simplify]: Simplifying (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 31.859 * * [simplify]: iters left: 5 (12 enodes) 31.864 * * [simplify]: iters left: 4 (40 enodes) 31.875 * * [simplify]: iters left: 3 (48 enodes) 31.892 * * [simplify]: iters left: 2 (61 enodes) 31.907 * * [simplify]: Extracting #0: cost 1 inf + 0 31.907 * * [simplify]: Extracting #1: cost 3 inf + 0 31.907 * * [simplify]: Extracting #2: cost 14 inf + 0 31.907 * * [simplify]: Extracting #3: cost 27 inf + 0 31.907 * * [simplify]: Extracting #4: cost 16 inf + 592 31.908 * * [simplify]: Extracting #5: cost 1 inf + 4134 31.908 * * [simplify]: Extracting #6: cost 0 inf + 4397 31.909 * [simplify]: Simplified to (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 31.909 * [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)) 31.909 * * * * [progress]: [ 79 / 86 ] simplifiying candidate # 31.909 * [simplify]: Simplifying (asin (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta)))) 31.909 * * [simplify]: iters left: 5 (12 enodes) 31.912 * * [simplify]: iters left: 4 (40 enodes) 31.918 * * [simplify]: iters left: 3 (48 enodes) 31.924 * * [simplify]: iters left: 2 (61 enodes) 31.932 * * [simplify]: Extracting #0: cost 1 inf + 0 31.932 * * [simplify]: Extracting #1: cost 3 inf + 0 31.932 * * [simplify]: Extracting #2: cost 14 inf + 0 31.932 * * [simplify]: Extracting #3: cost 27 inf + 0 31.932 * * [simplify]: Extracting #4: cost 19 inf + 308 31.933 * * [simplify]: Extracting #5: cost 6 inf + 2010 31.933 * * [simplify]: Extracting #6: cost 0 inf + 4397 31.934 * [simplify]: Simplified to (asin (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta)))) 31.934 * [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)) 31.934 * * * * [progress]: [ 80 / 86 ] simplifiying candidate # 31.934 * [simplify]: Simplifying (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 31.934 * * [simplify]: iters left: 5 (12 enodes) 31.937 * * [simplify]: iters left: 4 (40 enodes) 31.942 * * [simplify]: iters left: 3 (48 enodes) 31.949 * * [simplify]: iters left: 2 (61 enodes) 31.956 * * [simplify]: Extracting #0: cost 1 inf + 0 31.956 * * [simplify]: Extracting #1: cost 3 inf + 0 31.956 * * [simplify]: Extracting #2: cost 14 inf + 0 31.957 * * [simplify]: Extracting #3: cost 27 inf + 0 31.957 * * [simplify]: Extracting #4: cost 16 inf + 592 31.957 * * [simplify]: Extracting #5: cost 1 inf + 4134 31.958 * * [simplify]: Extracting #6: cost 0 inf + 4397 31.958 * [simplify]: Simplified to (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 31.958 * [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)) 31.959 * * * * [progress]: [ 81 / 86 ] simplifiying candidate # 31.959 * [simplify]: Simplifying 0 31.959 * * [simplify]: iters left: 0 (1 enodes) 31.960 * * [simplify]: Extracting #0: cost 1 inf + 0 31.960 * * [simplify]: Extracting #1: cost 0 inf + 1 31.960 * [simplify]: Simplified to 0 31.960 * [simplify]: Simplified (2 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 0 (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 31.960 * * * * [progress]: [ 82 / 86 ] simplifiying candidate # 31.960 * [simplify]: Simplifying (* (cos phi1) (* (sin theta) (sin delta))) 31.960 * * [simplify]: iters left: 5 (8 enodes) 31.962 * * [simplify]: iters left: 4 (28 enodes) 31.966 * * [simplify]: iters left: 3 (36 enodes) 31.978 * * [simplify]: iters left: 2 (42 enodes) 31.988 * * [simplify]: Extracting #0: cost 1 inf + 0 31.988 * * [simplify]: Extracting #1: cost 8 inf + 0 31.988 * * [simplify]: Extracting #2: cost 17 inf + 0 31.988 * * [simplify]: Extracting #3: cost 12 inf + 125 31.988 * * [simplify]: Extracting #4: cost 5 inf + 1057 31.989 * * [simplify]: Extracting #5: cost 1 inf + 1705 31.990 * * [simplify]: Extracting #6: cost 0 inf + 1867 31.990 * [simplify]: Simplified to (* (* (sin theta) (sin delta)) (cos phi1)) 31.990 * [simplify]: Simplified (2 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 31.990 * * * * [progress]: [ 83 / 86 ] simplifiying candidate # 31.991 * [simplify]: Simplifying (* (cos phi1) (* (sin delta) (sin theta))) 31.991 * * [simplify]: iters left: 5 (8 enodes) 31.994 * * [simplify]: iters left: 4 (28 enodes) 32.003 * * [simplify]: iters left: 3 (36 enodes) 32.013 * * [simplify]: iters left: 2 (42 enodes) 32.023 * * [simplify]: Extracting #0: cost 1 inf + 0 32.024 * * [simplify]: Extracting #1: cost 8 inf + 0 32.024 * * [simplify]: Extracting #2: cost 17 inf + 0 32.024 * * [simplify]: Extracting #3: cost 12 inf + 125 32.024 * * [simplify]: Extracting #4: cost 5 inf + 1057 32.025 * * [simplify]: Extracting #5: cost 1 inf + 1705 32.025 * * [simplify]: Extracting #6: cost 0 inf + 1867 32.026 * [simplify]: Simplified to (* (* (sin delta) (sin theta)) (cos phi1)) 32.026 * [simplify]: Simplified (2 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (* (sin delta) (sin theta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 32.026 * * * * [progress]: [ 84 / 86 ] simplifiying candidate # 32.026 * [simplify]: Simplifying (- phi1 (+ (* 1/2 (* phi1 (pow delta 2))) (* 1/6 (pow phi1 3)))) 32.027 * * [simplify]: iters left: 6 (13 enodes) 32.036 * * [simplify]: iters left: 5 (62 enodes) 32.051 * * [simplify]: iters left: 4 (123 enodes) 32.080 * * [simplify]: iters left: 3 (277 enodes) 32.187 * * [simplify]: Extracting #0: cost 1 inf + 0 32.187 * * [simplify]: Extracting #1: cost 44 inf + 0 32.187 * * [simplify]: Extracting #2: cost 107 inf + 676 32.189 * * [simplify]: Extracting #3: cost 75 inf + 4980 32.193 * * [simplify]: Extracting #4: cost 28 inf + 13650 32.198 * * [simplify]: Extracting #5: cost 5 inf + 21508 32.203 * * [simplify]: Extracting #6: cost 0 inf + 23566 32.208 * [simplify]: Simplified to (- phi1 (* phi1 (fma 1/6 (* phi1 phi1) (* delta (* delta 1/2))))) 32.209 * [simplify]: Simplified (2 1 2 2 2 1 1 3) 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)) (- phi1 (* phi1 (fma 1/6 (* phi1 phi1) (* delta (* delta 1/2))))))))))) lambda1)) 32.209 * * * * [progress]: [ 85 / 86 ] simplifiying candidate # 32.209 * [simplify]: Simplifying (* (sin phi1) (cos delta)) 32.209 * * [simplify]: iters left: 3 (5 enodes) 32.210 * * [simplify]: iters left: 2 (16 enodes) 32.212 * * [simplify]: Extracting #0: cost 1 inf + 0 32.212 * * [simplify]: Extracting #1: cost 4 inf + 0 32.212 * * [simplify]: Extracting #2: cost 8 inf + 0 32.212 * * [simplify]: Extracting #3: cost 4 inf + 124 32.212 * * [simplify]: Extracting #4: cost 0 inf + 570 32.212 * [simplify]: Simplified to (* (cos delta) (sin phi1)) 32.212 * [simplify]: Simplified (2 1 2 2 2 1 1 3) 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)) 32.213 * * * * [progress]: [ 86 / 86 ] simplifiying candidate # 32.213 * [simplify]: Simplifying (* (sin phi1) (cos delta)) 32.213 * * [simplify]: iters left: 3 (5 enodes) 32.214 * * [simplify]: iters left: 2 (16 enodes) 32.216 * * [simplify]: Extracting #0: cost 1 inf + 0 32.216 * * [simplify]: Extracting #1: cost 4 inf + 0 32.216 * * [simplify]: Extracting #2: cost 8 inf + 0 32.216 * * [simplify]: Extracting #3: cost 4 inf + 124 32.216 * * [simplify]: Extracting #4: cost 0 inf + 570 32.216 * [simplify]: Simplified to (* (cos delta) (sin phi1)) 32.216 * [simplify]: Simplified (2 1 2 2 2 1 1 3) 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)) 32.216 * * * [progress]: adding candidates to table 34.288 * [progress]: [Phase 3 of 3] Extracting. 34.298 * [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) 34.299 * * [simplify]: iters left: 6 (21 enodes) 34.300 * * [simplify]: iters left: 5 (27 enodes) 34.302 * * [simplify]: Extracting #0: cost 1 inf + 0 34.302 * * [simplify]: Extracting #1: cost 3 inf + 0 34.302 * * [simplify]: Extracting #2: cost 4 inf + 1 34.302 * * [simplify]: Extracting #3: cost 8 inf + 1 34.303 * * [simplify]: Extracting #4: cost 13 inf + 1 34.303 * * [simplify]: Extracting #5: cost 15 inf + 2 34.303 * * [simplify]: Extracting #6: cost 9 inf + 309 34.303 * * [simplify]: Extracting #7: cost 10 inf + 734 34.303 * * [simplify]: Extracting #8: cost 6 inf + 1557 34.304 * * [simplify]: Extracting #9: cost 4 inf + 2703 34.304 * * [simplify]: Extracting #10: cost 3 inf + 3346 34.305 * * [simplify]: Extracting #11: cost 0 inf + 5996 34.306 * [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)))))))))