0.001 * [progress]: [Phase 1 of 3] Setting up. 0.001 * * * [progress]: [1/2] Preparing points 27.349 * * * [progress]: [2/2] Setting up program. 27.356 * [progress]: [Phase 2 of 3] Improving. 27.356 * * * * [progress]: [ 1 / 1 ] simplifiying candidate # 27.356 * [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))))))))) 27.357 * * [simplify]: iters left: 6 (22 enodes) 27.362 * * [simplify]: iters left: 5 (80 enodes) 27.838 * * [simplify]: iters left: 4 (107 enodes) 27.854 * * [simplify]: iters left: 3 (125 enodes) 27.885 * * [simplify]: Extracting #0: cost 1 inf + 0 27.885 * * [simplify]: Extracting #1: cost 4 inf + 0 27.886 * * [simplify]: Extracting #2: cost 6 inf + 1 27.886 * * [simplify]: Extracting #3: cost 21 inf + 1 27.886 * * [simplify]: Extracting #4: cost 38 inf + 1 27.887 * * [simplify]: Extracting #5: cost 28 inf + 734 27.887 * * [simplify]: Extracting #6: cost 24 inf + 1889 27.888 * * [simplify]: Extracting #7: cost 25 inf + 2537 27.890 * * [simplify]: Extracting #8: cost 18 inf + 4766 27.892 * * [simplify]: Extracting #9: cost 12 inf + 7142 27.895 * * [simplify]: Extracting #10: cost 3 inf + 13414 27.900 * * [simplify]: Extracting #11: cost 0 inf + 16385 27.904 * * [simplify]: Extracting #12: cost 0 inf + 16340 27.909 * [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) 27.909 * [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)) 27.938 * * [progress]: iteration 1 / 4 27.938 * * * [progress]: picking best candidate 27.957 * * * * [pick]: Picked # 27.957 * * * [progress]: localizing error 28.020 * * * [progress]: generating rewritten candidates 28.020 * * * * [progress]: [ 1 / 4 ] rewriting at (2 1 2) 28.033 * * * * [progress]: [ 2 / 4 ] rewriting at (2 1 2 2 2 1) 28.034 * * * * [progress]: [ 3 / 4 ] rewriting at (2 1 2 2 2 1 1 3) 28.049 * * * * [progress]: [ 4 / 4 ] rewriting at (2 1 1) 28.075 * * * [progress]: generating series expansions 28.075 * * * * [progress]: [ 1 / 4 ] generating series at (2 1 2) 28.075 * [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))))) 28.075 * [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 28.075 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in theta 28.075 * [taylor]: Taking taylor expansion of (cos delta) in theta 28.075 * [taylor]: Taking taylor expansion of delta in theta 28.075 * [backup-simplify]: Simplify delta into delta 28.075 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.075 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.076 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 28.076 * [taylor]: Taking taylor expansion of (sin phi1) in theta 28.076 * [taylor]: Taking taylor expansion of phi1 in theta 28.076 * [backup-simplify]: Simplify phi1 into phi1 28.076 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.076 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.076 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 28.076 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 28.076 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 28.076 * [taylor]: Taking taylor expansion of (cos theta) in theta 28.076 * [taylor]: Taking taylor expansion of theta in theta 28.076 * [backup-simplify]: Simplify 0 into 0 28.076 * [backup-simplify]: Simplify 1 into 1 28.076 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 28.076 * [taylor]: Taking taylor expansion of (cos phi1) in theta 28.076 * [taylor]: Taking taylor expansion of phi1 in theta 28.076 * [backup-simplify]: Simplify phi1 into phi1 28.076 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.076 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.076 * [taylor]: Taking taylor expansion of (sin delta) in theta 28.076 * [taylor]: Taking taylor expansion of delta in theta 28.076 * [backup-simplify]: Simplify delta into delta 28.076 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.077 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.077 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 28.077 * [taylor]: Taking taylor expansion of (sin phi1) in theta 28.077 * [taylor]: Taking taylor expansion of phi1 in theta 28.077 * [backup-simplify]: Simplify phi1 into phi1 28.077 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.077 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.077 * [taylor]: Taking taylor expansion of (cos delta) in theta 28.077 * [taylor]: Taking taylor expansion of delta in theta 28.077 * [backup-simplify]: Simplify delta into delta 28.077 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.077 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.077 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in phi1 28.077 * [taylor]: Taking taylor expansion of (cos delta) in phi1 28.077 * [taylor]: Taking taylor expansion of delta in phi1 28.077 * [backup-simplify]: Simplify delta into delta 28.077 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.077 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.077 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 28.077 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.077 * [taylor]: Taking taylor expansion of phi1 in phi1 28.077 * [backup-simplify]: Simplify 0 into 0 28.077 * [backup-simplify]: Simplify 1 into 1 28.077 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 28.077 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 28.077 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 28.077 * [taylor]: Taking taylor expansion of (cos theta) in phi1 28.077 * [taylor]: Taking taylor expansion of theta in phi1 28.078 * [backup-simplify]: Simplify theta into theta 28.078 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.078 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.078 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 28.078 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 28.078 * [taylor]: Taking taylor expansion of phi1 in phi1 28.078 * [backup-simplify]: Simplify 0 into 0 28.078 * [backup-simplify]: Simplify 1 into 1 28.078 * [taylor]: Taking taylor expansion of (sin delta) in phi1 28.078 * [taylor]: Taking taylor expansion of delta in phi1 28.078 * [backup-simplify]: Simplify delta into delta 28.078 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.078 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.078 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 28.078 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.078 * [taylor]: Taking taylor expansion of phi1 in phi1 28.078 * [backup-simplify]: Simplify 0 into 0 28.078 * [backup-simplify]: Simplify 1 into 1 28.078 * [taylor]: Taking taylor expansion of (cos delta) in phi1 28.078 * [taylor]: Taking taylor expansion of delta in phi1 28.078 * [backup-simplify]: Simplify delta into delta 28.078 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.078 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.078 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in delta 28.078 * [taylor]: Taking taylor expansion of (cos delta) in delta 28.078 * [taylor]: Taking taylor expansion of delta in delta 28.078 * [backup-simplify]: Simplify 0 into 0 28.078 * [backup-simplify]: Simplify 1 into 1 28.078 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 28.079 * [taylor]: Taking taylor expansion of (sin phi1) in delta 28.079 * [taylor]: Taking taylor expansion of phi1 in delta 28.079 * [backup-simplify]: Simplify phi1 into phi1 28.079 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.079 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.079 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 28.079 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 28.079 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 28.079 * [taylor]: Taking taylor expansion of (cos theta) in delta 28.079 * [taylor]: Taking taylor expansion of theta in delta 28.079 * [backup-simplify]: Simplify theta into theta 28.079 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.079 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.079 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 28.079 * [taylor]: Taking taylor expansion of (cos phi1) in delta 28.079 * [taylor]: Taking taylor expansion of phi1 in delta 28.079 * [backup-simplify]: Simplify phi1 into phi1 28.079 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.079 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.079 * [taylor]: Taking taylor expansion of (sin delta) in delta 28.079 * [taylor]: Taking taylor expansion of delta in delta 28.079 * [backup-simplify]: Simplify 0 into 0 28.079 * [backup-simplify]: Simplify 1 into 1 28.079 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 28.079 * [taylor]: Taking taylor expansion of (sin phi1) in delta 28.079 * [taylor]: Taking taylor expansion of phi1 in delta 28.079 * [backup-simplify]: Simplify phi1 into phi1 28.079 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.080 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.080 * [taylor]: Taking taylor expansion of (cos delta) in delta 28.080 * [taylor]: Taking taylor expansion of delta in delta 28.080 * [backup-simplify]: Simplify 0 into 0 28.080 * [backup-simplify]: Simplify 1 into 1 28.080 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in delta 28.080 * [taylor]: Taking taylor expansion of (cos delta) in delta 28.080 * [taylor]: Taking taylor expansion of delta in delta 28.080 * [backup-simplify]: Simplify 0 into 0 28.080 * [backup-simplify]: Simplify 1 into 1 28.080 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 28.080 * [taylor]: Taking taylor expansion of (sin phi1) in delta 28.080 * [taylor]: Taking taylor expansion of phi1 in delta 28.080 * [backup-simplify]: Simplify phi1 into phi1 28.080 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.080 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.080 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 28.080 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 28.080 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 28.080 * [taylor]: Taking taylor expansion of (cos theta) in delta 28.080 * [taylor]: Taking taylor expansion of theta in delta 28.080 * [backup-simplify]: Simplify theta into theta 28.080 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.080 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.080 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 28.080 * [taylor]: Taking taylor expansion of (cos phi1) in delta 28.080 * [taylor]: Taking taylor expansion of phi1 in delta 28.080 * [backup-simplify]: Simplify phi1 into phi1 28.080 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.081 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.081 * [taylor]: Taking taylor expansion of (sin delta) in delta 28.081 * [taylor]: Taking taylor expansion of delta in delta 28.081 * [backup-simplify]: Simplify 0 into 0 28.081 * [backup-simplify]: Simplify 1 into 1 28.081 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 28.081 * [taylor]: Taking taylor expansion of (sin phi1) in delta 28.081 * [taylor]: Taking taylor expansion of phi1 in delta 28.081 * [backup-simplify]: Simplify phi1 into phi1 28.081 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.081 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.081 * [taylor]: Taking taylor expansion of (cos delta) in delta 28.081 * [taylor]: Taking taylor expansion of delta in delta 28.081 * [backup-simplify]: Simplify 0 into 0 28.081 * [backup-simplify]: Simplify 1 into 1 28.081 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 28.082 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 28.082 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 28.082 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 28.082 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 28.083 * [backup-simplify]: Simplify (- 0) into 0 28.083 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 28.083 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 28.083 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 28.084 * [backup-simplify]: Simplify (- 0) into 0 28.084 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 28.084 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 28.084 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 28.084 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 28.084 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 28.084 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 28.084 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 28.084 * [backup-simplify]: Simplify (+ 0 (sin phi1)) into (sin phi1) 28.084 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 28.084 * [backup-simplify]: Simplify (- (pow (sin phi1) 2)) into (- (pow (sin phi1) 2)) 28.084 * [backup-simplify]: Simplify (+ 1 (- (pow (sin phi1) 2))) into (- 1 (pow (sin phi1) 2)) 28.085 * [taylor]: Taking taylor expansion of (- 1 (pow (sin phi1) 2)) in phi1 28.085 * [taylor]: Taking taylor expansion of 1 in phi1 28.085 * [backup-simplify]: Simplify 1 into 1 28.085 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 28.085 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.085 * [taylor]: Taking taylor expansion of phi1 in phi1 28.085 * [backup-simplify]: Simplify 0 into 0 28.085 * [backup-simplify]: Simplify 1 into 1 28.086 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.087 * [backup-simplify]: Simplify (+ 1 0) into 1 28.087 * [taylor]: Taking taylor expansion of 1 in theta 28.087 * [backup-simplify]: Simplify 1 into 1 28.087 * [backup-simplify]: Simplify 1 into 1 28.088 * [backup-simplify]: Simplify (+ 0) into 0 28.088 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.089 * [backup-simplify]: Simplify (+ 0) into 0 28.089 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 28.090 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.091 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 28.091 * [backup-simplify]: Simplify (- 0) into 0 28.092 * [backup-simplify]: Simplify (+ 0 0) into 0 28.092 * [backup-simplify]: Simplify (+ (* (cos phi1) 1) (* 0 0)) into (cos phi1) 28.092 * [backup-simplify]: Simplify (+ 0) into 0 28.093 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 28.094 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.094 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 28.095 * [backup-simplify]: Simplify (- 0) into 0 28.095 * [backup-simplify]: Simplify (+ 0 0) into 0 28.095 * [backup-simplify]: Simplify (+ (* (cos theta) (cos phi1)) (* 0 0)) into (* (cos theta) (cos phi1)) 28.096 * [backup-simplify]: Simplify (+ 0) into 0 28.096 * [backup-simplify]: Simplify (+ 0) into 0 28.097 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 28.098 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.098 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 28.098 * [backup-simplify]: Simplify (+ 0 0) into 0 28.099 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 28.099 * [backup-simplify]: Simplify (+ (* (cos theta) (cos phi1)) 0) into (* (cos theta) (cos phi1)) 28.099 * [backup-simplify]: Simplify (+ 0) into 0 28.100 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 28.101 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.101 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 28.102 * [backup-simplify]: Simplify (+ 0 0) into 0 28.102 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos theta) (cos phi1))) (* 0 (sin phi1))) into (* (sin phi1) (* (cos theta) (cos phi1))) 28.102 * [backup-simplify]: Simplify (- (* (sin phi1) (* (cos theta) (cos phi1)))) into (- (* (sin phi1) (* (cos theta) (cos phi1)))) 28.102 * [backup-simplify]: Simplify (+ 0 (- (* (sin phi1) (* (cos theta) (cos phi1))))) into (- (* (sin phi1) (* (cos theta) (cos phi1)))) 28.102 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (* (cos theta) (cos phi1)))) in phi1 28.102 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos theta) (cos phi1))) in phi1 28.102 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.102 * [taylor]: Taking taylor expansion of phi1 in phi1 28.102 * [backup-simplify]: Simplify 0 into 0 28.102 * [backup-simplify]: Simplify 1 into 1 28.103 * [taylor]: Taking taylor expansion of (* (cos theta) (cos phi1)) in phi1 28.103 * [taylor]: Taking taylor expansion of (cos theta) in phi1 28.103 * [taylor]: Taking taylor expansion of theta in phi1 28.103 * [backup-simplify]: Simplify theta into theta 28.103 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.103 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.103 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 28.103 * [taylor]: Taking taylor expansion of phi1 in phi1 28.103 * [backup-simplify]: Simplify 0 into 0 28.103 * [backup-simplify]: Simplify 1 into 1 28.103 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 28.103 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 28.103 * [backup-simplify]: Simplify (- 0) into 0 28.103 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 28.104 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 28.104 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 28.104 * [backup-simplify]: Simplify (- 0) into 0 28.104 * [taylor]: Taking taylor expansion of 0 in theta 28.104 * [backup-simplify]: Simplify 0 into 0 28.104 * [backup-simplify]: Simplify 0 into 0 28.104 * [backup-simplify]: Simplify (+ 0 0) into 0 28.105 * [taylor]: Taking taylor expansion of 0 in theta 28.105 * [backup-simplify]: Simplify 0 into 0 28.105 * [backup-simplify]: Simplify 0 into 0 28.105 * [backup-simplify]: Simplify 0 into 0 28.106 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 28.107 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.108 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.108 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 28.109 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.110 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 28.110 * [backup-simplify]: Simplify (- 0) into 0 28.110 * [backup-simplify]: Simplify (+ 0 0) into 0 28.111 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 1) (* 0 0))) into 0 28.112 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.113 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 28.114 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.114 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 28.115 * [backup-simplify]: Simplify (- 0) into 0 28.115 * [backup-simplify]: Simplify (+ 0 0) into 0 28.115 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 (cos phi1)) (* 0 0))) into 0 28.116 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 28.117 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.118 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 28.119 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.120 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 28.120 * [backup-simplify]: Simplify (+ 0 0) into 0 28.121 * [backup-simplify]: Simplify (+ (* (sin phi1) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (sin phi1))) 28.121 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (sin phi1)))) into (- (* 1/2 (sin phi1))) 28.122 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.123 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 28.123 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.124 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 28.124 * [backup-simplify]: Simplify (+ 0 0) into 0 28.125 * [backup-simplify]: Simplify (+ (* (sin phi1) (- (* 1/2 (sin phi1)))) (+ (* 0 (* (cos theta) (cos phi1))) (* 0 (sin phi1)))) into (- (* 1/2 (pow (sin phi1) 2))) 28.125 * [backup-simplify]: Simplify (- (- (* 1/2 (pow (sin phi1) 2)))) into (* 1/2 (pow (sin phi1) 2)) 28.125 * [backup-simplify]: Simplify (+ -1/2 (* 1/2 (pow (sin phi1) 2))) into (- (* 1/2 (pow (sin phi1) 2)) 1/2) 28.125 * [taylor]: Taking taylor expansion of (- (* 1/2 (pow (sin phi1) 2)) 1/2) in phi1 28.125 * [taylor]: Taking taylor expansion of (* 1/2 (pow (sin phi1) 2)) in phi1 28.125 * [taylor]: Taking taylor expansion of 1/2 in phi1 28.125 * [backup-simplify]: Simplify 1/2 into 1/2 28.125 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 28.125 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.125 * [taylor]: Taking taylor expansion of phi1 in phi1 28.125 * [backup-simplify]: Simplify 0 into 0 28.125 * [backup-simplify]: Simplify 1 into 1 28.126 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.126 * [taylor]: Taking taylor expansion of 1/2 in phi1 28.126 * [backup-simplify]: Simplify 1/2 into 1/2 28.127 * [backup-simplify]: Simplify (- 1/2) into -1/2 28.127 * [backup-simplify]: Simplify (+ 0 -1/2) into -1/2 28.127 * [taylor]: Taking taylor expansion of -1/2 in theta 28.127 * [backup-simplify]: Simplify -1/2 into -1/2 28.127 * [backup-simplify]: Simplify -1/2 into -1/2 28.128 * [backup-simplify]: Simplify (+ 0) into 0 28.128 * [backup-simplify]: Simplify (+ 0) into 0 28.128 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 28.129 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.130 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 28.130 * [backup-simplify]: Simplify (- 0) into 0 28.130 * [backup-simplify]: Simplify (+ 0 0) into 0 28.131 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 28.132 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.132 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos theta))) into (cos theta) 28.132 * [backup-simplify]: Simplify (- (cos theta)) into (- (cos theta)) 28.132 * [taylor]: Taking taylor expansion of (- (cos theta)) in theta 28.132 * [taylor]: Taking taylor expansion of (cos theta) in theta 28.132 * [taylor]: Taking taylor expansion of theta in theta 28.132 * [backup-simplify]: Simplify 0 into 0 28.132 * [backup-simplify]: Simplify 1 into 1 28.133 * [backup-simplify]: Simplify (- 1) into -1 28.133 * [backup-simplify]: Simplify -1 into -1 28.133 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* phi1 delta))) (+ (* -1/2 (pow (* 1 (* 1 delta)) 2)) 1)) into (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) 28.134 * [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)))) 28.134 * [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 28.134 * [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 28.134 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 28.134 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.134 * [taylor]: Taking taylor expansion of delta in theta 28.134 * [backup-simplify]: Simplify delta into delta 28.134 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.134 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.134 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.134 * [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 28.134 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 28.134 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 28.134 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 28.134 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 28.134 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 28.134 * [taylor]: Taking taylor expansion of theta in theta 28.134 * [backup-simplify]: Simplify 0 into 0 28.134 * [backup-simplify]: Simplify 1 into 1 28.135 * [backup-simplify]: Simplify (/ 1 1) into 1 28.135 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.135 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 28.135 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 28.135 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.135 * [taylor]: Taking taylor expansion of delta in theta 28.135 * [backup-simplify]: Simplify delta into delta 28.135 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.135 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.135 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.135 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 28.135 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.135 * [taylor]: Taking taylor expansion of phi1 in theta 28.135 * [backup-simplify]: Simplify phi1 into phi1 28.135 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.135 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.136 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.136 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 28.136 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 28.136 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.136 * [taylor]: Taking taylor expansion of phi1 in theta 28.136 * [backup-simplify]: Simplify phi1 into phi1 28.136 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.136 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.136 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.136 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 28.136 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.136 * [taylor]: Taking taylor expansion of delta in theta 28.136 * [backup-simplify]: Simplify delta into delta 28.136 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.136 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.136 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.136 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 28.136 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.136 * [taylor]: Taking taylor expansion of phi1 in theta 28.136 * [backup-simplify]: Simplify phi1 into phi1 28.136 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.136 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.136 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.136 * [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 28.137 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 28.137 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.137 * [taylor]: Taking taylor expansion of delta in phi1 28.137 * [backup-simplify]: Simplify delta into delta 28.137 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.137 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.137 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.137 * [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 28.137 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 28.137 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 28.137 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 28.137 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 28.137 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 28.137 * [taylor]: Taking taylor expansion of theta in phi1 28.137 * [backup-simplify]: Simplify theta into theta 28.137 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.137 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.137 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.137 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 28.137 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 28.137 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.137 * [taylor]: Taking taylor expansion of delta in phi1 28.137 * [backup-simplify]: Simplify delta into delta 28.137 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.137 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.138 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.138 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 28.138 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.138 * [taylor]: Taking taylor expansion of phi1 in phi1 28.138 * [backup-simplify]: Simplify 0 into 0 28.138 * [backup-simplify]: Simplify 1 into 1 28.138 * [backup-simplify]: Simplify (/ 1 1) into 1 28.138 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.138 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 28.138 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.138 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.138 * [taylor]: Taking taylor expansion of phi1 in phi1 28.138 * [backup-simplify]: Simplify 0 into 0 28.138 * [backup-simplify]: Simplify 1 into 1 28.139 * [backup-simplify]: Simplify (/ 1 1) into 1 28.139 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.139 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 28.139 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.139 * [taylor]: Taking taylor expansion of delta in phi1 28.139 * [backup-simplify]: Simplify delta into delta 28.139 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.139 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.139 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.139 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.139 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.139 * [taylor]: Taking taylor expansion of phi1 in phi1 28.139 * [backup-simplify]: Simplify 0 into 0 28.139 * [backup-simplify]: Simplify 1 into 1 28.140 * [backup-simplify]: Simplify (/ 1 1) into 1 28.140 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.140 * [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 28.140 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 28.140 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.140 * [taylor]: Taking taylor expansion of delta in delta 28.140 * [backup-simplify]: Simplify 0 into 0 28.140 * [backup-simplify]: Simplify 1 into 1 28.141 * [backup-simplify]: Simplify (/ 1 1) into 1 28.141 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.141 * [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 28.141 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 28.141 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 28.141 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 28.141 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 28.141 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 28.141 * [taylor]: Taking taylor expansion of theta in delta 28.141 * [backup-simplify]: Simplify theta into theta 28.141 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.141 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.141 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.141 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 28.141 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 28.141 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.141 * [taylor]: Taking taylor expansion of delta in delta 28.141 * [backup-simplify]: Simplify 0 into 0 28.141 * [backup-simplify]: Simplify 1 into 1 28.142 * [backup-simplify]: Simplify (/ 1 1) into 1 28.142 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.142 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 28.142 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.142 * [taylor]: Taking taylor expansion of phi1 in delta 28.142 * [backup-simplify]: Simplify phi1 into phi1 28.142 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.142 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.142 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.142 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 28.142 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.142 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.142 * [taylor]: Taking taylor expansion of phi1 in delta 28.142 * [backup-simplify]: Simplify phi1 into phi1 28.143 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.143 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.143 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.143 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 28.143 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.143 * [taylor]: Taking taylor expansion of delta in delta 28.143 * [backup-simplify]: Simplify 0 into 0 28.143 * [backup-simplify]: Simplify 1 into 1 28.143 * [backup-simplify]: Simplify (/ 1 1) into 1 28.143 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.143 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.143 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.143 * [taylor]: Taking taylor expansion of phi1 in delta 28.143 * [backup-simplify]: Simplify phi1 into phi1 28.143 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.144 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.144 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.144 * [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 28.144 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 28.144 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.144 * [taylor]: Taking taylor expansion of delta in delta 28.144 * [backup-simplify]: Simplify 0 into 0 28.144 * [backup-simplify]: Simplify 1 into 1 28.144 * [backup-simplify]: Simplify (/ 1 1) into 1 28.144 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.144 * [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 28.144 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 28.144 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 28.144 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 28.145 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 28.145 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 28.145 * [taylor]: Taking taylor expansion of theta in delta 28.145 * [backup-simplify]: Simplify theta into theta 28.145 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.145 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.145 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.145 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 28.145 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 28.145 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.145 * [taylor]: Taking taylor expansion of delta in delta 28.145 * [backup-simplify]: Simplify 0 into 0 28.145 * [backup-simplify]: Simplify 1 into 1 28.145 * [backup-simplify]: Simplify (/ 1 1) into 1 28.145 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.145 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 28.146 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.146 * [taylor]: Taking taylor expansion of phi1 in delta 28.146 * [backup-simplify]: Simplify phi1 into phi1 28.146 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.146 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.146 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.146 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 28.146 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.146 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.146 * [taylor]: Taking taylor expansion of phi1 in delta 28.146 * [backup-simplify]: Simplify phi1 into phi1 28.146 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.146 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.146 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.146 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 28.146 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.146 * [taylor]: Taking taylor expansion of delta in delta 28.146 * [backup-simplify]: Simplify 0 into 0 28.146 * [backup-simplify]: Simplify 1 into 1 28.147 * [backup-simplify]: Simplify (/ 1 1) into 1 28.147 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.147 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.147 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.147 * [taylor]: Taking taylor expansion of phi1 in delta 28.147 * [backup-simplify]: Simplify phi1 into phi1 28.147 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.147 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.147 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.147 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 28.147 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 28.148 * [backup-simplify]: Simplify (- 0) into 0 28.148 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 28.148 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 28.148 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 28.148 * [backup-simplify]: Simplify (- 0) into 0 28.149 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 28.149 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (cos (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 delta))) 28.149 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 28.149 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 28.149 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 28.149 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 28.149 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 28.150 * [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))))) 28.150 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 28.150 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 28.150 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 28.150 * [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))) 28.151 * [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)))) 28.152 * [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)))) 28.152 * [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 28.152 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 28.152 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.152 * [taylor]: Taking taylor expansion of delta in phi1 28.152 * [backup-simplify]: Simplify delta into delta 28.152 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.152 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.152 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.152 * [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 28.152 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in phi1 28.152 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 28.153 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.153 * [taylor]: Taking taylor expansion of phi1 in phi1 28.153 * [backup-simplify]: Simplify 0 into 0 28.153 * [backup-simplify]: Simplify 1 into 1 28.153 * [backup-simplify]: Simplify (/ 1 1) into 1 28.153 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.153 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in phi1 28.153 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.153 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.153 * [taylor]: Taking taylor expansion of phi1 in phi1 28.153 * [backup-simplify]: Simplify 0 into 0 28.153 * [backup-simplify]: Simplify 1 into 1 28.154 * [backup-simplify]: Simplify (/ 1 1) into 1 28.154 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.154 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in phi1 28.154 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 28.154 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 28.154 * [taylor]: Taking taylor expansion of theta in phi1 28.154 * [backup-simplify]: Simplify theta into theta 28.154 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.154 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.154 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.154 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 28.154 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.154 * [taylor]: Taking taylor expansion of delta in phi1 28.154 * [backup-simplify]: Simplify delta into delta 28.154 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.154 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.155 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.155 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in phi1 28.155 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 28.155 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.155 * [taylor]: Taking taylor expansion of delta in phi1 28.155 * [backup-simplify]: Simplify delta into delta 28.155 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.155 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.155 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.155 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 28.155 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.155 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.155 * [taylor]: Taking taylor expansion of phi1 in phi1 28.155 * [backup-simplify]: Simplify 0 into 0 28.155 * [backup-simplify]: Simplify 1 into 1 28.155 * [backup-simplify]: Simplify (/ 1 1) into 1 28.156 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.156 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 28.156 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 28.156 * [backup-simplify]: Simplify (- 0) into 0 28.156 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 28.156 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 28.156 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 28.157 * [backup-simplify]: Simplify (- 0) into 0 28.157 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 28.157 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 28.157 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 28.157 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 28.157 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 28.158 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) 28.158 * [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))))) 28.158 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 28.158 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 28.158 * [backup-simplify]: Simplify (- 0) into 0 28.159 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 28.159 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 28.159 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 28.159 * [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)))) 28.160 * [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)))) 28.161 * [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)))) 28.161 * [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 28.161 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 28.161 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.161 * [taylor]: Taking taylor expansion of delta in theta 28.161 * [backup-simplify]: Simplify delta into delta 28.161 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.161 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.161 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.161 * [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 28.161 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) in theta 28.161 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 28.161 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.161 * [taylor]: Taking taylor expansion of phi1 in theta 28.161 * [backup-simplify]: Simplify phi1 into phi1 28.161 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.161 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.162 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.162 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) in theta 28.162 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 28.162 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.162 * [taylor]: Taking taylor expansion of delta in theta 28.162 * [backup-simplify]: Simplify delta into delta 28.162 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.162 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.162 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.162 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 phi1))) in theta 28.162 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 28.162 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 28.162 * [taylor]: Taking taylor expansion of theta in theta 28.162 * [backup-simplify]: Simplify 0 into 0 28.162 * [backup-simplify]: Simplify 1 into 1 28.163 * [backup-simplify]: Simplify (/ 1 1) into 1 28.163 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.163 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 28.163 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.163 * [taylor]: Taking taylor expansion of phi1 in theta 28.163 * [backup-simplify]: Simplify phi1 into phi1 28.163 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.163 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.163 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.163 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in theta 28.163 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 28.163 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.163 * [taylor]: Taking taylor expansion of delta in theta 28.163 * [backup-simplify]: Simplify delta into delta 28.163 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.163 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.163 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.163 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 28.163 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 28.163 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.163 * [taylor]: Taking taylor expansion of phi1 in theta 28.163 * [backup-simplify]: Simplify phi1 into phi1 28.163 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.164 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.164 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.164 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 28.164 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 28.164 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 28.164 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 28.164 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 28.165 * [backup-simplify]: Simplify (- 0) into 0 28.165 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 28.165 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 28.165 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 28.165 * [backup-simplify]: Simplify (- 0) into 0 28.165 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 28.165 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 28.166 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 28.166 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 28.166 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 28.166 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 28.166 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 28.166 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 phi1))) into (* (cos (/ 1 theta)) (sin (/ 1 phi1))) 28.166 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) into (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 28.166 * [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))))) 28.167 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 28.167 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 28.167 * [backup-simplify]: Simplify (- 0) into 0 28.167 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 28.167 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 28.168 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 28.168 * [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)))) 28.169 * [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))))))) 28.170 * [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))))))) 28.170 * [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))))) 28.175 * [backup-simplify]: Simplify (+ 0) into 0 28.176 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 28.176 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.177 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.178 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 28.178 * [backup-simplify]: Simplify (+ 0 0) into 0 28.178 * [backup-simplify]: Simplify (+ 0) into 0 28.179 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 28.179 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.180 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.180 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 28.181 * [backup-simplify]: Simplify (- 0) into 0 28.181 * [backup-simplify]: Simplify (+ 0 0) into 0 28.181 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 28.181 * [backup-simplify]: Simplify (+ 0) into 0 28.182 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 28.182 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 28.183 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.183 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 28.184 * [backup-simplify]: Simplify (- 0) into 0 28.184 * [backup-simplify]: Simplify (+ 0 0) into 0 28.184 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta))))) into 0 28.185 * [backup-simplify]: Simplify (+ 0) into 0 28.185 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 28.186 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.186 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.187 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 28.187 * [backup-simplify]: Simplify (+ 0 0) into 0 28.187 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 28.188 * [backup-simplify]: Simplify (+ 0 0) into 0 28.188 * [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 28.188 * [backup-simplify]: Simplify (- 0) into 0 28.189 * [backup-simplify]: Simplify (+ 0 0) into 0 28.189 * [taylor]: Taking taylor expansion of 0 in phi1 28.189 * [backup-simplify]: Simplify 0 into 0 28.189 * [taylor]: Taking taylor expansion of 0 in theta 28.189 * [backup-simplify]: Simplify 0 into 0 28.189 * [backup-simplify]: Simplify 0 into 0 28.189 * [backup-simplify]: Simplify (+ 0) into 0 28.190 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 28.190 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.191 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.191 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 28.192 * [backup-simplify]: Simplify (- 0) into 0 28.192 * [backup-simplify]: Simplify (+ 0 0) into 0 28.192 * [backup-simplify]: Simplify (+ 0) into 0 28.193 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 28.193 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.194 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.194 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 28.195 * [backup-simplify]: Simplify (+ 0 0) into 0 28.195 * [backup-simplify]: Simplify (+ 0) into 0 28.195 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 28.196 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 28.196 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.197 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 28.197 * [backup-simplify]: Simplify (- 0) into 0 28.197 * [backup-simplify]: Simplify (+ 0 0) into 0 28.198 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 28.198 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 28.198 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))))) into 0 28.198 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 28.199 * [backup-simplify]: Simplify (+ 0) into 0 28.199 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 28.199 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.200 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.200 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 28.201 * [backup-simplify]: Simplify (- 0) into 0 28.201 * [backup-simplify]: Simplify (+ 0 0) into 0 28.201 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 28.202 * [backup-simplify]: Simplify (+ 0 0) into 0 28.202 * [backup-simplify]: Simplify (- 0) into 0 28.202 * [backup-simplify]: Simplify (+ 0 0) into 0 28.202 * [taylor]: Taking taylor expansion of 0 in theta 28.202 * [backup-simplify]: Simplify 0 into 0 28.203 * [backup-simplify]: Simplify 0 into 0 28.203 * [backup-simplify]: Simplify (+ 0) into 0 28.203 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 28.204 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.204 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.205 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 28.205 * [backup-simplify]: Simplify (- 0) into 0 28.205 * [backup-simplify]: Simplify (+ 0 0) into 0 28.206 * [backup-simplify]: Simplify (+ 0) into 0 28.206 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 28.206 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.207 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.208 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 28.208 * [backup-simplify]: Simplify (+ 0 0) into 0 28.208 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 28.209 * [backup-simplify]: Simplify (+ 0) into 0 28.209 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 28.209 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.210 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.211 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 28.211 * [backup-simplify]: Simplify (+ 0 0) into 0 28.211 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) into 0 28.212 * [backup-simplify]: Simplify (+ 0) into 0 28.212 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 28.213 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.213 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.214 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 28.214 * [backup-simplify]: Simplify (- 0) into 0 28.215 * [backup-simplify]: Simplify (+ 0 0) into 0 28.215 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 28.215 * [backup-simplify]: Simplify (+ 0) into 0 28.216 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 28.216 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.217 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.217 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 28.217 * [backup-simplify]: Simplify (+ 0 0) into 0 28.218 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 28.218 * [backup-simplify]: Simplify (+ 0) into 0 28.219 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 28.219 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.220 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.220 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 28.220 * [backup-simplify]: Simplify (- 0) into 0 28.221 * [backup-simplify]: Simplify (+ 0 0) into 0 28.221 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 28.221 * [backup-simplify]: Simplify (+ 0 0) into 0 28.222 * [backup-simplify]: Simplify (- 0) into 0 28.222 * [backup-simplify]: Simplify (+ 0 0) into 0 28.222 * [backup-simplify]: Simplify 0 into 0 28.223 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.224 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.224 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.225 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.225 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.226 * [backup-simplify]: Simplify (+ 0 0) into 0 28.227 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.227 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.228 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.228 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.229 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.229 * [backup-simplify]: Simplify (- 0) into 0 28.230 * [backup-simplify]: Simplify (+ 0 0) into 0 28.230 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 28.231 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.232 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.232 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.233 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.233 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.234 * [backup-simplify]: Simplify (- 0) into 0 28.234 * [backup-simplify]: Simplify (+ 0 0) into 0 28.235 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta)))))) into 0 28.236 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.236 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.237 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.238 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.238 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.239 * [backup-simplify]: Simplify (+ 0 0) into 0 28.239 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 28.240 * [backup-simplify]: Simplify (+ 0 0) into 0 28.241 * [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 28.241 * [backup-simplify]: Simplify (- 0) into 0 28.241 * [backup-simplify]: Simplify (+ 0 0) into 0 28.241 * [taylor]: Taking taylor expansion of 0 in phi1 28.241 * [backup-simplify]: Simplify 0 into 0 28.241 * [taylor]: Taking taylor expansion of 0 in theta 28.242 * [backup-simplify]: Simplify 0 into 0 28.242 * [backup-simplify]: Simplify 0 into 0 28.242 * [taylor]: Taking taylor expansion of 0 in theta 28.242 * [backup-simplify]: Simplify 0 into 0 28.242 * [backup-simplify]: Simplify 0 into 0 28.243 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.243 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.244 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.244 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.245 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.245 * [backup-simplify]: Simplify (- 0) into 0 28.246 * [backup-simplify]: Simplify (+ 0 0) into 0 28.247 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.247 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.247 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.248 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.249 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.249 * [backup-simplify]: Simplify (+ 0 0) into 0 28.250 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.251 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.251 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.252 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.252 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.253 * [backup-simplify]: Simplify (- 0) into 0 28.253 * [backup-simplify]: Simplify (+ 0 0) into 0 28.254 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 28.254 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 28.255 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))))) into 0 28.255 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 28.256 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.257 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.257 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.258 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.259 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.259 * [backup-simplify]: Simplify (- 0) into 0 28.260 * [backup-simplify]: Simplify (+ 0 0) into 0 28.260 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 1 phi1)) 2)))) into 0 28.261 * [backup-simplify]: Simplify (+ 0 0) into 0 28.261 * [backup-simplify]: Simplify (- 0) into 0 28.261 * [backup-simplify]: Simplify (+ 0 0) into 0 28.261 * [taylor]: Taking taylor expansion of 0 in theta 28.261 * [backup-simplify]: Simplify 0 into 0 28.261 * [backup-simplify]: Simplify 0 into 0 28.262 * [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)))))) 28.263 * [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)))))) 28.263 * [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 28.263 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in theta 28.263 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 28.263 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.263 * [taylor]: Taking taylor expansion of -1 in theta 28.263 * [backup-simplify]: Simplify -1 into -1 28.263 * [taylor]: Taking taylor expansion of delta in theta 28.263 * [backup-simplify]: Simplify delta into delta 28.263 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.263 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.263 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.263 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 28.263 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 28.263 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.263 * [taylor]: Taking taylor expansion of -1 in theta 28.263 * [backup-simplify]: Simplify -1 into -1 28.263 * [taylor]: Taking taylor expansion of phi1 in theta 28.263 * [backup-simplify]: Simplify phi1 into phi1 28.263 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.264 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.264 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.264 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 28.264 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 28.264 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 28.264 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 28.264 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 28.264 * [taylor]: Taking taylor expansion of -1 in theta 28.264 * [backup-simplify]: Simplify -1 into -1 28.264 * [taylor]: Taking taylor expansion of theta in theta 28.264 * [backup-simplify]: Simplify 0 into 0 28.264 * [backup-simplify]: Simplify 1 into 1 28.264 * [backup-simplify]: Simplify (/ -1 1) into -1 28.265 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.265 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 28.265 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 28.265 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.265 * [taylor]: Taking taylor expansion of -1 in theta 28.265 * [backup-simplify]: Simplify -1 into -1 28.265 * [taylor]: Taking taylor expansion of phi1 in theta 28.265 * [backup-simplify]: Simplify phi1 into phi1 28.265 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.265 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.265 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.265 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 28.265 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.265 * [taylor]: Taking taylor expansion of -1 in theta 28.265 * [backup-simplify]: Simplify -1 into -1 28.265 * [taylor]: Taking taylor expansion of delta in theta 28.265 * [backup-simplify]: Simplify delta into delta 28.265 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.265 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.265 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.265 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 28.265 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 28.265 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.265 * [taylor]: Taking taylor expansion of -1 in theta 28.265 * [backup-simplify]: Simplify -1 into -1 28.265 * [taylor]: Taking taylor expansion of phi1 in theta 28.265 * [backup-simplify]: Simplify phi1 into phi1 28.265 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.266 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.266 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.266 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 28.266 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.266 * [taylor]: Taking taylor expansion of -1 in theta 28.266 * [backup-simplify]: Simplify -1 into -1 28.266 * [taylor]: Taking taylor expansion of delta in theta 28.266 * [backup-simplify]: Simplify delta into delta 28.266 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.266 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.266 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.266 * [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 28.266 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 28.266 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.266 * [taylor]: Taking taylor expansion of -1 in phi1 28.266 * [backup-simplify]: Simplify -1 into -1 28.266 * [taylor]: Taking taylor expansion of delta in phi1 28.266 * [backup-simplify]: Simplify delta into delta 28.266 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.266 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.266 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.266 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 28.266 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.266 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.266 * [taylor]: Taking taylor expansion of -1 in phi1 28.266 * [backup-simplify]: Simplify -1 into -1 28.266 * [taylor]: Taking taylor expansion of phi1 in phi1 28.267 * [backup-simplify]: Simplify 0 into 0 28.267 * [backup-simplify]: Simplify 1 into 1 28.267 * [backup-simplify]: Simplify (/ -1 1) into -1 28.267 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.267 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 28.267 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 28.267 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 28.267 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 28.267 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 28.267 * [taylor]: Taking taylor expansion of -1 in phi1 28.267 * [backup-simplify]: Simplify -1 into -1 28.267 * [taylor]: Taking taylor expansion of theta in phi1 28.267 * [backup-simplify]: Simplify theta into theta 28.267 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.268 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.268 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.268 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 28.268 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 28.268 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.268 * [taylor]: Taking taylor expansion of -1 in phi1 28.268 * [backup-simplify]: Simplify -1 into -1 28.268 * [taylor]: Taking taylor expansion of phi1 in phi1 28.268 * [backup-simplify]: Simplify 0 into 0 28.268 * [backup-simplify]: Simplify 1 into 1 28.268 * [backup-simplify]: Simplify (/ -1 1) into -1 28.268 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.268 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 28.268 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.268 * [taylor]: Taking taylor expansion of -1 in phi1 28.268 * [backup-simplify]: Simplify -1 into -1 28.268 * [taylor]: Taking taylor expansion of delta in phi1 28.268 * [backup-simplify]: Simplify delta into delta 28.269 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.269 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.269 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.269 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 28.269 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.269 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.269 * [taylor]: Taking taylor expansion of -1 in phi1 28.269 * [backup-simplify]: Simplify -1 into -1 28.269 * [taylor]: Taking taylor expansion of phi1 in phi1 28.269 * [backup-simplify]: Simplify 0 into 0 28.269 * [backup-simplify]: Simplify 1 into 1 28.269 * [backup-simplify]: Simplify (/ -1 1) into -1 28.269 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.269 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 28.269 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.269 * [taylor]: Taking taylor expansion of -1 in phi1 28.269 * [backup-simplify]: Simplify -1 into -1 28.270 * [taylor]: Taking taylor expansion of delta in phi1 28.270 * [backup-simplify]: Simplify delta into delta 28.270 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.270 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.270 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.270 * [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 28.270 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 28.270 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.270 * [taylor]: Taking taylor expansion of -1 in delta 28.270 * [backup-simplify]: Simplify -1 into -1 28.270 * [taylor]: Taking taylor expansion of delta in delta 28.270 * [backup-simplify]: Simplify 0 into 0 28.270 * [backup-simplify]: Simplify 1 into 1 28.270 * [backup-simplify]: Simplify (/ -1 1) into -1 28.270 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.271 * [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 28.271 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.271 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.271 * [taylor]: Taking taylor expansion of -1 in delta 28.271 * [backup-simplify]: Simplify -1 into -1 28.271 * [taylor]: Taking taylor expansion of phi1 in delta 28.271 * [backup-simplify]: Simplify phi1 into phi1 28.271 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.271 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.271 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.271 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 28.271 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 28.271 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 28.271 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 28.271 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 28.271 * [taylor]: Taking taylor expansion of -1 in delta 28.271 * [backup-simplify]: Simplify -1 into -1 28.271 * [taylor]: Taking taylor expansion of theta in delta 28.271 * [backup-simplify]: Simplify theta into theta 28.271 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.271 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.271 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.271 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 28.271 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 28.271 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.271 * [taylor]: Taking taylor expansion of -1 in delta 28.271 * [backup-simplify]: Simplify -1 into -1 28.272 * [taylor]: Taking taylor expansion of phi1 in delta 28.272 * [backup-simplify]: Simplify phi1 into phi1 28.272 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.272 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.272 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.272 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 28.272 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.272 * [taylor]: Taking taylor expansion of -1 in delta 28.272 * [backup-simplify]: Simplify -1 into -1 28.272 * [taylor]: Taking taylor expansion of delta in delta 28.272 * [backup-simplify]: Simplify 0 into 0 28.272 * [backup-simplify]: Simplify 1 into 1 28.272 * [backup-simplify]: Simplify (/ -1 1) into -1 28.272 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.272 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 28.272 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.273 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.273 * [taylor]: Taking taylor expansion of -1 in delta 28.273 * [backup-simplify]: Simplify -1 into -1 28.273 * [taylor]: Taking taylor expansion of phi1 in delta 28.273 * [backup-simplify]: Simplify phi1 into phi1 28.273 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.273 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.273 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.273 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 28.273 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.273 * [taylor]: Taking taylor expansion of -1 in delta 28.273 * [backup-simplify]: Simplify -1 into -1 28.273 * [taylor]: Taking taylor expansion of delta in delta 28.273 * [backup-simplify]: Simplify 0 into 0 28.273 * [backup-simplify]: Simplify 1 into 1 28.273 * [backup-simplify]: Simplify (/ -1 1) into -1 28.274 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.274 * [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 28.274 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 28.274 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.274 * [taylor]: Taking taylor expansion of -1 in delta 28.274 * [backup-simplify]: Simplify -1 into -1 28.274 * [taylor]: Taking taylor expansion of delta in delta 28.274 * [backup-simplify]: Simplify 0 into 0 28.274 * [backup-simplify]: Simplify 1 into 1 28.274 * [backup-simplify]: Simplify (/ -1 1) into -1 28.274 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.274 * [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 28.274 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.274 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.274 * [taylor]: Taking taylor expansion of -1 in delta 28.274 * [backup-simplify]: Simplify -1 into -1 28.274 * [taylor]: Taking taylor expansion of phi1 in delta 28.275 * [backup-simplify]: Simplify phi1 into phi1 28.275 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.275 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.275 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.275 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 28.275 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 28.275 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 28.275 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 28.275 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 28.275 * [taylor]: Taking taylor expansion of -1 in delta 28.275 * [backup-simplify]: Simplify -1 into -1 28.275 * [taylor]: Taking taylor expansion of theta in delta 28.275 * [backup-simplify]: Simplify theta into theta 28.275 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.275 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.275 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.275 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 28.275 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 28.275 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.275 * [taylor]: Taking taylor expansion of -1 in delta 28.275 * [backup-simplify]: Simplify -1 into -1 28.275 * [taylor]: Taking taylor expansion of phi1 in delta 28.275 * [backup-simplify]: Simplify phi1 into phi1 28.275 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.276 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.276 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.276 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 28.276 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.276 * [taylor]: Taking taylor expansion of -1 in delta 28.276 * [backup-simplify]: Simplify -1 into -1 28.276 * [taylor]: Taking taylor expansion of delta in delta 28.276 * [backup-simplify]: Simplify 0 into 0 28.276 * [backup-simplify]: Simplify 1 into 1 28.276 * [backup-simplify]: Simplify (/ -1 1) into -1 28.276 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.276 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 28.276 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.276 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.276 * [taylor]: Taking taylor expansion of -1 in delta 28.276 * [backup-simplify]: Simplify -1 into -1 28.276 * [taylor]: Taking taylor expansion of phi1 in delta 28.276 * [backup-simplify]: Simplify phi1 into phi1 28.277 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.277 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.277 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.277 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 28.277 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.277 * [taylor]: Taking taylor expansion of -1 in delta 28.277 * [backup-simplify]: Simplify -1 into -1 28.277 * [taylor]: Taking taylor expansion of delta in delta 28.277 * [backup-simplify]: Simplify 0 into 0 28.277 * [backup-simplify]: Simplify 1 into 1 28.277 * [backup-simplify]: Simplify (/ -1 1) into -1 28.277 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.277 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 28.278 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 28.278 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 28.278 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 28.278 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 28.279 * [backup-simplify]: Simplify (- 0) into 0 28.279 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 28.279 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 28.279 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 28.279 * [backup-simplify]: Simplify (- 0) into 0 28.279 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 28.279 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 28.280 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 28.280 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 28.280 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 28.280 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 28.280 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 28.280 * [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)))) 28.281 * [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))))) 28.281 * [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))))))) 28.282 * [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))))))) 28.282 * [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 28.282 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 28.282 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.282 * [taylor]: Taking taylor expansion of -1 in phi1 28.282 * [backup-simplify]: Simplify -1 into -1 28.282 * [taylor]: Taking taylor expansion of delta in phi1 28.282 * [backup-simplify]: Simplify delta into delta 28.282 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.282 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.282 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.283 * [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 28.283 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in phi1 28.283 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 28.283 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.283 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.283 * [taylor]: Taking taylor expansion of -1 in phi1 28.283 * [backup-simplify]: Simplify -1 into -1 28.283 * [taylor]: Taking taylor expansion of phi1 in phi1 28.283 * [backup-simplify]: Simplify 0 into 0 28.283 * [backup-simplify]: Simplify 1 into 1 28.283 * [backup-simplify]: Simplify (/ -1 1) into -1 28.283 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.283 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 28.283 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.283 * [taylor]: Taking taylor expansion of -1 in phi1 28.283 * [backup-simplify]: Simplify -1 into -1 28.283 * [taylor]: Taking taylor expansion of delta in phi1 28.284 * [backup-simplify]: Simplify delta into delta 28.284 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.284 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.284 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.284 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) in phi1 28.284 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.284 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.284 * [taylor]: Taking taylor expansion of -1 in phi1 28.284 * [backup-simplify]: Simplify -1 into -1 28.284 * [taylor]: Taking taylor expansion of phi1 in phi1 28.284 * [backup-simplify]: Simplify 0 into 0 28.284 * [backup-simplify]: Simplify 1 into 1 28.284 * [backup-simplify]: Simplify (/ -1 1) into -1 28.284 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.284 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))) in phi1 28.285 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 28.285 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 28.285 * [taylor]: Taking taylor expansion of -1 in phi1 28.285 * [backup-simplify]: Simplify -1 into -1 28.285 * [taylor]: Taking taylor expansion of theta in phi1 28.285 * [backup-simplify]: Simplify theta into theta 28.285 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.285 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.285 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.285 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 phi1))) in phi1 28.285 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 28.285 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.285 * [taylor]: Taking taylor expansion of -1 in phi1 28.285 * [backup-simplify]: Simplify -1 into -1 28.285 * [taylor]: Taking taylor expansion of delta in phi1 28.285 * [backup-simplify]: Simplify delta into delta 28.285 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.285 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.285 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.285 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 28.285 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.285 * [taylor]: Taking taylor expansion of -1 in phi1 28.285 * [backup-simplify]: Simplify -1 into -1 28.285 * [taylor]: Taking taylor expansion of phi1 in phi1 28.285 * [backup-simplify]: Simplify 0 into 0 28.285 * [backup-simplify]: Simplify 1 into 1 28.286 * [backup-simplify]: Simplify (/ -1 1) into -1 28.286 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.286 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 28.286 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 28.286 * [backup-simplify]: Simplify (- 0) into 0 28.287 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 28.287 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 28.287 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 28.287 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 28.287 * [backup-simplify]: Simplify (- 0) into 0 28.287 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 28.288 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 28.288 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 28.288 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 28.288 * [backup-simplify]: Simplify (- 0) into 0 28.288 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 28.288 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 28.288 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 28.289 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 28.289 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 28.289 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 28.289 * [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))))) 28.290 * [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)))))) 28.290 * [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))))))) 28.291 * [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))))))) 28.291 * [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 28.291 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 28.291 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.291 * [taylor]: Taking taylor expansion of -1 in theta 28.291 * [backup-simplify]: Simplify -1 into -1 28.291 * [taylor]: Taking taylor expansion of delta in theta 28.291 * [backup-simplify]: Simplify delta into delta 28.291 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.291 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.291 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.291 * [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 28.291 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in theta 28.291 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in theta 28.291 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 28.291 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.291 * [taylor]: Taking taylor expansion of -1 in theta 28.291 * [backup-simplify]: Simplify -1 into -1 28.291 * [taylor]: Taking taylor expansion of phi1 in theta 28.291 * [backup-simplify]: Simplify phi1 into phi1 28.292 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.292 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.292 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.292 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 28.292 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 28.292 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 28.292 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 28.292 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.292 * [taylor]: Taking taylor expansion of -1 in theta 28.292 * [backup-simplify]: Simplify -1 into -1 28.292 * [taylor]: Taking taylor expansion of delta in theta 28.292 * [backup-simplify]: Simplify delta into delta 28.292 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.292 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.292 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.292 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) in theta 28.292 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 28.292 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.292 * [taylor]: Taking taylor expansion of -1 in theta 28.292 * [backup-simplify]: Simplify -1 into -1 28.292 * [taylor]: Taking taylor expansion of phi1 in theta 28.292 * [backup-simplify]: Simplify phi1 into phi1 28.292 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.292 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.293 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.293 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))) in theta 28.293 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 28.293 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 28.293 * [taylor]: Taking taylor expansion of -1 in theta 28.293 * [backup-simplify]: Simplify -1 into -1 28.293 * [taylor]: Taking taylor expansion of theta in theta 28.293 * [backup-simplify]: Simplify 0 into 0 28.293 * [backup-simplify]: Simplify 1 into 1 28.293 * [backup-simplify]: Simplify (/ -1 1) into -1 28.293 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.293 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 phi1))) in theta 28.293 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 28.293 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.293 * [taylor]: Taking taylor expansion of -1 in theta 28.293 * [backup-simplify]: Simplify -1 into -1 28.294 * [taylor]: Taking taylor expansion of delta in theta 28.294 * [backup-simplify]: Simplify delta into delta 28.294 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.294 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.294 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.294 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 28.294 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.294 * [taylor]: Taking taylor expansion of -1 in theta 28.294 * [backup-simplify]: Simplify -1 into -1 28.294 * [taylor]: Taking taylor expansion of phi1 in theta 28.294 * [backup-simplify]: Simplify phi1 into phi1 28.294 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.294 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.294 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.294 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 28.294 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 28.295 * [backup-simplify]: Simplify (- 0) into 0 28.295 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 28.295 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 28.295 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 28.295 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 28.296 * [backup-simplify]: Simplify (- 0) into 0 28.296 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 28.296 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 28.296 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 28.296 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 28.296 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 28.296 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 28.296 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 28.296 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 28.296 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 28.297 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 28.297 * [backup-simplify]: Simplify (- 0) into 0 28.297 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 28.297 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 28.297 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 28.298 * [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))))) 28.298 * [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)))))) 28.299 * [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))))))) 28.299 * [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))))))) 28.300 * [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))))))) 28.300 * [backup-simplify]: Simplify (+ 0) into 0 28.301 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 28.301 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.302 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.302 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 28.303 * [backup-simplify]: Simplify (- 0) into 0 28.303 * [backup-simplify]: Simplify (+ 0 0) into 0 28.303 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 28.304 * [backup-simplify]: Simplify (+ 0) into 0 28.304 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 28.304 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 28.305 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.305 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 28.306 * [backup-simplify]: Simplify (- 0) into 0 28.306 * [backup-simplify]: Simplify (+ 0 0) into 0 28.306 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 28.307 * [backup-simplify]: Simplify (+ 0) into 0 28.307 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 28.307 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.308 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.309 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 28.309 * [backup-simplify]: Simplify (+ 0 0) into 0 28.309 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 28.309 * [backup-simplify]: Simplify (+ 0 0) into 0 28.310 * [backup-simplify]: Simplify (+ 0) into 0 28.310 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 28.310 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.311 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.312 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 28.312 * [backup-simplify]: Simplify (+ 0 0) into 0 28.313 * [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 28.313 * [backup-simplify]: Simplify (- 0) into 0 28.313 * [backup-simplify]: Simplify (+ 0 0) into 0 28.313 * [taylor]: Taking taylor expansion of 0 in phi1 28.313 * [backup-simplify]: Simplify 0 into 0 28.313 * [taylor]: Taking taylor expansion of 0 in theta 28.313 * [backup-simplify]: Simplify 0 into 0 28.314 * [backup-simplify]: Simplify 0 into 0 28.314 * [backup-simplify]: Simplify (+ 0) into 0 28.314 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 28.315 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.315 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.316 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 28.316 * [backup-simplify]: Simplify (- 0) into 0 28.316 * [backup-simplify]: Simplify (+ 0 0) into 0 28.317 * [backup-simplify]: Simplify (+ 0) into 0 28.317 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 28.317 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.318 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.319 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 28.319 * [backup-simplify]: Simplify (- 0) into 0 28.319 * [backup-simplify]: Simplify (+ 0 0) into 0 28.320 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 28.320 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 28.320 * [backup-simplify]: Simplify (+ 0) into 0 28.321 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 28.321 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.322 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.322 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 28.323 * [backup-simplify]: Simplify (+ 0 0) into 0 28.323 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 28.323 * [backup-simplify]: Simplify (+ 0) into 0 28.324 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 28.324 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 28.327 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.328 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 28.328 * [backup-simplify]: Simplify (- 0) into 0 28.329 * [backup-simplify]: Simplify (+ 0 0) into 0 28.329 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 28.329 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 28.330 * [backup-simplify]: Simplify (+ 0 0) into 0 28.330 * [backup-simplify]: Simplify (- 0) into 0 28.330 * [backup-simplify]: Simplify (+ 0 0) into 0 28.330 * [taylor]: Taking taylor expansion of 0 in theta 28.330 * [backup-simplify]: Simplify 0 into 0 28.331 * [backup-simplify]: Simplify 0 into 0 28.331 * [backup-simplify]: Simplify (+ 0) into 0 28.331 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 28.332 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.332 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.333 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 28.333 * [backup-simplify]: Simplify (- 0) into 0 28.334 * [backup-simplify]: Simplify (+ 0 0) into 0 28.334 * [backup-simplify]: Simplify (+ 0) into 0 28.335 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 28.335 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.335 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.336 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 28.336 * [backup-simplify]: Simplify (- 0) into 0 28.337 * [backup-simplify]: Simplify (+ 0 0) into 0 28.337 * [backup-simplify]: Simplify (+ 0) into 0 28.338 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 28.338 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.338 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.339 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 28.339 * [backup-simplify]: Simplify (+ 0 0) into 0 28.339 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 28.340 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 28.340 * [backup-simplify]: Simplify (+ 0) into 0 28.341 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 28.341 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.342 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.342 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 28.342 * [backup-simplify]: Simplify (- 0) into 0 28.343 * [backup-simplify]: Simplify (+ 0 0) into 0 28.343 * [backup-simplify]: Simplify (+ 0) into 0 28.344 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 28.344 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.345 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.345 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 28.345 * [backup-simplify]: Simplify (+ 0 0) into 0 28.346 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 28.346 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 28.346 * [backup-simplify]: Simplify (+ 0) into 0 28.347 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 28.347 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.348 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.348 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 28.349 * [backup-simplify]: Simplify (+ 0 0) into 0 28.349 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 28.349 * [backup-simplify]: Simplify (+ 0 0) into 0 28.350 * [backup-simplify]: Simplify (- 0) into 0 28.350 * [backup-simplify]: Simplify (+ 0 0) into 0 28.350 * [backup-simplify]: Simplify 0 into 0 28.351 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.352 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.352 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.353 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.353 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.354 * [backup-simplify]: Simplify (- 0) into 0 28.354 * [backup-simplify]: Simplify (+ 0 0) into 0 28.355 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 28.355 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.356 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.356 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.357 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.358 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.358 * [backup-simplify]: Simplify (- 0) into 0 28.359 * [backup-simplify]: Simplify (+ 0 0) into 0 28.359 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 28.360 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.361 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.361 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.362 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.362 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.363 * [backup-simplify]: Simplify (+ 0 0) into 0 28.363 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 28.364 * [backup-simplify]: Simplify (+ 0 0) into 0 28.365 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.366 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.366 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.367 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.367 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.368 * [backup-simplify]: Simplify (+ 0 0) into 0 28.369 * [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 28.369 * [backup-simplify]: Simplify (- 0) into 0 28.369 * [backup-simplify]: Simplify (+ 0 0) into 0 28.369 * [taylor]: Taking taylor expansion of 0 in phi1 28.369 * [backup-simplify]: Simplify 0 into 0 28.369 * [taylor]: Taking taylor expansion of 0 in theta 28.369 * [backup-simplify]: Simplify 0 into 0 28.369 * [backup-simplify]: Simplify 0 into 0 28.370 * [taylor]: Taking taylor expansion of 0 in theta 28.370 * [backup-simplify]: Simplify 0 into 0 28.370 * [backup-simplify]: Simplify 0 into 0 28.371 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.371 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.372 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.373 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.373 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.374 * [backup-simplify]: Simplify (- 0) into 0 28.374 * [backup-simplify]: Simplify (+ 0 0) into 0 28.375 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.376 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.376 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.377 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.377 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.378 * [backup-simplify]: Simplify (- 0) into 0 28.378 * [backup-simplify]: Simplify (+ 0 0) into 0 28.379 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 28.379 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 28.380 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.381 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.381 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.382 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.383 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.383 * [backup-simplify]: Simplify (+ 0 0) into 0 28.384 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 phi1))))) into 0 28.385 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.386 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.386 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.387 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.388 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.389 * [backup-simplify]: Simplify (- 0) into 0 28.389 * [backup-simplify]: Simplify (+ 0 0) into 0 28.390 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 28.391 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))))) into 0 28.391 * [backup-simplify]: Simplify (+ 0 0) into 0 28.392 * [backup-simplify]: Simplify (- 0) into 0 28.392 * [backup-simplify]: Simplify (+ 0 0) into 0 28.392 * [taylor]: Taking taylor expansion of 0 in theta 28.392 * [backup-simplify]: Simplify 0 into 0 28.392 * [backup-simplify]: Simplify 0 into 0 28.393 * [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)))))) 28.393 * * * * [progress]: [ 2 / 4 ] generating series at (2 1 2 2 2 1) 28.394 * [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)))) 28.394 * [approximate]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in (theta phi1 delta) around 0 28.394 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 28.394 * [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)))) 28.394 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 28.394 * [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)))) 28.394 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 28.395 * [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)))) 28.395 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 28.395 * [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)))) 28.395 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 28.395 * [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)))) 28.395 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 28.395 * [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)))) 28.396 * [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)))) 28.396 * [taylor]: Taking taylor expansion of 0 in phi1 28.396 * [backup-simplify]: Simplify 0 into 0 28.396 * [taylor]: Taking taylor expansion of 0 in delta 28.396 * [backup-simplify]: Simplify 0 into 0 28.396 * [backup-simplify]: Simplify 0 into 0 28.396 * [taylor]: Taking taylor expansion of 0 in delta 28.396 * [backup-simplify]: Simplify 0 into 0 28.396 * [backup-simplify]: Simplify 0 into 0 28.396 * [backup-simplify]: Simplify 0 into 0 28.396 * [taylor]: Taking taylor expansion of 0 in phi1 28.396 * [backup-simplify]: Simplify 0 into 0 28.396 * [taylor]: Taking taylor expansion of 0 in delta 28.396 * [backup-simplify]: Simplify 0 into 0 28.396 * [backup-simplify]: Simplify 0 into 0 28.396 * [taylor]: Taking taylor expansion of 0 in delta 28.396 * [backup-simplify]: Simplify 0 into 0 28.396 * [backup-simplify]: Simplify 0 into 0 28.396 * [taylor]: Taking taylor expansion of 0 in delta 28.396 * [backup-simplify]: Simplify 0 into 0 28.396 * [backup-simplify]: Simplify 0 into 0 28.397 * [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)))) 28.397 * [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))))) 28.397 * [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 28.397 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in delta 28.397 * [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))))) 28.397 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in phi1 28.398 * [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))))) 28.398 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in theta 28.398 * [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))))) 28.398 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in theta 28.398 * [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))))) 28.398 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in phi1 28.399 * [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))))) 28.399 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in delta 28.399 * [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))))) 28.399 * [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))))) 28.399 * [taylor]: Taking taylor expansion of 0 in phi1 28.399 * [backup-simplify]: Simplify 0 into 0 28.399 * [taylor]: Taking taylor expansion of 0 in delta 28.399 * [backup-simplify]: Simplify 0 into 0 28.399 * [backup-simplify]: Simplify 0 into 0 28.400 * [taylor]: Taking taylor expansion of 0 in delta 28.400 * [backup-simplify]: Simplify 0 into 0 28.400 * [backup-simplify]: Simplify 0 into 0 28.400 * [backup-simplify]: Simplify 0 into 0 28.400 * [taylor]: Taking taylor expansion of 0 in phi1 28.400 * [backup-simplify]: Simplify 0 into 0 28.400 * [taylor]: Taking taylor expansion of 0 in delta 28.400 * [backup-simplify]: Simplify 0 into 0 28.400 * [backup-simplify]: Simplify 0 into 0 28.400 * [taylor]: Taking taylor expansion of 0 in delta 28.400 * [backup-simplify]: Simplify 0 into 0 28.400 * [backup-simplify]: Simplify 0 into 0 28.400 * [taylor]: Taking taylor expansion of 0 in delta 28.400 * [backup-simplify]: Simplify 0 into 0 28.400 * [backup-simplify]: Simplify 0 into 0 28.400 * [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)))) 28.401 * [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))))) 28.401 * [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 28.401 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 28.401 * [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))))) 28.401 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 28.401 * [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))))) 28.401 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 28.402 * [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))))) 28.402 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 28.402 * [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))))) 28.402 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 28.402 * [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))))) 28.402 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 28.402 * [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))))) 28.403 * [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))))) 28.403 * [taylor]: Taking taylor expansion of 0 in phi1 28.403 * [backup-simplify]: Simplify 0 into 0 28.403 * [taylor]: Taking taylor expansion of 0 in delta 28.403 * [backup-simplify]: Simplify 0 into 0 28.403 * [backup-simplify]: Simplify 0 into 0 28.403 * [taylor]: Taking taylor expansion of 0 in delta 28.403 * [backup-simplify]: Simplify 0 into 0 28.403 * [backup-simplify]: Simplify 0 into 0 28.403 * [backup-simplify]: Simplify 0 into 0 28.403 * [taylor]: Taking taylor expansion of 0 in phi1 28.403 * [backup-simplify]: Simplify 0 into 0 28.403 * [taylor]: Taking taylor expansion of 0 in delta 28.403 * [backup-simplify]: Simplify 0 into 0 28.403 * [backup-simplify]: Simplify 0 into 0 28.403 * [taylor]: Taking taylor expansion of 0 in delta 28.403 * [backup-simplify]: Simplify 0 into 0 28.403 * [backup-simplify]: Simplify 0 into 0 28.403 * [taylor]: Taking taylor expansion of 0 in delta 28.403 * [backup-simplify]: Simplify 0 into 0 28.403 * [backup-simplify]: Simplify 0 into 0 28.404 * [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)))) 28.404 * * * * [progress]: [ 3 / 4 ] generating series at (2 1 2 2 2 1 1 3) 28.404 * [backup-simplify]: Simplify (* (cos delta) (sin phi1)) into (* (sin phi1) (cos delta)) 28.404 * [approximate]: Taking taylor expansion of (* (sin phi1) (cos delta)) in (delta phi1) around 0 28.404 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 28.404 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.404 * [taylor]: Taking taylor expansion of phi1 in phi1 28.404 * [backup-simplify]: Simplify 0 into 0 28.404 * [backup-simplify]: Simplify 1 into 1 28.404 * [taylor]: Taking taylor expansion of (cos delta) in phi1 28.404 * [taylor]: Taking taylor expansion of delta in phi1 28.404 * [backup-simplify]: Simplify delta into delta 28.404 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.404 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.404 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 28.404 * [taylor]: Taking taylor expansion of (sin phi1) in delta 28.404 * [taylor]: Taking taylor expansion of phi1 in delta 28.404 * [backup-simplify]: Simplify phi1 into phi1 28.404 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.404 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.404 * [taylor]: Taking taylor expansion of (cos delta) in delta 28.404 * [taylor]: Taking taylor expansion of delta in delta 28.404 * [backup-simplify]: Simplify 0 into 0 28.404 * [backup-simplify]: Simplify 1 into 1 28.404 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 28.404 * [taylor]: Taking taylor expansion of (sin phi1) in delta 28.405 * [taylor]: Taking taylor expansion of phi1 in delta 28.405 * [backup-simplify]: Simplify phi1 into phi1 28.405 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.405 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.405 * [taylor]: Taking taylor expansion of (cos delta) in delta 28.405 * [taylor]: Taking taylor expansion of delta in delta 28.405 * [backup-simplify]: Simplify 0 into 0 28.405 * [backup-simplify]: Simplify 1 into 1 28.405 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 28.405 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 28.405 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 28.405 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 28.405 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.405 * [taylor]: Taking taylor expansion of phi1 in phi1 28.405 * [backup-simplify]: Simplify 0 into 0 28.405 * [backup-simplify]: Simplify 1 into 1 28.405 * [backup-simplify]: Simplify 0 into 0 28.406 * [backup-simplify]: Simplify (+ 0) into 0 28.406 * [backup-simplify]: Simplify (+ 0) into 0 28.407 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 28.407 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.408 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 28.408 * [backup-simplify]: Simplify (+ 0 0) into 0 28.409 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 28.409 * [taylor]: Taking taylor expansion of 0 in phi1 28.409 * [backup-simplify]: Simplify 0 into 0 28.409 * [backup-simplify]: Simplify 0 into 0 28.410 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.410 * [backup-simplify]: Simplify 1 into 1 28.411 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 28.411 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.412 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 28.413 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.413 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 28.414 * [backup-simplify]: Simplify (+ 0 0) into 0 28.414 * [backup-simplify]: Simplify (+ (* (sin phi1) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (sin phi1))) 28.414 * [taylor]: Taking taylor expansion of (- (* 1/2 (sin phi1))) in phi1 28.415 * [taylor]: Taking taylor expansion of (* 1/2 (sin phi1)) in phi1 28.415 * [taylor]: Taking taylor expansion of 1/2 in phi1 28.415 * [backup-simplify]: Simplify 1/2 into 1/2 28.415 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.415 * [taylor]: Taking taylor expansion of phi1 in phi1 28.415 * [backup-simplify]: Simplify 0 into 0 28.415 * [backup-simplify]: Simplify 1 into 1 28.415 * [backup-simplify]: Simplify (* 1/2 0) into 0 28.415 * [backup-simplify]: Simplify (- 0) into 0 28.415 * [backup-simplify]: Simplify 0 into 0 28.416 * [backup-simplify]: Simplify 0 into 0 28.416 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.416 * [backup-simplify]: Simplify 0 into 0 28.418 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 1 1) 1) (/ (pow 0 1) 1)) 0) into 0 28.419 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 28.419 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 28.421 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 28.422 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 28.422 * [backup-simplify]: Simplify (+ 0 0) into 0 28.423 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 -1/2) (+ (* 0 0) (* 0 1)))) into 0 28.423 * [taylor]: Taking taylor expansion of 0 in phi1 28.423 * [backup-simplify]: Simplify 0 into 0 28.423 * [backup-simplify]: Simplify 0 into 0 28.423 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.424 * [backup-simplify]: Simplify (+ (* 1/2 1) (* 0 0)) into 1/2 28.424 * [backup-simplify]: Simplify (- 1/2) into -1/2 28.424 * [backup-simplify]: Simplify -1/2 into -1/2 28.424 * [backup-simplify]: Simplify 0 into 0 28.425 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into -1/6 28.425 * [backup-simplify]: Simplify -1/6 into -1/6 28.425 * [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)))) 28.425 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 28.425 * [approximate]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in (delta phi1) around 0 28.425 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 28.425 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.425 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.425 * [taylor]: Taking taylor expansion of phi1 in phi1 28.425 * [backup-simplify]: Simplify 0 into 0 28.425 * [backup-simplify]: Simplify 1 into 1 28.426 * [backup-simplify]: Simplify (/ 1 1) into 1 28.426 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.426 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 28.426 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.426 * [taylor]: Taking taylor expansion of delta in phi1 28.426 * [backup-simplify]: Simplify delta into delta 28.426 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.426 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.426 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.426 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 28.426 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.426 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.426 * [taylor]: Taking taylor expansion of phi1 in delta 28.426 * [backup-simplify]: Simplify phi1 into phi1 28.426 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.426 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.426 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.426 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 28.426 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.426 * [taylor]: Taking taylor expansion of delta in delta 28.426 * [backup-simplify]: Simplify 0 into 0 28.426 * [backup-simplify]: Simplify 1 into 1 28.426 * [backup-simplify]: Simplify (/ 1 1) into 1 28.426 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.426 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 28.426 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.426 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.426 * [taylor]: Taking taylor expansion of phi1 in delta 28.426 * [backup-simplify]: Simplify phi1 into phi1 28.426 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.427 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.427 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.427 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 28.427 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.427 * [taylor]: Taking taylor expansion of delta in delta 28.427 * [backup-simplify]: Simplify 0 into 0 28.427 * [backup-simplify]: Simplify 1 into 1 28.427 * [backup-simplify]: Simplify (/ 1 1) into 1 28.427 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.427 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 28.427 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 28.427 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 28.427 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 28.427 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in phi1 28.427 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 28.427 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.427 * [taylor]: Taking taylor expansion of delta in phi1 28.427 * [backup-simplify]: Simplify delta into delta 28.427 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.427 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.427 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.427 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.427 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.427 * [taylor]: Taking taylor expansion of phi1 in phi1 28.427 * [backup-simplify]: Simplify 0 into 0 28.427 * [backup-simplify]: Simplify 1 into 1 28.428 * [backup-simplify]: Simplify (/ 1 1) into 1 28.428 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.428 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 28.428 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 28.428 * [backup-simplify]: Simplify (- 0) into 0 28.428 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 28.428 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 28.428 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 28.429 * [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 28.430 * [taylor]: Taking taylor expansion of 0 in phi1 28.430 * [backup-simplify]: Simplify 0 into 0 28.430 * [backup-simplify]: Simplify 0 into 0 28.430 * [backup-simplify]: Simplify (+ 0) into 0 28.431 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 28.431 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.431 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.431 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 28.432 * [backup-simplify]: Simplify (- 0) into 0 28.432 * [backup-simplify]: Simplify (+ 0 0) into 0 28.432 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 28.432 * [backup-simplify]: Simplify 0 into 0 28.433 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.433 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.433 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.434 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.434 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.434 * [backup-simplify]: Simplify (+ 0 0) into 0 28.434 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 28.434 * [taylor]: Taking taylor expansion of 0 in phi1 28.435 * [backup-simplify]: Simplify 0 into 0 28.435 * [backup-simplify]: Simplify 0 into 0 28.435 * [backup-simplify]: Simplify 0 into 0 28.435 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.436 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.436 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.436 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.436 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.437 * [backup-simplify]: Simplify (- 0) into 0 28.437 * [backup-simplify]: Simplify (+ 0 0) into 0 28.437 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 28.437 * [backup-simplify]: Simplify 0 into 0 28.438 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 28.439 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 28.439 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.440 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 28.440 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 28.440 * [backup-simplify]: Simplify (+ 0 0) into 0 28.441 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ 1 delta)))))) into 0 28.441 * [taylor]: Taking taylor expansion of 0 in phi1 28.441 * [backup-simplify]: Simplify 0 into 0 28.441 * [backup-simplify]: Simplify 0 into 0 28.441 * [backup-simplify]: Simplify (* (cos (/ 1 (/ 1 delta))) (sin (/ 1 (/ 1 phi1)))) into (* (sin phi1) (cos delta)) 28.441 * [backup-simplify]: Simplify (* (cos (/ 1 (- delta))) (sin (/ 1 (- phi1)))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 28.441 * [approximate]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in (delta phi1) around 0 28.441 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 28.441 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.441 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.441 * [taylor]: Taking taylor expansion of -1 in phi1 28.441 * [backup-simplify]: Simplify -1 into -1 28.441 * [taylor]: Taking taylor expansion of phi1 in phi1 28.441 * [backup-simplify]: Simplify 0 into 0 28.441 * [backup-simplify]: Simplify 1 into 1 28.441 * [backup-simplify]: Simplify (/ -1 1) into -1 28.441 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.441 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 28.441 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.442 * [taylor]: Taking taylor expansion of -1 in phi1 28.442 * [backup-simplify]: Simplify -1 into -1 28.442 * [taylor]: Taking taylor expansion of delta in phi1 28.442 * [backup-simplify]: Simplify delta into delta 28.442 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.442 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.442 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.442 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 28.442 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.442 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.442 * [taylor]: Taking taylor expansion of -1 in delta 28.442 * [backup-simplify]: Simplify -1 into -1 28.442 * [taylor]: Taking taylor expansion of phi1 in delta 28.442 * [backup-simplify]: Simplify phi1 into phi1 28.442 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.442 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.442 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.442 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 28.442 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.442 * [taylor]: Taking taylor expansion of -1 in delta 28.442 * [backup-simplify]: Simplify -1 into -1 28.442 * [taylor]: Taking taylor expansion of delta in delta 28.442 * [backup-simplify]: Simplify 0 into 0 28.442 * [backup-simplify]: Simplify 1 into 1 28.442 * [backup-simplify]: Simplify (/ -1 1) into -1 28.442 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.442 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 28.442 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.442 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.442 * [taylor]: Taking taylor expansion of -1 in delta 28.442 * [backup-simplify]: Simplify -1 into -1 28.442 * [taylor]: Taking taylor expansion of phi1 in delta 28.442 * [backup-simplify]: Simplify phi1 into phi1 28.442 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.442 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.443 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.443 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 28.443 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.443 * [taylor]: Taking taylor expansion of -1 in delta 28.443 * [backup-simplify]: Simplify -1 into -1 28.443 * [taylor]: Taking taylor expansion of delta in delta 28.443 * [backup-simplify]: Simplify 0 into 0 28.443 * [backup-simplify]: Simplify 1 into 1 28.443 * [backup-simplify]: Simplify (/ -1 1) into -1 28.443 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.443 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 28.443 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 28.443 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 28.443 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 28.443 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 28.443 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.443 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.443 * [taylor]: Taking taylor expansion of -1 in phi1 28.443 * [backup-simplify]: Simplify -1 into -1 28.443 * [taylor]: Taking taylor expansion of phi1 in phi1 28.443 * [backup-simplify]: Simplify 0 into 0 28.443 * [backup-simplify]: Simplify 1 into 1 28.444 * [backup-simplify]: Simplify (/ -1 1) into -1 28.444 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.444 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 28.444 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.444 * [taylor]: Taking taylor expansion of -1 in phi1 28.444 * [backup-simplify]: Simplify -1 into -1 28.444 * [taylor]: Taking taylor expansion of delta in phi1 28.444 * [backup-simplify]: Simplify delta into delta 28.444 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.444 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.444 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.444 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 28.444 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 28.444 * [backup-simplify]: Simplify (- 0) into 0 28.444 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 28.444 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 28.444 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 28.445 * [backup-simplify]: Simplify (+ 0) into 0 28.445 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 28.445 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.446 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.446 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 28.446 * [backup-simplify]: Simplify (+ 0 0) into 0 28.446 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 28.446 * [taylor]: Taking taylor expansion of 0 in phi1 28.446 * [backup-simplify]: Simplify 0 into 0 28.446 * [backup-simplify]: Simplify 0 into 0 28.447 * [backup-simplify]: Simplify (+ 0) into 0 28.447 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 28.447 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.448 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.448 * [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 (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 28.448 * [backup-simplify]: Simplify 0 into 0 28.449 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.450 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.450 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.450 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.451 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.451 * [backup-simplify]: Simplify (+ 0 0) into 0 28.451 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 28.451 * [taylor]: Taking taylor expansion of 0 in phi1 28.452 * [backup-simplify]: Simplify 0 into 0 28.452 * [backup-simplify]: Simplify 0 into 0 28.452 * [backup-simplify]: Simplify 0 into 0 28.453 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.453 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.454 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.454 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.455 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.455 * [backup-simplify]: Simplify (- 0) into 0 28.456 * [backup-simplify]: Simplify (+ 0 0) into 0 28.456 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 28.456 * [backup-simplify]: Simplify 0 into 0 28.457 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 28.458 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 28.459 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.465 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 28.466 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 28.466 * [backup-simplify]: Simplify (+ 0 0) into 0 28.467 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ -1 delta)))))) into 0 28.467 * [taylor]: Taking taylor expansion of 0 in phi1 28.468 * [backup-simplify]: Simplify 0 into 0 28.468 * [backup-simplify]: Simplify 0 into 0 28.468 * [backup-simplify]: Simplify (* (sin (/ -1 (/ 1 (- phi1)))) (cos (/ -1 (/ 1 (- delta))))) into (* (sin phi1) (cos delta)) 28.468 * * * * [progress]: [ 4 / 4 ] generating series at (2 1 1) 28.468 * [backup-simplify]: Simplify (* (sin delta) (* (cos phi1) (sin theta))) into (* (sin delta) (* (cos phi1) (sin theta))) 28.468 * [approximate]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in (delta phi1 theta) around 0 28.468 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in theta 28.468 * [taylor]: Taking taylor expansion of (sin delta) in theta 28.468 * [taylor]: Taking taylor expansion of delta in theta 28.468 * [backup-simplify]: Simplify delta into delta 28.468 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.468 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.468 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in theta 28.468 * [taylor]: Taking taylor expansion of (cos phi1) in theta 28.468 * [taylor]: Taking taylor expansion of phi1 in theta 28.468 * [backup-simplify]: Simplify phi1 into phi1 28.468 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.468 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.468 * [taylor]: Taking taylor expansion of (sin theta) in theta 28.469 * [taylor]: Taking taylor expansion of theta in theta 28.469 * [backup-simplify]: Simplify 0 into 0 28.469 * [backup-simplify]: Simplify 1 into 1 28.469 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in phi1 28.469 * [taylor]: Taking taylor expansion of (sin delta) in phi1 28.469 * [taylor]: Taking taylor expansion of delta in phi1 28.469 * [backup-simplify]: Simplify delta into delta 28.469 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.469 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.469 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in phi1 28.469 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 28.469 * [taylor]: Taking taylor expansion of phi1 in phi1 28.469 * [backup-simplify]: Simplify 0 into 0 28.469 * [backup-simplify]: Simplify 1 into 1 28.469 * [taylor]: Taking taylor expansion of (sin theta) in phi1 28.469 * [taylor]: Taking taylor expansion of theta in phi1 28.469 * [backup-simplify]: Simplify theta into theta 28.469 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.469 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.469 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in delta 28.469 * [taylor]: Taking taylor expansion of (sin delta) in delta 28.469 * [taylor]: Taking taylor expansion of delta in delta 28.469 * [backup-simplify]: Simplify 0 into 0 28.469 * [backup-simplify]: Simplify 1 into 1 28.469 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in delta 28.469 * [taylor]: Taking taylor expansion of (cos phi1) in delta 28.469 * [taylor]: Taking taylor expansion of phi1 in delta 28.469 * [backup-simplify]: Simplify phi1 into phi1 28.469 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.469 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.469 * [taylor]: Taking taylor expansion of (sin theta) in delta 28.470 * [taylor]: Taking taylor expansion of theta in delta 28.470 * [backup-simplify]: Simplify theta into theta 28.470 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.470 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.470 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in delta 28.470 * [taylor]: Taking taylor expansion of (sin delta) in delta 28.470 * [taylor]: Taking taylor expansion of delta in delta 28.470 * [backup-simplify]: Simplify 0 into 0 28.470 * [backup-simplify]: Simplify 1 into 1 28.470 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in delta 28.470 * [taylor]: Taking taylor expansion of (cos phi1) in delta 28.470 * [taylor]: Taking taylor expansion of phi1 in delta 28.470 * [backup-simplify]: Simplify phi1 into phi1 28.470 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.470 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.470 * [taylor]: Taking taylor expansion of (sin theta) in delta 28.470 * [taylor]: Taking taylor expansion of theta in delta 28.470 * [backup-simplify]: Simplify theta into theta 28.470 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.470 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.470 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 28.470 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 28.471 * [backup-simplify]: Simplify (- 0) into 0 28.471 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 28.471 * [backup-simplify]: Simplify (* (sin theta) 1) into (sin theta) 28.471 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 28.471 * [backup-simplify]: Simplify (+ (sin theta) 0) into (sin theta) 28.471 * [backup-simplify]: Simplify (* (cos phi1) (sin theta)) into (* (cos phi1) (sin theta)) 28.471 * [backup-simplify]: Simplify (* 0 (* (cos phi1) (sin theta))) into 0 28.471 * [taylor]: Taking taylor expansion of 0 in phi1 28.471 * [backup-simplify]: Simplify 0 into 0 28.471 * [taylor]: Taking taylor expansion of 0 in theta 28.471 * [backup-simplify]: Simplify 0 into 0 28.471 * [backup-simplify]: Simplify 0 into 0 28.472 * [backup-simplify]: Simplify (+ 0) into 0 28.472 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 1)) into 0 28.473 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.474 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 0)) into 0 28.474 * [backup-simplify]: Simplify (+ 0 0) into 0 28.474 * [backup-simplify]: Simplify (+ 0) into 0 28.475 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 28.476 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.476 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 28.477 * [backup-simplify]: Simplify (- 0) into 0 28.477 * [backup-simplify]: Simplify (+ 0 0) into 0 28.477 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 (sin theta))) into 0 28.478 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.478 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos phi1) (sin theta)))) into (* (cos phi1) (sin theta)) 28.478 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in phi1 28.478 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 28.478 * [taylor]: Taking taylor expansion of phi1 in phi1 28.478 * [backup-simplify]: Simplify 0 into 0 28.478 * [backup-simplify]: Simplify 1 into 1 28.478 * [taylor]: Taking taylor expansion of (sin theta) in phi1 28.478 * [taylor]: Taking taylor expansion of theta in phi1 28.478 * [backup-simplify]: Simplify theta into theta 28.479 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.479 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.479 * [backup-simplify]: Simplify (* (sin theta) 1) into (sin theta) 28.479 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 28.479 * [backup-simplify]: Simplify (+ (sin theta) 0) into (sin theta) 28.479 * [backup-simplify]: Simplify (* 1 (sin theta)) into (sin theta) 28.479 * [taylor]: Taking taylor expansion of (sin theta) in theta 28.479 * [taylor]: Taking taylor expansion of theta in theta 28.479 * [backup-simplify]: Simplify 0 into 0 28.479 * [backup-simplify]: Simplify 1 into 1 28.479 * [backup-simplify]: Simplify 0 into 0 28.479 * [taylor]: Taking taylor expansion of 0 in theta 28.479 * [backup-simplify]: Simplify 0 into 0 28.479 * [backup-simplify]: Simplify 0 into 0 28.479 * [backup-simplify]: Simplify 0 into 0 28.480 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.481 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 1))) into 0 28.482 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.482 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 0))) into 0 28.483 * [backup-simplify]: Simplify (+ 0 0) into 0 28.483 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.484 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 28.485 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.486 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 28.486 * [backup-simplify]: Simplify (- 0) into 0 28.486 * [backup-simplify]: Simplify (+ 0 0) into 0 28.487 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 (sin theta)))) into 0 28.488 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.489 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (cos phi1) (sin theta))))) into 0 28.489 * [taylor]: Taking taylor expansion of 0 in phi1 28.489 * [backup-simplify]: Simplify 0 into 0 28.489 * [taylor]: Taking taylor expansion of 0 in theta 28.489 * [backup-simplify]: Simplify 0 into 0 28.489 * [backup-simplify]: Simplify 0 into 0 28.489 * [backup-simplify]: Simplify (+ 0) into 0 28.490 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 1)) into 0 28.490 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.491 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 0)) into 0 28.491 * [backup-simplify]: Simplify (+ 0 0) into 0 28.492 * [backup-simplify]: Simplify (+ 0) into 0 28.492 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin theta))) into 0 28.492 * [taylor]: Taking taylor expansion of 0 in theta 28.492 * [backup-simplify]: Simplify 0 into 0 28.492 * [backup-simplify]: Simplify 0 into 0 28.492 * [backup-simplify]: Simplify 0 into 0 28.493 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) 28.493 * [approximate]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in (delta phi1 theta) around 0 28.493 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in theta 28.493 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 28.493 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.493 * [taylor]: Taking taylor expansion of phi1 in theta 28.493 * [backup-simplify]: Simplify phi1 into phi1 28.493 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.493 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.493 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.493 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in theta 28.493 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in theta 28.493 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 28.493 * [taylor]: Taking taylor expansion of theta in theta 28.493 * [backup-simplify]: Simplify 0 into 0 28.493 * [backup-simplify]: Simplify 1 into 1 28.494 * [backup-simplify]: Simplify (/ 1 1) into 1 28.494 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.494 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 28.494 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.494 * [taylor]: Taking taylor expansion of delta in theta 28.494 * [backup-simplify]: Simplify delta into delta 28.494 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.494 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.494 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.494 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in phi1 28.494 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 28.494 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.494 * [taylor]: Taking taylor expansion of phi1 in phi1 28.494 * [backup-simplify]: Simplify 0 into 0 28.494 * [backup-simplify]: Simplify 1 into 1 28.495 * [backup-simplify]: Simplify (/ 1 1) into 1 28.495 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.495 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in phi1 28.495 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in phi1 28.495 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 28.495 * [taylor]: Taking taylor expansion of theta in phi1 28.495 * [backup-simplify]: Simplify theta into theta 28.495 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.495 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.495 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.495 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 28.495 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.495 * [taylor]: Taking taylor expansion of delta in phi1 28.495 * [backup-simplify]: Simplify delta into delta 28.495 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.495 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.496 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.496 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in delta 28.496 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 28.496 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.496 * [taylor]: Taking taylor expansion of phi1 in delta 28.496 * [backup-simplify]: Simplify phi1 into phi1 28.496 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.496 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.496 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.496 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in delta 28.496 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in delta 28.496 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 28.496 * [taylor]: Taking taylor expansion of theta in delta 28.496 * [backup-simplify]: Simplify theta into theta 28.496 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.496 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.496 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.496 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 28.496 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.496 * [taylor]: Taking taylor expansion of delta in delta 28.496 * [backup-simplify]: Simplify 0 into 0 28.496 * [backup-simplify]: Simplify 1 into 1 28.497 * [backup-simplify]: Simplify (/ 1 1) into 1 28.497 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.497 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in delta 28.497 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 28.497 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.497 * [taylor]: Taking taylor expansion of phi1 in delta 28.497 * [backup-simplify]: Simplify phi1 into phi1 28.497 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.497 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.497 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.497 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in delta 28.497 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in delta 28.497 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 28.497 * [taylor]: Taking taylor expansion of theta in delta 28.497 * [backup-simplify]: Simplify theta into theta 28.497 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.498 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.498 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.498 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 28.498 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.498 * [taylor]: Taking taylor expansion of delta in delta 28.498 * [backup-simplify]: Simplify 0 into 0 28.498 * [backup-simplify]: Simplify 1 into 1 28.498 * [backup-simplify]: Simplify (/ 1 1) into 1 28.498 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.498 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 28.499 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 28.499 * [backup-simplify]: Simplify (- 0) into 0 28.499 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 28.499 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 1) into (sin (/ 1 theta)) 28.499 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 0) into 0 28.499 * [backup-simplify]: Simplify (+ (sin (/ 1 theta)) 0) into (sin (/ 1 theta)) 28.499 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (sin (/ 1 delta))) into (* (sin (/ 1 theta)) (sin (/ 1 delta))) 28.500 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) 28.500 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 28.500 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 28.500 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.500 * [taylor]: Taking taylor expansion of delta in phi1 28.500 * [backup-simplify]: Simplify delta into delta 28.500 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.500 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.500 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.500 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (cos (/ 1 phi1))) in phi1 28.500 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in phi1 28.500 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 28.500 * [taylor]: Taking taylor expansion of theta in phi1 28.500 * [backup-simplify]: Simplify theta into theta 28.501 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.501 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.501 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.501 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 28.501 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.501 * [taylor]: Taking taylor expansion of phi1 in phi1 28.501 * [backup-simplify]: Simplify 0 into 0 28.501 * [backup-simplify]: Simplify 1 into 1 28.501 * [backup-simplify]: Simplify (/ 1 1) into 1 28.501 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.501 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 28.502 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 28.502 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 28.502 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 1) into (sin (/ 1 theta)) 28.502 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 0) into 0 28.502 * [backup-simplify]: Simplify (+ (sin (/ 1 theta)) 0) into (sin (/ 1 theta)) 28.502 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (cos (/ 1 phi1))) into (* (sin (/ 1 theta)) (cos (/ 1 phi1))) 28.502 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) 28.502 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in theta 28.502 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 28.502 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.502 * [taylor]: Taking taylor expansion of phi1 in theta 28.502 * [backup-simplify]: Simplify phi1 into phi1 28.502 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.503 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.503 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.503 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in theta 28.503 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in theta 28.503 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 28.503 * [taylor]: Taking taylor expansion of theta in theta 28.503 * [backup-simplify]: Simplify 0 into 0 28.503 * [backup-simplify]: Simplify 1 into 1 28.503 * [backup-simplify]: Simplify (/ 1 1) into 1 28.503 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.503 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 28.503 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.503 * [taylor]: Taking taylor expansion of delta in theta 28.503 * [backup-simplify]: Simplify delta into delta 28.503 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.503 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.504 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.504 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 28.504 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 28.504 * [backup-simplify]: Simplify (- 0) into 0 28.504 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 28.504 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 28.504 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 28.505 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 28.505 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (sin (/ 1 delta))) into (* (sin (/ 1 theta)) (sin (/ 1 delta))) 28.505 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) 28.505 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) 28.506 * [backup-simplify]: Simplify (+ 0) into 0 28.506 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 1)) into 0 28.506 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 28.507 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.507 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 0)) into 0 28.508 * [backup-simplify]: Simplify (+ 0 0) into 0 28.508 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 28.508 * [backup-simplify]: Simplify (+ 0) into 0 28.509 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 28.509 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.510 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.510 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 28.511 * [backup-simplify]: Simplify (- 0) into 0 28.511 * [backup-simplify]: Simplify (+ 0 0) into 0 28.511 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 theta)) (sin (/ 1 delta))))) into 0 28.511 * [taylor]: Taking taylor expansion of 0 in phi1 28.511 * [backup-simplify]: Simplify 0 into 0 28.511 * [taylor]: Taking taylor expansion of 0 in theta 28.511 * [backup-simplify]: Simplify 0 into 0 28.511 * [backup-simplify]: Simplify 0 into 0 28.512 * [backup-simplify]: Simplify (+ 0) into 0 28.512 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 1)) into 0 28.512 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 28.513 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.514 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 0)) into 0 28.514 * [backup-simplify]: Simplify (+ 0 0) into 0 28.514 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 28.515 * [backup-simplify]: Simplify (+ 0) into 0 28.515 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 28.515 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.516 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.516 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 28.517 * [backup-simplify]: Simplify (+ 0 0) into 0 28.517 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (sin (/ 1 theta)) (cos (/ 1 phi1))))) into 0 28.517 * [taylor]: Taking taylor expansion of 0 in theta 28.517 * [backup-simplify]: Simplify 0 into 0 28.517 * [backup-simplify]: Simplify 0 into 0 28.517 * [backup-simplify]: Simplify (+ 0) into 0 28.518 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 28.518 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.519 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.519 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 28.520 * [backup-simplify]: Simplify (+ 0 0) into 0 28.520 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 28.520 * [backup-simplify]: Simplify (+ 0) into 0 28.521 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 28.521 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.522 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.522 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 28.523 * [backup-simplify]: Simplify (- 0) into 0 28.523 * [backup-simplify]: Simplify (+ 0 0) into 0 28.523 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 theta)) (sin (/ 1 delta))))) into 0 28.523 * [backup-simplify]: Simplify 0 into 0 28.524 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.525 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.525 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.526 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.526 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.526 * [backup-simplify]: Simplify (+ 0 0) into 0 28.527 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 28.528 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.528 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.529 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.529 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.530 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.530 * [backup-simplify]: Simplify (- 0) into 0 28.531 * [backup-simplify]: Simplify (+ 0 0) into 0 28.531 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 theta)) (sin (/ 1 delta)))))) into 0 28.531 * [taylor]: Taking taylor expansion of 0 in phi1 28.531 * [backup-simplify]: Simplify 0 into 0 28.532 * [taylor]: Taking taylor expansion of 0 in theta 28.532 * [backup-simplify]: Simplify 0 into 0 28.532 * [backup-simplify]: Simplify 0 into 0 28.532 * [taylor]: Taking taylor expansion of 0 in theta 28.532 * [backup-simplify]: Simplify 0 into 0 28.532 * [backup-simplify]: Simplify 0 into 0 28.533 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.533 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.534 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.534 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.535 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.535 * [backup-simplify]: Simplify (+ 0 0) into 0 28.536 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 28.537 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.538 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.538 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.539 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.539 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.539 * [backup-simplify]: Simplify (+ 0 0) into 0 28.540 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 28.540 * [taylor]: Taking taylor expansion of 0 in theta 28.540 * [backup-simplify]: Simplify 0 into 0 28.540 * [backup-simplify]: Simplify 0 into 0 28.540 * [backup-simplify]: Simplify (* (cos (/ 1 (/ 1 phi1))) (* (sin (/ 1 (/ 1 theta))) (sin (/ 1 (/ 1 delta))))) into (* (cos phi1) (* (sin theta) (sin delta))) 28.541 * [backup-simplify]: Simplify (* (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (sin (/ 1 (- theta))))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) 28.541 * [approximate]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in (delta phi1 theta) around 0 28.541 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in theta 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 28.541 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.541 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.541 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.541 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in theta 28.541 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in theta 28.541 * [taylor]: Taking taylor expansion of (/ -1 theta) 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 theta in theta 28.541 * [backup-simplify]: Simplify 0 into 0 28.541 * [backup-simplify]: Simplify 1 into 1 28.542 * [backup-simplify]: Simplify (/ -1 1) into -1 28.542 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.542 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 28.542 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.542 * [taylor]: Taking taylor expansion of -1 in theta 28.542 * [backup-simplify]: Simplify -1 into -1 28.542 * [taylor]: Taking taylor expansion of delta in theta 28.542 * [backup-simplify]: Simplify delta into delta 28.542 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.542 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.542 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.542 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in phi1 28.542 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 28.542 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.542 * [taylor]: Taking taylor expansion of -1 in phi1 28.542 * [backup-simplify]: Simplify -1 into -1 28.543 * [taylor]: Taking taylor expansion of phi1 in phi1 28.543 * [backup-simplify]: Simplify 0 into 0 28.543 * [backup-simplify]: Simplify 1 into 1 28.543 * [backup-simplify]: Simplify (/ -1 1) into -1 28.543 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.543 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in phi1 28.543 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in phi1 28.543 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 28.543 * [taylor]: Taking taylor expansion of -1 in phi1 28.543 * [backup-simplify]: Simplify -1 into -1 28.543 * [taylor]: Taking taylor expansion of theta in phi1 28.543 * [backup-simplify]: Simplify theta into theta 28.543 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.543 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.544 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.544 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 28.544 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.544 * [taylor]: Taking taylor expansion of -1 in phi1 28.544 * [backup-simplify]: Simplify -1 into -1 28.544 * [taylor]: Taking taylor expansion of delta in phi1 28.544 * [backup-simplify]: Simplify delta into delta 28.544 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.544 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.544 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.544 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in delta 28.544 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 28.544 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.544 * [taylor]: Taking taylor expansion of -1 in delta 28.544 * [backup-simplify]: Simplify -1 into -1 28.544 * [taylor]: Taking taylor expansion of phi1 in delta 28.544 * [backup-simplify]: Simplify phi1 into phi1 28.544 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.544 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.544 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.544 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in delta 28.544 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in delta 28.544 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 28.544 * [taylor]: Taking taylor expansion of -1 in delta 28.544 * [backup-simplify]: Simplify -1 into -1 28.544 * [taylor]: Taking taylor expansion of theta in delta 28.544 * [backup-simplify]: Simplify theta into theta 28.545 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.545 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.545 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.545 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 28.545 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.545 * [taylor]: Taking taylor expansion of -1 in delta 28.545 * [backup-simplify]: Simplify -1 into -1 28.545 * [taylor]: Taking taylor expansion of delta in delta 28.545 * [backup-simplify]: Simplify 0 into 0 28.545 * [backup-simplify]: Simplify 1 into 1 28.545 * [backup-simplify]: Simplify (/ -1 1) into -1 28.545 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.545 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in delta 28.545 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 28.545 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.546 * [taylor]: Taking taylor expansion of -1 in delta 28.546 * [backup-simplify]: Simplify -1 into -1 28.546 * [taylor]: Taking taylor expansion of phi1 in delta 28.546 * [backup-simplify]: Simplify phi1 into phi1 28.546 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.546 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.546 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.546 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in delta 28.546 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in delta 28.546 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 28.546 * [taylor]: Taking taylor expansion of -1 in delta 28.546 * [backup-simplify]: Simplify -1 into -1 28.546 * [taylor]: Taking taylor expansion of theta in delta 28.546 * [backup-simplify]: Simplify theta into theta 28.546 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.546 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.546 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.546 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 28.546 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.546 * [taylor]: Taking taylor expansion of -1 in delta 28.546 * [backup-simplify]: Simplify -1 into -1 28.546 * [taylor]: Taking taylor expansion of delta in delta 28.546 * [backup-simplify]: Simplify 0 into 0 28.546 * [backup-simplify]: Simplify 1 into 1 28.547 * [backup-simplify]: Simplify (/ -1 1) into -1 28.547 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.547 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 28.547 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 28.547 * [backup-simplify]: Simplify (- 0) into 0 28.547 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 28.547 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 1) into (sin (/ -1 theta)) 28.547 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 0) into 0 28.547 * [backup-simplify]: Simplify (+ (sin (/ -1 theta)) 0) into (sin (/ -1 theta)) 28.547 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (sin (/ -1 theta))) 28.548 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) 28.548 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) in phi1 28.548 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 28.548 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.548 * [taylor]: Taking taylor expansion of -1 in phi1 28.548 * [backup-simplify]: Simplify -1 into -1 28.548 * [taylor]: Taking taylor expansion of phi1 in phi1 28.548 * [backup-simplify]: Simplify 0 into 0 28.548 * [backup-simplify]: Simplify 1 into 1 28.548 * [backup-simplify]: Simplify (/ -1 1) into -1 28.548 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.548 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (sin (/ -1 theta))) in phi1 28.548 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 28.548 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.548 * [taylor]: Taking taylor expansion of -1 in phi1 28.548 * [backup-simplify]: Simplify -1 into -1 28.548 * [taylor]: Taking taylor expansion of delta in phi1 28.548 * [backup-simplify]: Simplify delta into delta 28.548 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.548 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.548 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.548 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in phi1 28.548 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 28.548 * [taylor]: Taking taylor expansion of -1 in phi1 28.548 * [backup-simplify]: Simplify -1 into -1 28.548 * [taylor]: Taking taylor expansion of theta in phi1 28.548 * [backup-simplify]: Simplify theta into theta 28.548 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.548 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.548 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.549 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 28.549 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 28.549 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 28.549 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 1) into (sin (/ -1 theta)) 28.549 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 0) into 0 28.549 * [backup-simplify]: Simplify (+ (sin (/ -1 theta)) 0) into (sin (/ -1 theta)) 28.549 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (sin (/ -1 theta))) into (* (sin (/ -1 theta)) (sin (/ -1 delta))) 28.549 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) 28.549 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in theta 28.549 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 28.549 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.549 * [taylor]: Taking taylor expansion of -1 in theta 28.549 * [backup-simplify]: Simplify -1 into -1 28.549 * [taylor]: Taking taylor expansion of phi1 in theta 28.549 * [backup-simplify]: Simplify phi1 into phi1 28.549 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.549 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.549 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.549 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in theta 28.549 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in theta 28.549 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 28.549 * [taylor]: Taking taylor expansion of -1 in theta 28.549 * [backup-simplify]: Simplify -1 into -1 28.549 * [taylor]: Taking taylor expansion of theta in theta 28.549 * [backup-simplify]: Simplify 0 into 0 28.549 * [backup-simplify]: Simplify 1 into 1 28.550 * [backup-simplify]: Simplify (/ -1 1) into -1 28.550 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.550 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 28.550 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.550 * [taylor]: Taking taylor expansion of -1 in theta 28.550 * [backup-simplify]: Simplify -1 into -1 28.550 * [taylor]: Taking taylor expansion of delta in theta 28.550 * [backup-simplify]: Simplify delta into delta 28.550 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.550 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.550 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.550 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 28.550 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 28.550 * [backup-simplify]: Simplify (- 0) into 0 28.550 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 28.550 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 28.550 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 28.550 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 28.550 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (sin (/ -1 theta))) 28.551 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) 28.551 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) 28.551 * [backup-simplify]: Simplify (+ 0) into 0 28.551 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 1)) into 0 28.551 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 28.552 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.552 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 0)) into 0 28.552 * [backup-simplify]: Simplify (+ 0 0) into 0 28.552 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 28.553 * [backup-simplify]: Simplify (+ 0) into 0 28.553 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 28.553 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.554 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.554 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 28.554 * [backup-simplify]: Simplify (- 0) into 0 28.555 * [backup-simplify]: Simplify (+ 0 0) into 0 28.555 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (sin (/ -1 theta))))) into 0 28.555 * [taylor]: Taking taylor expansion of 0 in phi1 28.555 * [backup-simplify]: Simplify 0 into 0 28.555 * [taylor]: Taking taylor expansion of 0 in theta 28.555 * [backup-simplify]: Simplify 0 into 0 28.555 * [backup-simplify]: Simplify 0 into 0 28.555 * [backup-simplify]: Simplify (+ 0) into 0 28.555 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 1)) into 0 28.555 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 28.556 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.556 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 0)) into 0 28.556 * [backup-simplify]: Simplify (+ 0 0) into 0 28.557 * [backup-simplify]: Simplify (+ 0) into 0 28.557 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 28.557 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.557 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.558 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 28.558 * [backup-simplify]: Simplify (+ 0 0) into 0 28.558 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (sin (/ -1 theta)))) into 0 28.558 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 theta)) (sin (/ -1 delta))))) into 0 28.558 * [taylor]: Taking taylor expansion of 0 in theta 28.558 * [backup-simplify]: Simplify 0 into 0 28.558 * [backup-simplify]: Simplify 0 into 0 28.559 * [backup-simplify]: Simplify (+ 0) into 0 28.559 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 28.559 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.559 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.560 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 28.560 * [backup-simplify]: Simplify (+ 0 0) into 0 28.560 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 28.560 * [backup-simplify]: Simplify (+ 0) into 0 28.561 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 28.561 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.561 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.562 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 28.562 * [backup-simplify]: Simplify (- 0) into 0 28.562 * [backup-simplify]: Simplify (+ 0 0) into 0 28.562 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (sin (/ -1 theta))))) into 0 28.562 * [backup-simplify]: Simplify 0 into 0 28.563 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.563 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.563 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.564 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.564 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.564 * [backup-simplify]: Simplify (+ 0 0) into 0 28.565 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 28.565 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.565 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.566 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.566 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.566 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.567 * [backup-simplify]: Simplify (- 0) into 0 28.567 * [backup-simplify]: Simplify (+ 0 0) into 0 28.567 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -1 delta)) (sin (/ -1 theta)))))) into 0 28.567 * [taylor]: Taking taylor expansion of 0 in phi1 28.567 * [backup-simplify]: Simplify 0 into 0 28.567 * [taylor]: Taking taylor expansion of 0 in theta 28.567 * [backup-simplify]: Simplify 0 into 0 28.567 * [backup-simplify]: Simplify 0 into 0 28.567 * [taylor]: Taking taylor expansion of 0 in theta 28.567 * [backup-simplify]: Simplify 0 into 0 28.567 * [backup-simplify]: Simplify 0 into 0 28.568 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.568 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.568 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.569 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.569 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.570 * [backup-simplify]: Simplify (+ 0 0) into 0 28.570 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.570 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.571 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.571 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.571 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.572 * [backup-simplify]: Simplify (+ 0 0) into 0 28.572 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 theta))))) into 0 28.572 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -1 theta)) (sin (/ -1 delta)))))) into 0 28.572 * [taylor]: Taking taylor expansion of 0 in theta 28.572 * [backup-simplify]: Simplify 0 into 0 28.572 * [backup-simplify]: Simplify 0 into 0 28.573 * [backup-simplify]: Simplify (* (cos (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- delta)))) (sin (/ -1 (/ 1 (- theta)))))) into (* (cos phi1) (* (sin delta) (sin theta))) 28.573 * * * [progress]: simplifying candidates 28.573 * * * * [progress]: [ 1 / 86 ] simplifiying candidate # 28.573 * [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)))) 28.573 * * [simplify]: iters left: 6 (18 enodes) 28.580 * * [simplify]: iters left: 5 (65 enodes) 28.601 * * [simplify]: iters left: 4 (84 enodes) 28.631 * * [simplify]: iters left: 3 (104 enodes) 28.650 * * [simplify]: iters left: 2 (111 enodes) 28.667 * * [simplify]: iters left: 1 (137 enodes) 28.709 * * [simplify]: Extracting #0: cost 1 inf + 0 28.709 * * [simplify]: Extracting #1: cost 11 inf + 0 28.709 * * [simplify]: Extracting #2: cost 26 inf + 0 28.709 * * [simplify]: Extracting #3: cost 26 inf + 165 28.709 * * [simplify]: Extracting #4: cost 34 inf + 389 28.710 * * [simplify]: Extracting #5: cost 36 inf + 2245 28.711 * * [simplify]: Extracting #6: cost 25 inf + 5855 28.715 * * [simplify]: Extracting #7: cost 5 inf + 14523 28.720 * * [simplify]: Extracting #8: cost 0 inf + 17473 28.724 * [simplify]: Simplified to (- (cos delta) (* (sin (asin (fma (* (cos phi1) (sin delta)) (cos theta) (* (cos delta) (sin phi1))))) (sin phi1))) 28.724 * [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)) 28.725 * [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))) 28.725 * * [simplify]: iters left: 6 (16 enodes) 28.732 * * [simplify]: iters left: 5 (55 enodes) 28.752 * * [simplify]: iters left: 4 (70 enodes) 28.775 * * [simplify]: iters left: 3 (95 enodes) 28.801 * * [simplify]: iters left: 2 (101 enodes) 28.824 * * [simplify]: Extracting #0: cost 1 inf + 0 28.824 * * [simplify]: Extracting #1: cost 0 inf + 1 28.824 * [simplify]: Simplified to 0 28.824 * [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)) 28.825 * * * * [progress]: [ 2 / 86 ] simplifiying candidate # 28.825 * [simplify]: Simplifying (fma (sqrt (cos delta)) (sqrt (cos delta)) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))) 28.825 * * [simplify]: iters left: 6 (17 enodes) 28.833 * * [simplify]: iters left: 5 (62 enodes) 28.852 * * [simplify]: iters left: 4 (77 enodes) 28.876 * * [simplify]: iters left: 3 (95 enodes) 28.899 * * [simplify]: iters left: 2 (101 enodes) 28.913 * * [simplify]: Extracting #0: cost 1 inf + 0 28.913 * * [simplify]: Extracting #1: cost 6 inf + 0 28.913 * * [simplify]: Extracting #2: cost 15 inf + 0 28.913 * * [simplify]: Extracting #3: cost 20 inf + 1 28.913 * * [simplify]: Extracting #4: cost 20 inf + 63 28.913 * * [simplify]: Extracting #5: cost 25 inf + 387 28.913 * * [simplify]: Extracting #6: cost 28 inf + 1096 28.914 * * [simplify]: Extracting #7: cost 21 inf + 2069 28.915 * * [simplify]: Extracting #8: cost 9 inf + 5808 28.916 * * [simplify]: Extracting #9: cost 1 inf + 11072 28.918 * * [simplify]: Extracting #10: cost 0 inf + 11715 28.920 * [simplify]: Simplified to (- (cos delta) (* (sin phi1) (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))))) 28.920 * [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)) 28.921 * [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))) 28.921 * * [simplify]: iters left: 6 (16 enodes) 28.928 * * [simplify]: iters left: 5 (55 enodes) 28.946 * * [simplify]: iters left: 4 (70 enodes) 28.969 * * [simplify]: iters left: 3 (95 enodes) 28.996 * * [simplify]: iters left: 2 (101 enodes) 29.021 * * [simplify]: Extracting #0: cost 1 inf + 0 29.021 * * [simplify]: Extracting #1: cost 0 inf + 1 29.021 * [simplify]: Simplified to 0 29.021 * [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)) 29.022 * * * * [progress]: [ 3 / 86 ] simplifiying candidate # 29.022 * [simplify]: Simplifying (fma 1 (cos delta) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))) 29.022 * * [simplify]: iters left: 6 (17 enodes) 29.031 * * [simplify]: iters left: 5 (64 enodes) 29.063 * * [simplify]: iters left: 4 (82 enodes) 29.089 * * [simplify]: iters left: 3 (105 enodes) 29.119 * * [simplify]: iters left: 2 (106 enodes) 29.149 * * [simplify]: iters left: 1 (128 enodes) 29.187 * * [simplify]: Extracting #0: cost 1 inf + 0 29.187 * * [simplify]: Extracting #1: cost 10 inf + 0 29.188 * * [simplify]: Extracting #2: cost 20 inf + 1 29.188 * * [simplify]: Extracting #3: cost 19 inf + 4 29.188 * * [simplify]: Extracting #4: cost 25 inf + 187 29.188 * * [simplify]: Extracting #5: cost 27 inf + 896 29.189 * * [simplify]: Extracting #6: cost 18 inf + 1789 29.191 * * [simplify]: Extracting #7: cost 11 inf + 4223 29.194 * * [simplify]: Extracting #8: cost 2 inf + 9745 29.198 * * [simplify]: Extracting #9: cost 0 inf + 11111 29.202 * [simplify]: Simplified to (- (cos delta) (* (sin phi1) (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (cos delta) (sin phi1))))))) 29.203 * [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)) 29.203 * [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))) 29.203 * * [simplify]: iters left: 6 (16 enodes) 29.209 * * [simplify]: iters left: 5 (55 enodes) 29.218 * * [simplify]: iters left: 4 (70 enodes) 29.230 * * [simplify]: iters left: 3 (95 enodes) 29.251 * * [simplify]: iters left: 2 (101 enodes) 29.264 * * [simplify]: Extracting #0: cost 1 inf + 0 29.264 * * [simplify]: Extracting #1: cost 0 inf + 1 29.264 * [simplify]: Simplified to 0 29.265 * [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)) 29.265 * * * * [progress]: [ 4 / 86 ] simplifiying candidate # 29.265 * * * * [progress]: [ 5 / 86 ] simplifiying candidate # 29.265 * * * * [progress]: [ 6 / 86 ] simplifiying candidate # 29.265 * [simplify]: Simplifying (* (cbrt (cos delta)) (cbrt (cos delta))) 29.265 * * [simplify]: iters left: 4 (4 enodes) 29.266 * * [simplify]: iters left: 3 (12 enodes) 29.268 * * [simplify]: Extracting #0: cost 1 inf + 0 29.268 * * [simplify]: Extracting #1: cost 3 inf + 0 29.268 * * [simplify]: Extracting #2: cost 5 inf + 0 29.268 * * [simplify]: Extracting #3: cost 7 inf + 0 29.268 * * [simplify]: Extracting #4: cost 6 inf + 1 29.268 * * [simplify]: Extracting #5: cost 0 inf + 767 29.268 * [simplify]: Simplified to (* (cbrt (cos delta)) (cbrt (cos delta))) 29.268 * [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)) 29.268 * * * * [progress]: [ 7 / 86 ] simplifiying candidate # 29.269 * [simplify]: Simplifying (sqrt (cos delta)) 29.269 * * [simplify]: iters left: 2 (3 enodes) 29.269 * * [simplify]: iters left: 1 (9 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 4 inf + 1 29.271 * * [simplify]: Extracting #4: cost 0 inf + 325 29.271 * [simplify]: Simplified to (sqrt (cos delta)) 29.271 * [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)) 29.271 * * * * [progress]: [ 8 / 86 ] simplifiying candidate # 29.271 * * * * [progress]: [ 9 / 86 ] simplifiying candidate # 29.271 * [simplify]: Simplifying (/ (exp (cos delta)) (exp (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) 29.272 * * [simplify]: iters left: 6 (17 enodes) 29.276 * * [simplify]: iters left: 5 (60 enodes) 29.294 * * [simplify]: iters left: 4 (80 enodes) 29.316 * * [simplify]: iters left: 3 (119 enodes) 29.335 * * [simplify]: iters left: 2 (169 enodes) 29.378 * * [simplify]: iters left: 1 (274 enodes) 29.460 * * [simplify]: Extracting #0: cost 1 inf + 0 29.460 * * [simplify]: Extracting #1: cost 48 inf + 0 29.461 * * [simplify]: Extracting #2: cost 128 inf + 1 29.462 * * [simplify]: Extracting #3: cost 179 inf + 3 29.463 * * [simplify]: Extracting #4: cost 178 inf + 684 29.465 * * [simplify]: Extracting #5: cost 177 inf + 1869 29.467 * * [simplify]: Extracting #6: cost 174 inf + 3513 29.471 * * [simplify]: Extracting #7: cost 150 inf + 14771 29.486 * * [simplify]: Extracting #8: cost 85 inf + 67888 29.521 * * [simplify]: Extracting #9: cost 3 inf + 153557 29.542 * * [simplify]: Extracting #10: cost 0 inf + 155583 29.575 * [simplify]: Simplified to (exp (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) 29.575 * [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)) 29.575 * * * * [progress]: [ 10 / 86 ] simplifiying candidate # 29.576 * * * * [progress]: [ 11 / 86 ] simplifiying candidate # 29.576 * * * * [progress]: [ 12 / 86 ] simplifiying candidate # 29.576 * * * * [progress]: [ 13 / 86 ] simplifiying candidate # 29.576 * * * * [progress]: [ 14 / 86 ] simplifiying candidate # 29.576 * * * * [progress]: [ 15 / 86 ] simplifiying candidate # 29.576 * * * * [progress]: [ 16 / 86 ] simplifiying candidate # 29.576 * * * * [progress]: [ 17 / 86 ] simplifiying candidate # 29.576 * * * * [progress]: [ 18 / 86 ] simplifiying candidate # 29.577 * * * * [progress]: [ 19 / 86 ] simplifiying candidate # 29.577 * * * * [progress]: [ 20 / 86 ] simplifiying candidate # 29.577 * * * * [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))> 29.577 * * * * [progress]: [ 22 / 86 ] simplifiying candidate # 29.577 * * * * [progress]: [ 23 / 86 ] simplifiying candidate # 29.577 * * * * [progress]: [ 24 / 86 ] simplifiying candidate # 29.577 * * * * [progress]: [ 25 / 86 ] simplifiying candidate # 29.577 * * * * [progress]: [ 26 / 86 ] simplifiying candidate # 29.577 * * * * [progress]: [ 27 / 86 ] simplifiying candidate # 29.577 * * * * [progress]: [ 28 / 86 ] simplifiying candidate # 29.577 * * * * [progress]: [ 29 / 86 ] simplifiying candidate # 29.577 * * * * [progress]: [ 30 / 86 ] simplifiying candidate # 29.577 * * * * [progress]: [ 31 / 86 ] simplifiying candidate # 29.578 * * * * [progress]: [ 32 / 86 ] simplifiying candidate #real (real->posit16 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 29.578 * * * * [progress]: [ 33 / 86 ] simplifiying candidate # 29.578 * * * * [progress]: [ 34 / 86 ] simplifiying candidate # 29.578 * * * * [progress]: [ 35 / 86 ] simplifiying candidate # 29.578 * [simplify]: Simplifying (* (cos delta) (sin phi1)) 29.578 * * [simplify]: iters left: 3 (5 enodes) 29.580 * * [simplify]: iters left: 2 (16 enodes) 29.584 * * [simplify]: Extracting #0: cost 1 inf + 0 29.584 * * [simplify]: Extracting #1: cost 4 inf + 0 29.584 * * [simplify]: Extracting #2: cost 8 inf + 0 29.584 * * [simplify]: Extracting #3: cost 4 inf + 124 29.584 * * [simplify]: Extracting #4: cost 0 inf + 570 29.584 * [simplify]: Simplified to (* (sin phi1) (cos delta)) 29.584 * [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)) 29.584 * * * * [progress]: [ 36 / 86 ] simplifiying candidate # 29.584 * * * * [progress]: [ 37 / 86 ] simplifiying candidate # 29.584 * [simplify]: Simplifying (+ (log (cos delta)) (log (sin phi1))) 29.585 * * [simplify]: iters left: 4 (7 enodes) 29.586 * * [simplify]: iters left: 3 (22 enodes) 29.590 * * [simplify]: Extracting #0: cost 1 inf + 0 29.590 * * [simplify]: Extracting #1: cost 4 inf + 0 29.590 * * [simplify]: Extracting #2: cost 8 inf + 0 29.590 * * [simplify]: Extracting #3: cost 12 inf + 0 29.590 * * [simplify]: Extracting #4: cost 10 inf + 2 29.590 * * [simplify]: Extracting #5: cost 4 inf + 508 29.590 * * [simplify]: Extracting #6: cost 1 inf + 1072 29.590 * * [simplify]: Extracting #7: cost 0 inf + 1374 29.590 * [simplify]: Simplified to (+ (log (sin phi1)) (log (cos delta))) 29.590 * [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)) 29.590 * * * * [progress]: [ 38 / 86 ] simplifiying candidate # 29.591 * * * * [progress]: [ 39 / 86 ] simplifiying candidate # 29.591 * * * * [progress]: [ 40 / 86 ] simplifiying candidate # 29.591 * [simplify]: Simplifying (* (* (* (cos delta) (cos delta)) (cos delta)) (* (* (sin phi1) (sin phi1)) (sin phi1))) 29.591 * * [simplify]: iters left: 6 (9 enodes) 29.593 * * [simplify]: iters left: 5 (34 enodes) 29.599 * * [simplify]: iters left: 4 (63 enodes) 29.615 * * [simplify]: iters left: 3 (122 enodes) 29.646 * * [simplify]: iters left: 2 (196 enodes) 29.704 * * [simplify]: iters left: 1 (356 enodes) 29.853 * * [simplify]: Extracting #0: cost 1 inf + 0 29.853 * * [simplify]: Extracting #1: cost 70 inf + 0 29.854 * * [simplify]: Extracting #2: cost 169 inf + 1 29.856 * * [simplify]: Extracting #3: cost 154 inf + 2658 29.863 * * [simplify]: Extracting #4: cost 86 inf + 31524 29.870 * * [simplify]: Extracting #5: cost 7 inf + 77226 29.879 * * [simplify]: Extracting #6: cost 0 inf + 81813 29.887 * [simplify]: Simplified to (* (* (* (sin phi1) (cos delta)) (* (sin phi1) (cos delta))) (* (sin phi1) (cos delta))) 29.887 * [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)) 29.887 * * * * [progress]: [ 41 / 86 ] simplifiying candidate # 29.887 * * * * [progress]: [ 42 / 86 ] simplifiying candidate # 29.888 * * * * [progress]: [ 43 / 86 ] simplifiying candidate # 29.888 * * * * [progress]: [ 44 / 86 ] simplifiying candidate # 29.888 * * * * [progress]: [ 45 / 86 ] simplifiying candidate # 29.888 * [simplify]: Simplifying (* (sqrt (cos delta)) (sqrt (sin phi1))) 29.888 * * [simplify]: iters left: 4 (7 enodes) 29.890 * * [simplify]: iters left: 3 (22 enodes) 29.893 * * [simplify]: Extracting #0: cost 1 inf + 0 29.893 * * [simplify]: Extracting #1: cost 4 inf + 0 29.893 * * [simplify]: Extracting #2: cost 8 inf + 0 29.893 * * [simplify]: Extracting #3: cost 12 inf + 0 29.893 * * [simplify]: Extracting #4: cost 10 inf + 2 29.893 * * [simplify]: Extracting #5: cost 4 inf + 448 29.893 * * [simplify]: Extracting #6: cost 1 inf + 892 29.893 * * [simplify]: Extracting #7: cost 0 inf + 1134 29.894 * [simplify]: Simplified to (* (sqrt (cos delta)) (sqrt (sin phi1))) 29.894 * [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)) 29.894 * [simplify]: Simplifying (* (sqrt (cos delta)) (sqrt (sin phi1))) 29.894 * * [simplify]: iters left: 4 (7 enodes) 29.897 * * [simplify]: iters left: 3 (22 enodes) 29.907 * * [simplify]: Extracting #0: cost 1 inf + 0 29.907 * * [simplify]: Extracting #1: cost 4 inf + 0 29.908 * * [simplify]: Extracting #2: cost 8 inf + 0 29.908 * * [simplify]: Extracting #3: cost 12 inf + 0 29.908 * * [simplify]: Extracting #4: cost 10 inf + 2 29.908 * * [simplify]: Extracting #5: cost 4 inf + 448 29.908 * * [simplify]: Extracting #6: cost 1 inf + 892 29.908 * * [simplify]: Extracting #7: cost 0 inf + 1134 29.908 * [simplify]: Simplified to (* (sqrt (cos delta)) (sqrt (sin phi1))) 29.908 * [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)) 29.908 * * * * [progress]: [ 46 / 86 ] simplifiying candidate # 29.909 * [simplify]: Simplifying (cbrt (sin phi1)) 29.909 * * [simplify]: iters left: 2 (3 enodes) 29.910 * * [simplify]: iters left: 1 (9 enodes) 29.911 * * [simplify]: Extracting #0: cost 1 inf + 0 29.911 * * [simplify]: Extracting #1: cost 3 inf + 0 29.911 * * [simplify]: Extracting #2: cost 5 inf + 0 29.911 * * [simplify]: Extracting #3: cost 4 inf + 1 29.911 * * [simplify]: Extracting #4: cost 0 inf + 405 29.911 * [simplify]: Simplified to (cbrt (sin phi1)) 29.911 * [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)) 29.911 * * * * [progress]: [ 47 / 86 ] simplifiying candidate # 29.912 * [simplify]: Simplifying (sqrt (sin phi1)) 29.912 * * [simplify]: iters left: 2 (3 enodes) 29.912 * * [simplify]: iters left: 1 (9 enodes) 29.914 * * [simplify]: Extracting #0: cost 1 inf + 0 29.914 * * [simplify]: Extracting #1: cost 3 inf + 0 29.914 * * [simplify]: Extracting #2: cost 5 inf + 0 29.914 * * [simplify]: Extracting #3: cost 4 inf + 1 29.914 * * [simplify]: Extracting #4: cost 0 inf + 325 29.914 * [simplify]: Simplified to (sqrt (sin phi1)) 29.914 * [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)) 29.914 * * * * [progress]: [ 48 / 86 ] simplifiying candidate # 29.914 * [simplify]: Simplifying (sin phi1) 29.914 * * [simplify]: iters left: 1 (2 enodes) 29.915 * * [simplify]: Extracting #0: cost 1 inf + 0 29.915 * * [simplify]: Extracting #1: cost 3 inf + 0 29.915 * * [simplify]: Extracting #2: cost 2 inf + 1 29.915 * * [simplify]: Extracting #3: cost 0 inf + 123 29.915 * [simplify]: Simplified to (sin phi1) 29.915 * [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)) 29.915 * * * * [progress]: [ 49 / 86 ] simplifiying candidate # 29.915 * [simplify]: Simplifying (* (cbrt (cos delta)) (cbrt (cos delta))) 29.915 * * [simplify]: iters left: 4 (4 enodes) 29.916 * * [simplify]: iters left: 3 (12 enodes) 29.918 * * [simplify]: Extracting #0: cost 1 inf + 0 29.918 * * [simplify]: Extracting #1: cost 3 inf + 0 29.918 * * [simplify]: Extracting #2: cost 5 inf + 0 29.918 * * [simplify]: Extracting #3: cost 7 inf + 0 29.918 * * [simplify]: Extracting #4: cost 6 inf + 1 29.918 * * [simplify]: Extracting #5: cost 0 inf + 767 29.919 * [simplify]: Simplified to (* (cbrt (cos delta)) (cbrt (cos delta))) 29.919 * [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)) 29.919 * * * * [progress]: [ 50 / 86 ] simplifiying candidate # 29.919 * [simplify]: Simplifying (sqrt (cos delta)) 29.919 * * [simplify]: iters left: 2 (3 enodes) 29.920 * * [simplify]: iters left: 1 (9 enodes) 29.921 * * [simplify]: Extracting #0: cost 1 inf + 0 29.921 * * [simplify]: Extracting #1: cost 3 inf + 0 29.921 * * [simplify]: Extracting #2: cost 5 inf + 0 29.921 * * [simplify]: Extracting #3: cost 4 inf + 1 29.922 * * [simplify]: Extracting #4: cost 0 inf + 325 29.922 * [simplify]: Simplified to (sqrt (cos delta)) 29.922 * [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)) 29.922 * * * * [progress]: [ 51 / 86 ] simplifiying candidate # 29.922 * * * * [progress]: [ 52 / 86 ] simplifiying candidate #real (real->posit16 (* (cos delta) (sin phi1)))))))))) lambda1))> 29.922 * * * * [progress]: [ 53 / 86 ] simplifiying candidate # 29.922 * * * * [progress]: [ 54 / 86 ] simplifiying candidate # 29.922 * * * * [progress]: [ 55 / 86 ] simplifiying candidate # 29.922 * * * * [progress]: [ 56 / 86 ] simplifiying candidate # 29.922 * [simplify]: Simplifying (* (sin delta) (* (cos phi1) (sin theta))) 29.922 * * [simplify]: iters left: 5 (8 enodes) 29.924 * * [simplify]: iters left: 4 (28 enodes) 29.928 * * [simplify]: iters left: 3 (36 enodes) 29.934 * * [simplify]: iters left: 2 (42 enodes) 29.940 * * [simplify]: Extracting #0: cost 1 inf + 0 29.940 * * [simplify]: Extracting #1: cost 8 inf + 0 29.940 * * [simplify]: Extracting #2: cost 17 inf + 0 29.940 * * [simplify]: Extracting #3: cost 12 inf + 125 29.940 * * [simplify]: Extracting #4: cost 5 inf + 1057 29.940 * * [simplify]: Extracting #5: cost 1 inf + 1705 29.941 * * [simplify]: Extracting #6: cost 0 inf + 1867 29.941 * [simplify]: Simplified to (* (* (cos phi1) (sin theta)) (sin delta)) 29.941 * [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)) 29.941 * * * * [progress]: [ 57 / 86 ] simplifiying candidate # 29.941 * [simplify]: Simplifying (* (sin delta) (* (cos phi1) (sin theta))) 29.941 * * [simplify]: iters left: 5 (8 enodes) 29.943 * * [simplify]: iters left: 4 (28 enodes) 29.947 * * [simplify]: iters left: 3 (36 enodes) 29.953 * * [simplify]: iters left: 2 (42 enodes) 29.959 * * [simplify]: Extracting #0: cost 1 inf + 0 29.959 * * [simplify]: Extracting #1: cost 8 inf + 0 29.959 * * [simplify]: Extracting #2: cost 17 inf + 0 29.959 * * [simplify]: Extracting #3: cost 12 inf + 125 29.959 * * [simplify]: Extracting #4: cost 5 inf + 1057 29.959 * * [simplify]: Extracting #5: cost 1 inf + 1705 29.960 * * [simplify]: Extracting #6: cost 0 inf + 1867 29.960 * [simplify]: Simplified to (* (* (cos phi1) (sin theta)) (sin delta)) 29.960 * [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)) 29.960 * * * * [progress]: [ 58 / 86 ] simplifiying candidate # 29.960 * * * * [progress]: [ 59 / 86 ] simplifiying candidate # 29.960 * [simplify]: Simplifying (+ (log (sin delta)) (+ (log (cos phi1)) (log (sin theta)))) 29.960 * * [simplify]: iters left: 6 (11 enodes) 29.963 * * [simplify]: iters left: 5 (37 enodes) 29.969 * * [simplify]: iters left: 4 (45 enodes) 29.982 * * [simplify]: iters left: 3 (51 enodes) 29.991 * * [simplify]: Extracting #0: cost 1 inf + 0 29.991 * * [simplify]: Extracting #1: cost 8 inf + 0 29.991 * * [simplify]: Extracting #2: cost 17 inf + 0 29.991 * * [simplify]: Extracting #3: cost 23 inf + 0 29.991 * * [simplify]: Extracting #4: cost 19 inf + 64 29.991 * * [simplify]: Extracting #5: cost 12 inf + 701 29.992 * * [simplify]: Extracting #6: cost 5 inf + 2061 29.992 * * [simplify]: Extracting #7: cost 0 inf + 3913 29.993 * [simplify]: Simplified to (+ (+ (log (sin theta)) (log (sin delta))) (log (cos phi1))) 29.993 * [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)) 29.993 * * * * [progress]: [ 60 / 86 ] simplifiying candidate # 29.993 * [simplify]: Simplifying (+ (log (sin delta)) (log (* (cos phi1) (sin theta)))) 29.993 * * [simplify]: iters left: 6 (10 enodes) 29.995 * * [simplify]: iters left: 5 (35 enodes) 30.002 * * [simplify]: iters left: 4 (44 enodes) 30.009 * * [simplify]: iters left: 3 (52 enodes) 30.016 * * [simplify]: Extracting #0: cost 1 inf + 0 30.016 * * [simplify]: Extracting #1: cost 8 inf + 0 30.016 * * [simplify]: Extracting #2: cost 18 inf + 0 30.016 * * [simplify]: Extracting #3: cost 25 inf + 0 30.016 * * [simplify]: Extracting #4: cost 19 inf + 186 30.017 * * [simplify]: Extracting #5: cost 6 inf + 2285 30.017 * * [simplify]: Extracting #6: cost 0 inf + 3957 30.018 * [simplify]: Simplified to (+ (log (* (sin theta) (cos phi1))) (log (sin delta))) 30.018 * [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)) 30.018 * * * * [progress]: [ 61 / 86 ] simplifiying candidate # 30.018 * * * * [progress]: [ 62 / 86 ] simplifiying candidate # 30.018 * * * * [progress]: [ 63 / 86 ] simplifiying candidate # 30.018 * [simplify]: Simplifying (* (* (* (sin delta) (sin delta)) (sin delta)) (* (* (* (cos phi1) (cos phi1)) (cos phi1)) (* (* (sin theta) (sin theta)) (sin theta)))) 30.018 * * [simplify]: iters left: 6 (14 enodes) 30.025 * * [simplify]: iters left: 5 (55 enodes) 30.046 * * [simplify]: iters left: 4 (129 enodes) 30.091 * * [simplify]: iters left: 3 (377 enodes) 30.308 * * [simplify]: Extracting #0: cost 1 inf + 0 30.308 * * [simplify]: Extracting #1: cost 90 inf + 0 30.311 * * [simplify]: Extracting #2: cost 262 inf + 0 30.317 * * [simplify]: Extracting #3: cost 196 inf + 16716 30.342 * * [simplify]: Extracting #4: cost 15 inf + 84091 30.360 * * [simplify]: Extracting #5: cost 0 inf + 86905 30.378 * * [simplify]: Extracting #6: cost 0 inf + 86505 30.397 * [simplify]: Simplified to (* (* (sin theta) (* (* (* (cos phi1) (sin delta)) (* (cos phi1) (sin delta))) (* (cos phi1) (sin delta)))) (* (sin theta) (sin theta))) 30.397 * [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)) 30.398 * * * * [progress]: [ 64 / 86 ] simplifiying candidate # 30.398 * [simplify]: Simplifying (* (* (* (sin delta) (sin delta)) (sin delta)) (* (* (* (cos phi1) (sin theta)) (* (cos phi1) (sin theta))) (* (cos phi1) (sin theta)))) 30.398 * * [simplify]: iters left: 6 (12 enodes) 30.401 * * [simplify]: iters left: 5 (53 enodes) 30.414 * * [simplify]: iters left: 4 (136 enodes) 30.480 * * [simplify]: iters left: 3 (434 enodes) 30.917 * * [simplify]: Extracting #0: cost 1 inf + 0 30.917 * * [simplify]: Extracting #1: cost 83 inf + 0 30.919 * * [simplify]: Extracting #2: cost 211 inf + 0 30.925 * * [simplify]: Extracting #3: cost 163 inf + 12279 30.952 * * [simplify]: Extracting #4: cost 24 inf + 56995 30.987 * * [simplify]: Extracting #5: cost 0 inf + 64809 31.020 * * [simplify]: Extracting #6: cost 0 inf + 64409 31.047 * * [simplify]: Extracting #7: cost 0 inf + 64369 31.064 * [simplify]: Simplified to (* (* (* (sin theta) (cos phi1)) (sin delta)) (* (* (* (sin theta) (cos phi1)) (sin delta)) (* (* (sin theta) (cos phi1)) (sin delta)))) 31.065 * [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)) 31.065 * * * * [progress]: [ 65 / 86 ] simplifiying candidate # 31.065 * * * * [progress]: [ 66 / 86 ] simplifiying candidate # 31.065 * * * * [progress]: [ 67 / 86 ] simplifiying candidate # 31.065 * * * * [progress]: [ 68 / 86 ] simplifiying candidate # 31.065 * * * * [progress]: [ 69 / 86 ] simplifiying candidate # 31.066 * [simplify]: Simplifying (sin theta) 31.066 * * [simplify]: iters left: 1 (2 enodes) 31.067 * * [simplify]: Extracting #0: cost 1 inf + 0 31.067 * * [simplify]: Extracting #1: cost 3 inf + 0 31.067 * * [simplify]: Extracting #2: cost 2 inf + 1 31.067 * * [simplify]: Extracting #3: cost 0 inf + 123 31.067 * [simplify]: Simplified to (sin theta) 31.067 * [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)) 31.067 * * * * [progress]: [ 70 / 86 ] simplifiying candidate # 31.067 * [simplify]: Simplifying (* (cbrt (sin delta)) (cbrt (sin delta))) 31.067 * * [simplify]: iters left: 4 (4 enodes) 31.069 * * [simplify]: iters left: 3 (12 enodes) 31.073 * * [simplify]: Extracting #0: cost 1 inf + 0 31.073 * * [simplify]: Extracting #1: cost 3 inf + 0 31.073 * * [simplify]: Extracting #2: cost 5 inf + 0 31.073 * * [simplify]: Extracting #3: cost 7 inf + 0 31.073 * * [simplify]: Extracting #4: cost 6 inf + 1 31.073 * * [simplify]: Extracting #5: cost 0 inf + 767 31.073 * [simplify]: Simplified to (* (cbrt (sin delta)) (cbrt (sin delta))) 31.073 * [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)) 31.074 * * * * [progress]: [ 71 / 86 ] simplifiying candidate # 31.074 * [simplify]: Simplifying (sqrt (sin delta)) 31.074 * * [simplify]: iters left: 2 (3 enodes) 31.076 * * [simplify]: iters left: 1 (9 enodes) 31.079 * * [simplify]: Extracting #0: cost 1 inf + 0 31.079 * * [simplify]: Extracting #1: cost 3 inf + 0 31.079 * * [simplify]: Extracting #2: cost 5 inf + 0 31.079 * * [simplify]: Extracting #3: cost 4 inf + 1 31.079 * * [simplify]: Extracting #4: cost 0 inf + 325 31.079 * [simplify]: Simplified to (sqrt (sin delta)) 31.079 * [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)) 31.079 * * * * [progress]: [ 72 / 86 ] simplifiying candidate # 31.080 * * * * [progress]: [ 73 / 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))> 31.080 * * * * [progress]: [ 74 / 86 ] simplifiying candidate # 31.080 * * * * [progress]: [ 75 / 86 ] simplifiying candidate # 31.080 * [simplify]: Simplifying (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) 31.080 * * [simplify]: iters left: 6 (10 enodes) 31.087 * * [simplify]: iters left: 5 (44 enodes) 31.097 * * [simplify]: iters left: 4 (66 enodes) 31.109 * * [simplify]: iters left: 3 (115 enodes) 31.145 * * [simplify]: iters left: 2 (226 enodes) 31.194 * * [simplify]: iters left: 1 (314 enodes) 31.274 * * [simplify]: Extracting #0: cost 1 inf + 0 31.275 * * [simplify]: Extracting #1: cost 29 inf + 0 31.275 * * [simplify]: Extracting #2: cost 43 inf + 390 31.278 * * [simplify]: Extracting #3: cost 15 inf + 2617 31.280 * * [simplify]: Extracting #4: cost 2 inf + 4019 31.282 * * [simplify]: Extracting #5: cost 0 inf + 4155 31.284 * [simplify]: Simplified to (- 1 (* (fma delta 1/2 phi1) delta)) 31.284 * [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)) 31.284 * * * * [progress]: [ 76 / 86 ] simplifiying candidate # 31.284 * [simplify]: Simplifying (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (sin phi1) (* (cos theta) (cos phi1)))))) 31.284 * * [simplify]: iters left: 6 (16 enodes) 31.289 * * [simplify]: iters left: 5 (67 enodes) 31.305 * * [simplify]: iters left: 4 (124 enodes) 31.331 * * [simplify]: iters left: 3 (263 enodes) 31.431 * * [simplify]: Extracting #0: cost 1 inf + 0 31.431 * * [simplify]: Extracting #1: cost 44 inf + 0 31.432 * * [simplify]: Extracting #2: cost 133 inf + 0 31.433 * * [simplify]: Extracting #3: cost 129 inf + 1057 31.436 * * [simplify]: Extracting #4: cost 38 inf + 23638 31.447 * * [simplify]: Extracting #5: cost 2 inf + 34441 31.464 * * [simplify]: Extracting #6: cost 0 inf + 34985 31.476 * [simplify]: Simplified to (- (cos delta) (* (sin phi1) (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta))))) 31.476 * [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)) 31.477 * * * * [progress]: [ 77 / 86 ] simplifiying candidate # 31.477 * [simplify]: Simplifying (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos theta) (* (sin delta) (cos phi1)))))) 31.477 * * [simplify]: iters left: 6 (16 enodes) 31.482 * * [simplify]: iters left: 5 (67 enodes) 31.497 * * [simplify]: iters left: 4 (124 enodes) 31.523 * * [simplify]: iters left: 3 (263 enodes) 31.654 * * [simplify]: Extracting #0: cost 1 inf + 0 31.654 * * [simplify]: Extracting #1: cost 44 inf + 0 31.655 * * [simplify]: Extracting #2: cost 140 inf + 0 31.657 * * [simplify]: Extracting #3: cost 134 inf + 1137 31.664 * * [simplify]: Extracting #4: cost 39 inf + 24533 31.681 * * [simplify]: Extracting #5: cost 0 inf + 36983 31.698 * * [simplify]: Extracting #6: cost 0 inf + 36903 31.715 * [simplify]: Simplified to (- (cos delta) (* (sin phi1) (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta))))) 31.715 * [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)) 31.716 * * * * [progress]: [ 78 / 86 ] simplifiying candidate # 31.716 * [simplify]: Simplifying (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 31.716 * * [simplify]: iters left: 5 (12 enodes) 31.725 * * [simplify]: iters left: 4 (40 enodes) 31.737 * * [simplify]: iters left: 3 (48 enodes) 31.751 * * [simplify]: iters left: 2 (61 enodes) 31.767 * * [simplify]: Extracting #0: cost 1 inf + 0 31.767 * * [simplify]: Extracting #1: cost 3 inf + 0 31.767 * * [simplify]: Extracting #2: cost 14 inf + 0 31.767 * * [simplify]: Extracting #3: cost 27 inf + 0 31.768 * * [simplify]: Extracting #4: cost 16 inf + 592 31.769 * * [simplify]: Extracting #5: cost 1 inf + 4134 31.770 * * [simplify]: Extracting #6: cost 0 inf + 4397 31.772 * [simplify]: Simplified to (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 31.772 * [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)) 31.772 * * * * [progress]: [ 79 / 86 ] simplifiying candidate # 31.772 * [simplify]: Simplifying (asin (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta)))) 31.773 * * [simplify]: iters left: 5 (12 enodes) 31.778 * * [simplify]: iters left: 4 (40 enodes) 31.790 * * [simplify]: iters left: 3 (48 enodes) 31.805 * * [simplify]: iters left: 2 (61 enodes) 31.821 * * [simplify]: Extracting #0: cost 1 inf + 0 31.821 * * [simplify]: Extracting #1: cost 3 inf + 0 31.821 * * [simplify]: Extracting #2: cost 14 inf + 0 31.821 * * [simplify]: Extracting #3: cost 27 inf + 0 31.822 * * [simplify]: Extracting #4: cost 19 inf + 308 31.822 * * [simplify]: Extracting #5: cost 6 inf + 2010 31.823 * * [simplify]: Extracting #6: cost 0 inf + 4397 31.825 * [simplify]: Simplified to (asin (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta)))) 31.825 * [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)) 31.825 * * * * [progress]: [ 80 / 86 ] simplifiying candidate # 31.825 * [simplify]: Simplifying (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 31.825 * * [simplify]: iters left: 5 (12 enodes) 31.831 * * [simplify]: iters left: 4 (40 enodes) 31.842 * * [simplify]: iters left: 3 (48 enodes) 31.857 * * [simplify]: iters left: 2 (61 enodes) 31.874 * * [simplify]: Extracting #0: cost 1 inf + 0 31.874 * * [simplify]: Extracting #1: cost 3 inf + 0 31.874 * * [simplify]: Extracting #2: cost 14 inf + 0 31.874 * * [simplify]: Extracting #3: cost 27 inf + 0 31.874 * * [simplify]: Extracting #4: cost 16 inf + 592 31.875 * * [simplify]: Extracting #5: cost 1 inf + 4134 31.878 * * [simplify]: Extracting #6: cost 0 inf + 4397 31.880 * [simplify]: Simplified to (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 31.880 * [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)) 31.880 * * * * [progress]: [ 81 / 86 ] simplifiying candidate # 31.880 * [simplify]: Simplifying (- phi1 (+ (* 1/2 (* phi1 (pow delta 2))) (* 1/6 (pow phi1 3)))) 31.880 * * [simplify]: iters left: 6 (13 enodes) 31.890 * * [simplify]: iters left: 5 (62 enodes) 31.909 * * [simplify]: iters left: 4 (123 enodes) 31.937 * * [simplify]: iters left: 3 (277 enodes) 32.025 * * [simplify]: Extracting #0: cost 1 inf + 0 32.025 * * [simplify]: Extracting #1: cost 44 inf + 0 32.026 * * [simplify]: Extracting #2: cost 107 inf + 676 32.029 * * [simplify]: Extracting #3: cost 75 inf + 4980 32.034 * * [simplify]: Extracting #4: cost 28 inf + 13650 32.039 * * [simplify]: Extracting #5: cost 5 inf + 21508 32.044 * * [simplify]: Extracting #6: cost 0 inf + 23566 32.052 * [simplify]: Simplified to (- phi1 (* phi1 (fma 1/6 (* phi1 phi1) (* delta (* delta 1/2))))) 32.052 * [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)) 32.052 * * * * [progress]: [ 82 / 86 ] simplifiying candidate # 32.052 * [simplify]: Simplifying (* (sin phi1) (cos delta)) 32.052 * * [simplify]: iters left: 3 (5 enodes) 32.053 * * [simplify]: iters left: 2 (16 enodes) 32.056 * * [simplify]: Extracting #0: cost 1 inf + 0 32.056 * * [simplify]: Extracting #1: cost 4 inf + 0 32.056 * * [simplify]: Extracting #2: cost 8 inf + 0 32.056 * * [simplify]: Extracting #3: cost 4 inf + 124 32.056 * * [simplify]: Extracting #4: cost 0 inf + 570 32.056 * [simplify]: Simplified to (* (cos delta) (sin phi1)) 32.056 * [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)) 32.056 * * * * [progress]: [ 83 / 86 ] simplifiying candidate # 32.056 * [simplify]: Simplifying (* (sin phi1) (cos delta)) 32.056 * * [simplify]: iters left: 3 (5 enodes) 32.058 * * [simplify]: iters left: 2 (16 enodes) 32.061 * * [simplify]: Extracting #0: cost 1 inf + 0 32.061 * * [simplify]: Extracting #1: cost 4 inf + 0 32.061 * * [simplify]: Extracting #2: cost 8 inf + 0 32.061 * * [simplify]: Extracting #3: cost 4 inf + 124 32.061 * * [simplify]: Extracting #4: cost 0 inf + 570 32.062 * [simplify]: Simplified to (* (cos delta) (sin phi1)) 32.062 * [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)) 32.062 * * * * [progress]: [ 84 / 86 ] simplifiying candidate # 32.062 * [simplify]: Simplifying 0 32.062 * * [simplify]: iters left: 0 (1 enodes) 32.064 * * [simplify]: Extracting #0: cost 1 inf + 0 32.064 * * [simplify]: Extracting #1: cost 0 inf + 1 32.064 * [simplify]: Simplified to 0 32.064 * [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)) 32.064 * * * * [progress]: [ 85 / 86 ] simplifiying candidate # 32.064 * [simplify]: Simplifying (* (cos phi1) (* (sin theta) (sin delta))) 32.064 * * [simplify]: iters left: 5 (8 enodes) 32.068 * * [simplify]: iters left: 4 (28 enodes) 32.075 * * [simplify]: iters left: 3 (36 enodes) 32.081 * * [simplify]: iters left: 2 (42 enodes) 32.086 * * [simplify]: Extracting #0: cost 1 inf + 0 32.087 * * [simplify]: Extracting #1: cost 8 inf + 0 32.087 * * [simplify]: Extracting #2: cost 17 inf + 0 32.087 * * [simplify]: Extracting #3: cost 12 inf + 125 32.087 * * [simplify]: Extracting #4: cost 5 inf + 1057 32.087 * * [simplify]: Extracting #5: cost 1 inf + 1705 32.087 * * [simplify]: Extracting #6: cost 0 inf + 1867 32.088 * [simplify]: Simplified to (* (* (sin theta) (sin delta)) (cos phi1)) 32.088 * [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)) 32.088 * * * * [progress]: [ 86 / 86 ] simplifiying candidate # 32.088 * [simplify]: Simplifying (* (cos phi1) (* (sin delta) (sin theta))) 32.088 * * [simplify]: iters left: 5 (8 enodes) 32.090 * * [simplify]: iters left: 4 (28 enodes) 32.094 * * [simplify]: iters left: 3 (36 enodes) 32.100 * * [simplify]: iters left: 2 (42 enodes) 32.106 * * [simplify]: Extracting #0: cost 1 inf + 0 32.106 * * [simplify]: Extracting #1: cost 8 inf + 0 32.106 * * [simplify]: Extracting #2: cost 17 inf + 0 32.106 * * [simplify]: Extracting #3: cost 12 inf + 125 32.106 * * [simplify]: Extracting #4: cost 5 inf + 1057 32.107 * * [simplify]: Extracting #5: cost 1 inf + 1705 32.107 * * [simplify]: Extracting #6: cost 0 inf + 1867 32.108 * [simplify]: Simplified to (* (* (sin delta) (sin theta)) (cos phi1)) 32.108 * [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)) 32.108 * * * [progress]: adding candidates to table 34.061 * [progress]: [Phase 3 of 3] Extracting. 34.068 * [simplify]: Simplifying (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1) 34.068 * * [simplify]: iters left: 6 (21 enodes) 34.069 * * [simplify]: iters left: 5 (27 enodes) 34.070 * * [simplify]: Extracting #0: cost 1 inf + 0 34.070 * * [simplify]: Extracting #1: cost 3 inf + 0 34.070 * * [simplify]: Extracting #2: cost 4 inf + 1 34.070 * * [simplify]: Extracting #3: cost 8 inf + 1 34.070 * * [simplify]: Extracting #4: cost 13 inf + 1 34.070 * * [simplify]: Extracting #5: cost 15 inf + 2 34.070 * * [simplify]: Extracting #6: cost 9 inf + 309 34.070 * * [simplify]: Extracting #7: cost 10 inf + 734 34.070 * * [simplify]: Extracting #8: cost 6 inf + 1557 34.071 * * [simplify]: Extracting #9: cost 4 inf + 2703 34.071 * * [simplify]: Extracting #10: cost 3 inf + 3346 34.071 * * [simplify]: Extracting #11: cost 0 inf + 5996 34.072 * [simplify]: Simplified to (+ lambda1 (atan2 (* (* (cos phi1) (sin theta)) (sin delta)) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))))))))