0.001 * [progress]: [Phase 1 of 3] Setting up. 0.001 * * * [progress]: [1/2] Preparing points 31.267 * * * [progress]: [2/2] Setting up program. 31.274 * [progress]: [Phase 2 of 3] Improving. 31.274 * * * * [progress]: [ 1 / 1 ] simplifiying candidate # 31.275 * [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))))))))) 31.275 * * [simplify]: iters left: 6 (22 enodes) 31.280 * * [simplify]: iters left: 5 (80 enodes) 31.297 * * [simplify]: iters left: 4 (107 enodes) 31.327 * * [simplify]: iters left: 3 (125 enodes) 31.358 * * [simplify]: Extracting #0: cost 1 inf + 0 31.358 * * [simplify]: Extracting #1: cost 4 inf + 0 31.358 * * [simplify]: Extracting #2: cost 6 inf + 1 31.358 * * [simplify]: Extracting #3: cost 21 inf + 1 31.359 * * [simplify]: Extracting #4: cost 38 inf + 1 31.359 * * [simplify]: Extracting #5: cost 28 inf + 734 31.360 * * [simplify]: Extracting #6: cost 24 inf + 1889 31.360 * * [simplify]: Extracting #7: cost 25 inf + 2537 31.362 * * [simplify]: Extracting #8: cost 18 inf + 4766 31.366 * * [simplify]: Extracting #9: cost 12 inf + 7142 31.369 * * [simplify]: Extracting #10: cost 3 inf + 13414 31.373 * * [simplify]: Extracting #11: cost 0 inf + 16385 31.378 * * [simplify]: Extracting #12: cost 0 inf + 16340 31.383 * [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) 31.383 * [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)) 31.400 * * [progress]: iteration 1 / 4 31.400 * * * [progress]: picking best candidate 31.409 * * * * [pick]: Picked # 31.409 * * * [progress]: localizing error 31.523 * * * [progress]: generating rewritten candidates 31.523 * * * * [progress]: [ 1 / 4 ] rewriting at (2 1 2) 31.538 * * * * [progress]: [ 2 / 4 ] rewriting at (2 1 2 2 2 1) 31.539 * * * * [progress]: [ 3 / 4 ] rewriting at (2 1 1) 31.592 * * * * [progress]: [ 4 / 4 ] rewriting at (2 1 2 2 2 1 1) 31.594 * * * [progress]: generating series expansions 31.594 * * * * [progress]: [ 1 / 4 ] generating series at (2 1 2) 31.594 * [backup-simplify]: Simplify (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) into (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) 31.594 * [approximate]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in (delta phi1 theta) around 0 31.594 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in theta 31.594 * [taylor]: Taking taylor expansion of (cos delta) in theta 31.594 * [taylor]: Taking taylor expansion of delta in theta 31.594 * [backup-simplify]: Simplify delta into delta 31.594 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.594 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.594 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 31.594 * [taylor]: Taking taylor expansion of (sin phi1) in theta 31.595 * [taylor]: Taking taylor expansion of phi1 in theta 31.595 * [backup-simplify]: Simplify phi1 into phi1 31.595 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.595 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.595 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 31.595 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 31.595 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 31.595 * [taylor]: Taking taylor expansion of (cos theta) in theta 31.595 * [taylor]: Taking taylor expansion of theta in theta 31.595 * [backup-simplify]: Simplify 0 into 0 31.595 * [backup-simplify]: Simplify 1 into 1 31.595 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 31.595 * [taylor]: Taking taylor expansion of (cos phi1) in theta 31.595 * [taylor]: Taking taylor expansion of phi1 in theta 31.595 * [backup-simplify]: Simplify phi1 into phi1 31.595 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.595 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.595 * [taylor]: Taking taylor expansion of (sin delta) in theta 31.595 * [taylor]: Taking taylor expansion of delta in theta 31.595 * [backup-simplify]: Simplify delta into delta 31.595 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.595 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.595 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 31.595 * [taylor]: Taking taylor expansion of (sin phi1) in theta 31.595 * [taylor]: Taking taylor expansion of phi1 in theta 31.595 * [backup-simplify]: Simplify phi1 into phi1 31.595 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.595 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.595 * [taylor]: Taking taylor expansion of (cos delta) in theta 31.596 * [taylor]: Taking taylor expansion of delta in theta 31.596 * [backup-simplify]: Simplify delta into delta 31.596 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.596 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.596 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in phi1 31.596 * [taylor]: Taking taylor expansion of (cos delta) in phi1 31.596 * [taylor]: Taking taylor expansion of delta in phi1 31.596 * [backup-simplify]: Simplify delta into delta 31.596 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.596 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.596 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 31.596 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.596 * [taylor]: Taking taylor expansion of phi1 in phi1 31.596 * [backup-simplify]: Simplify 0 into 0 31.596 * [backup-simplify]: Simplify 1 into 1 31.596 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 31.596 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 31.596 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 31.596 * [taylor]: Taking taylor expansion of (cos theta) in phi1 31.596 * [taylor]: Taking taylor expansion of theta in phi1 31.596 * [backup-simplify]: Simplify theta into theta 31.596 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.596 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.596 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 31.596 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 31.596 * [taylor]: Taking taylor expansion of phi1 in phi1 31.596 * [backup-simplify]: Simplify 0 into 0 31.596 * [backup-simplify]: Simplify 1 into 1 31.596 * [taylor]: Taking taylor expansion of (sin delta) in phi1 31.596 * [taylor]: Taking taylor expansion of delta in phi1 31.596 * [backup-simplify]: Simplify delta into delta 31.596 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.596 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.597 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 31.597 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.597 * [taylor]: Taking taylor expansion of phi1 in phi1 31.597 * [backup-simplify]: Simplify 0 into 0 31.597 * [backup-simplify]: Simplify 1 into 1 31.597 * [taylor]: Taking taylor expansion of (cos delta) in phi1 31.597 * [taylor]: Taking taylor expansion of delta in phi1 31.597 * [backup-simplify]: Simplify delta into delta 31.597 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.597 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.597 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in delta 31.597 * [taylor]: Taking taylor expansion of (cos delta) in delta 31.597 * [taylor]: Taking taylor expansion of delta in delta 31.597 * [backup-simplify]: Simplify 0 into 0 31.597 * [backup-simplify]: Simplify 1 into 1 31.597 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 31.597 * [taylor]: Taking taylor expansion of (sin phi1) in delta 31.597 * [taylor]: Taking taylor expansion of phi1 in delta 31.597 * [backup-simplify]: Simplify phi1 into phi1 31.597 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.597 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.597 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 31.597 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 31.597 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 31.597 * [taylor]: Taking taylor expansion of (cos theta) in delta 31.597 * [taylor]: Taking taylor expansion of theta in delta 31.597 * [backup-simplify]: Simplify theta into theta 31.597 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.597 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.597 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 31.597 * [taylor]: Taking taylor expansion of (cos phi1) in delta 31.597 * [taylor]: Taking taylor expansion of phi1 in delta 31.597 * [backup-simplify]: Simplify phi1 into phi1 31.598 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.598 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.598 * [taylor]: Taking taylor expansion of (sin delta) in delta 31.598 * [taylor]: Taking taylor expansion of delta in delta 31.598 * [backup-simplify]: Simplify 0 into 0 31.598 * [backup-simplify]: Simplify 1 into 1 31.598 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 31.598 * [taylor]: Taking taylor expansion of (sin phi1) in delta 31.598 * [taylor]: Taking taylor expansion of phi1 in delta 31.598 * [backup-simplify]: Simplify phi1 into phi1 31.598 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.598 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.598 * [taylor]: Taking taylor expansion of (cos delta) in delta 31.598 * [taylor]: Taking taylor expansion of delta in delta 31.598 * [backup-simplify]: Simplify 0 into 0 31.598 * [backup-simplify]: Simplify 1 into 1 31.598 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in delta 31.598 * [taylor]: Taking taylor expansion of (cos delta) in delta 31.599 * [taylor]: Taking taylor expansion of delta in delta 31.599 * [backup-simplify]: Simplify 0 into 0 31.599 * [backup-simplify]: Simplify 1 into 1 31.599 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 31.599 * [taylor]: Taking taylor expansion of (sin phi1) in delta 31.599 * [taylor]: Taking taylor expansion of phi1 in delta 31.599 * [backup-simplify]: Simplify phi1 into phi1 31.599 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.599 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.599 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 31.599 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 31.599 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 31.599 * [taylor]: Taking taylor expansion of (cos theta) in delta 31.599 * [taylor]: Taking taylor expansion of theta in delta 31.599 * [backup-simplify]: Simplify theta into theta 31.599 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.600 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.600 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 31.600 * [taylor]: Taking taylor expansion of (cos phi1) in delta 31.600 * [taylor]: Taking taylor expansion of phi1 in delta 31.600 * [backup-simplify]: Simplify phi1 into phi1 31.600 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.600 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.600 * [taylor]: Taking taylor expansion of (sin delta) in delta 31.600 * [taylor]: Taking taylor expansion of delta in delta 31.600 * [backup-simplify]: Simplify 0 into 0 31.600 * [backup-simplify]: Simplify 1 into 1 31.600 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 31.600 * [taylor]: Taking taylor expansion of (sin phi1) in delta 31.600 * [taylor]: Taking taylor expansion of phi1 in delta 31.600 * [backup-simplify]: Simplify phi1 into phi1 31.600 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.600 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.600 * [taylor]: Taking taylor expansion of (cos delta) in delta 31.600 * [taylor]: Taking taylor expansion of delta in delta 31.600 * [backup-simplify]: Simplify 0 into 0 31.600 * [backup-simplify]: Simplify 1 into 1 31.601 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 31.601 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 31.601 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 31.601 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 31.601 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 31.602 * [backup-simplify]: Simplify (- 0) into 0 31.602 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 31.602 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 31.602 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 31.603 * [backup-simplify]: Simplify (- 0) into 0 31.603 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 31.603 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 31.603 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 31.603 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 31.603 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 31.603 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 31.603 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 31.603 * [backup-simplify]: Simplify (+ 0 (sin phi1)) into (sin phi1) 31.603 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 31.603 * [backup-simplify]: Simplify (- (pow (sin phi1) 2)) into (- (pow (sin phi1) 2)) 31.604 * [backup-simplify]: Simplify (+ 1 (- (pow (sin phi1) 2))) into (- 1 (pow (sin phi1) 2)) 31.604 * [taylor]: Taking taylor expansion of (- 1 (pow (sin phi1) 2)) in phi1 31.604 * [taylor]: Taking taylor expansion of 1 in phi1 31.604 * [backup-simplify]: Simplify 1 into 1 31.604 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 31.604 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.604 * [taylor]: Taking taylor expansion of phi1 in phi1 31.604 * [backup-simplify]: Simplify 0 into 0 31.604 * [backup-simplify]: Simplify 1 into 1 31.605 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.606 * [backup-simplify]: Simplify (+ 1 0) into 1 31.606 * [taylor]: Taking taylor expansion of 1 in theta 31.606 * [backup-simplify]: Simplify 1 into 1 31.606 * [backup-simplify]: Simplify 1 into 1 31.607 * [backup-simplify]: Simplify (+ 0) into 0 31.607 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.608 * [backup-simplify]: Simplify (+ 0) into 0 31.608 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 31.609 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.610 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 31.610 * [backup-simplify]: Simplify (- 0) into 0 31.610 * [backup-simplify]: Simplify (+ 0 0) into 0 31.611 * [backup-simplify]: Simplify (+ (* (cos phi1) 1) (* 0 0)) into (cos phi1) 31.611 * [backup-simplify]: Simplify (+ 0) into 0 31.612 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 31.613 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.613 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 31.613 * [backup-simplify]: Simplify (- 0) into 0 31.614 * [backup-simplify]: Simplify (+ 0 0) into 0 31.614 * [backup-simplify]: Simplify (+ (* (cos theta) (cos phi1)) (* 0 0)) into (* (cos theta) (cos phi1)) 31.615 * [backup-simplify]: Simplify (+ 0) into 0 31.615 * [backup-simplify]: Simplify (+ 0) into 0 31.616 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 31.616 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.617 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 31.617 * [backup-simplify]: Simplify (+ 0 0) into 0 31.618 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 31.618 * [backup-simplify]: Simplify (+ (* (cos theta) (cos phi1)) 0) into (* (cos theta) (cos phi1)) 31.618 * [backup-simplify]: Simplify (+ 0) into 0 31.619 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 31.620 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.620 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 31.620 * [backup-simplify]: Simplify (+ 0 0) into 0 31.621 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos theta) (cos phi1))) (* 0 (sin phi1))) into (* (sin phi1) (* (cos theta) (cos phi1))) 31.621 * [backup-simplify]: Simplify (- (* (sin phi1) (* (cos theta) (cos phi1)))) into (- (* (sin phi1) (* (cos theta) (cos phi1)))) 31.621 * [backup-simplify]: Simplify (+ 0 (- (* (sin phi1) (* (cos theta) (cos phi1))))) into (- (* (sin phi1) (* (cos theta) (cos phi1)))) 31.621 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (* (cos theta) (cos phi1)))) in phi1 31.621 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos theta) (cos phi1))) in phi1 31.621 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.621 * [taylor]: Taking taylor expansion of phi1 in phi1 31.621 * [backup-simplify]: Simplify 0 into 0 31.621 * [backup-simplify]: Simplify 1 into 1 31.621 * [taylor]: Taking taylor expansion of (* (cos theta) (cos phi1)) in phi1 31.621 * [taylor]: Taking taylor expansion of (cos theta) in phi1 31.621 * [taylor]: Taking taylor expansion of theta in phi1 31.621 * [backup-simplify]: Simplify theta into theta 31.621 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.621 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.621 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 31.621 * [taylor]: Taking taylor expansion of phi1 in phi1 31.621 * [backup-simplify]: Simplify 0 into 0 31.621 * [backup-simplify]: Simplify 1 into 1 31.622 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 31.622 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 31.622 * [backup-simplify]: Simplify (- 0) into 0 31.622 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 31.622 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 31.622 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 31.623 * [backup-simplify]: Simplify (- 0) into 0 31.623 * [taylor]: Taking taylor expansion of 0 in theta 31.623 * [backup-simplify]: Simplify 0 into 0 31.623 * [backup-simplify]: Simplify 0 into 0 31.623 * [backup-simplify]: Simplify (+ 0 0) into 0 31.623 * [taylor]: Taking taylor expansion of 0 in theta 31.623 * [backup-simplify]: Simplify 0 into 0 31.623 * [backup-simplify]: Simplify 0 into 0 31.623 * [backup-simplify]: Simplify 0 into 0 31.624 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 31.625 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.626 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.632 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 31.633 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.634 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 31.634 * [backup-simplify]: Simplify (- 0) into 0 31.635 * [backup-simplify]: Simplify (+ 0 0) into 0 31.635 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 1) (* 0 0))) into 0 31.636 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.637 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 31.638 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.639 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 31.639 * [backup-simplify]: Simplify (- 0) into 0 31.640 * [backup-simplify]: Simplify (+ 0 0) into 0 31.640 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 (cos phi1)) (* 0 0))) into 0 31.641 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 31.642 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.643 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 31.643 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.643 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 31.644 * [backup-simplify]: Simplify (+ 0 0) into 0 31.644 * [backup-simplify]: Simplify (+ (* (sin phi1) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (sin phi1))) 31.644 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (sin phi1)))) into (- (* 1/2 (sin phi1))) 31.645 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.645 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 31.645 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.646 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 31.646 * [backup-simplify]: Simplify (+ 0 0) into 0 31.646 * [backup-simplify]: Simplify (+ (* (sin phi1) (- (* 1/2 (sin phi1)))) (+ (* 0 (* (cos theta) (cos phi1))) (* 0 (sin phi1)))) into (- (* 1/2 (pow (sin phi1) 2))) 31.646 * [backup-simplify]: Simplify (- (- (* 1/2 (pow (sin phi1) 2)))) into (* 1/2 (pow (sin phi1) 2)) 31.646 * [backup-simplify]: Simplify (+ -1/2 (* 1/2 (pow (sin phi1) 2))) into (- (* 1/2 (pow (sin phi1) 2)) 1/2) 31.646 * [taylor]: Taking taylor expansion of (- (* 1/2 (pow (sin phi1) 2)) 1/2) in phi1 31.646 * [taylor]: Taking taylor expansion of (* 1/2 (pow (sin phi1) 2)) in phi1 31.646 * [taylor]: Taking taylor expansion of 1/2 in phi1 31.646 * [backup-simplify]: Simplify 1/2 into 1/2 31.647 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 31.647 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.647 * [taylor]: Taking taylor expansion of phi1 in phi1 31.647 * [backup-simplify]: Simplify 0 into 0 31.647 * [backup-simplify]: Simplify 1 into 1 31.647 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.647 * [taylor]: Taking taylor expansion of 1/2 in phi1 31.647 * [backup-simplify]: Simplify 1/2 into 1/2 31.647 * [backup-simplify]: Simplify (- 1/2) into -1/2 31.648 * [backup-simplify]: Simplify (+ 0 -1/2) into -1/2 31.648 * [taylor]: Taking taylor expansion of -1/2 in theta 31.648 * [backup-simplify]: Simplify -1/2 into -1/2 31.648 * [backup-simplify]: Simplify -1/2 into -1/2 31.648 * [backup-simplify]: Simplify (+ 0) into 0 31.648 * [backup-simplify]: Simplify (+ 0) into 0 31.648 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 31.649 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.649 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 31.649 * [backup-simplify]: Simplify (- 0) into 0 31.650 * [backup-simplify]: Simplify (+ 0 0) into 0 31.650 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 31.650 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.651 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos theta))) into (cos theta) 31.651 * [backup-simplify]: Simplify (- (cos theta)) into (- (cos theta)) 31.651 * [taylor]: Taking taylor expansion of (- (cos theta)) in theta 31.651 * [taylor]: Taking taylor expansion of (cos theta) in theta 31.651 * [taylor]: Taking taylor expansion of theta in theta 31.651 * [backup-simplify]: Simplify 0 into 0 31.651 * [backup-simplify]: Simplify 1 into 1 31.651 * [backup-simplify]: Simplify (- 1) into -1 31.651 * [backup-simplify]: Simplify -1 into -1 31.651 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* phi1 delta))) (+ (* -1/2 (pow (* 1 (* 1 delta)) 2)) 1)) into (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) 31.651 * [backup-simplify]: Simplify (- (cos (/ 1 delta)) (* (sin (/ 1 phi1)) (sin (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))))) into (- (cos (/ 1 delta)) (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) 31.651 * [approximate]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) in (delta phi1 theta) around 0 31.651 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) in theta 31.651 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 31.652 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.652 * [taylor]: Taking taylor expansion of delta in theta 31.652 * [backup-simplify]: Simplify delta into delta 31.652 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.652 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.652 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.652 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in theta 31.652 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 31.652 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 31.652 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 31.652 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 31.652 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 31.652 * [taylor]: Taking taylor expansion of theta in theta 31.652 * [backup-simplify]: Simplify 0 into 0 31.652 * [backup-simplify]: Simplify 1 into 1 31.652 * [backup-simplify]: Simplify (/ 1 1) into 1 31.652 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.652 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 31.652 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 31.652 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.652 * [taylor]: Taking taylor expansion of delta in theta 31.652 * [backup-simplify]: Simplify delta into delta 31.652 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.652 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.652 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.652 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 31.652 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.652 * [taylor]: Taking taylor expansion of phi1 in theta 31.652 * [backup-simplify]: Simplify phi1 into phi1 31.653 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.653 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.653 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.653 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 31.653 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 31.653 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.653 * [taylor]: Taking taylor expansion of phi1 in theta 31.653 * [backup-simplify]: Simplify phi1 into phi1 31.653 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.653 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.653 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.653 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 31.653 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.653 * [taylor]: Taking taylor expansion of delta in theta 31.653 * [backup-simplify]: Simplify delta into delta 31.653 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.653 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.653 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.653 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 31.653 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.653 * [taylor]: Taking taylor expansion of phi1 in theta 31.653 * [backup-simplify]: Simplify phi1 into phi1 31.653 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.653 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.653 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.653 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) in phi1 31.653 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 31.653 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.653 * [taylor]: Taking taylor expansion of delta in phi1 31.653 * [backup-simplify]: Simplify delta into delta 31.653 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.653 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.653 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.653 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in phi1 31.653 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 31.653 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 31.653 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 31.653 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 31.653 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 31.653 * [taylor]: Taking taylor expansion of theta in phi1 31.653 * [backup-simplify]: Simplify theta into theta 31.654 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.654 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.654 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.654 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 31.654 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 31.654 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.654 * [taylor]: Taking taylor expansion of delta in phi1 31.654 * [backup-simplify]: Simplify delta into delta 31.654 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.654 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.654 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.654 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 31.654 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.654 * [taylor]: Taking taylor expansion of phi1 in phi1 31.654 * [backup-simplify]: Simplify 0 into 0 31.654 * [backup-simplify]: Simplify 1 into 1 31.654 * [backup-simplify]: Simplify (/ 1 1) into 1 31.654 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.654 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 31.654 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 31.654 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.654 * [taylor]: Taking taylor expansion of phi1 in phi1 31.654 * [backup-simplify]: Simplify 0 into 0 31.654 * [backup-simplify]: Simplify 1 into 1 31.655 * [backup-simplify]: Simplify (/ 1 1) into 1 31.655 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.655 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 31.655 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.655 * [taylor]: Taking taylor expansion of delta in phi1 31.655 * [backup-simplify]: Simplify delta into delta 31.655 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.655 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.655 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.655 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 31.655 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.655 * [taylor]: Taking taylor expansion of phi1 in phi1 31.655 * [backup-simplify]: Simplify 0 into 0 31.655 * [backup-simplify]: Simplify 1 into 1 31.655 * [backup-simplify]: Simplify (/ 1 1) into 1 31.655 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.655 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) in delta 31.655 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 31.655 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.655 * [taylor]: Taking taylor expansion of delta in delta 31.655 * [backup-simplify]: Simplify 0 into 0 31.655 * [backup-simplify]: Simplify 1 into 1 31.655 * [backup-simplify]: Simplify (/ 1 1) into 1 31.656 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.656 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in delta 31.656 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 31.656 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 31.656 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 31.656 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 31.656 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 31.656 * [taylor]: Taking taylor expansion of theta in delta 31.656 * [backup-simplify]: Simplify theta into theta 31.656 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.656 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.656 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.656 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 31.656 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 31.656 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.656 * [taylor]: Taking taylor expansion of delta in delta 31.656 * [backup-simplify]: Simplify 0 into 0 31.656 * [backup-simplify]: Simplify 1 into 1 31.656 * [backup-simplify]: Simplify (/ 1 1) into 1 31.656 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.656 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 31.656 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.656 * [taylor]: Taking taylor expansion of phi1 in delta 31.656 * [backup-simplify]: Simplify phi1 into phi1 31.656 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.657 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.657 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.657 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 31.657 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 31.657 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.657 * [taylor]: Taking taylor expansion of phi1 in delta 31.657 * [backup-simplify]: Simplify phi1 into phi1 31.657 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.657 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.657 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.657 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 31.657 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.657 * [taylor]: Taking taylor expansion of delta in delta 31.657 * [backup-simplify]: Simplify 0 into 0 31.657 * [backup-simplify]: Simplify 1 into 1 31.657 * [backup-simplify]: Simplify (/ 1 1) into 1 31.657 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.657 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 31.657 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.657 * [taylor]: Taking taylor expansion of phi1 in delta 31.657 * [backup-simplify]: Simplify phi1 into phi1 31.657 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.657 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.657 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.657 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) in delta 31.657 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 31.657 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.657 * [taylor]: Taking taylor expansion of delta in delta 31.657 * [backup-simplify]: Simplify 0 into 0 31.657 * [backup-simplify]: Simplify 1 into 1 31.658 * [backup-simplify]: Simplify (/ 1 1) into 1 31.658 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.658 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in delta 31.658 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 31.658 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 31.658 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 31.658 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 31.658 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 31.658 * [taylor]: Taking taylor expansion of theta in delta 31.658 * [backup-simplify]: Simplify theta into theta 31.658 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.658 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.658 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.658 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 31.658 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 31.658 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.658 * [taylor]: Taking taylor expansion of delta in delta 31.658 * [backup-simplify]: Simplify 0 into 0 31.658 * [backup-simplify]: Simplify 1 into 1 31.658 * [backup-simplify]: Simplify (/ 1 1) into 1 31.658 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.658 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 31.658 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.658 * [taylor]: Taking taylor expansion of phi1 in delta 31.658 * [backup-simplify]: Simplify phi1 into phi1 31.658 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.659 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.659 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.659 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 31.659 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 31.659 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.659 * [taylor]: Taking taylor expansion of phi1 in delta 31.659 * [backup-simplify]: Simplify phi1 into phi1 31.659 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.659 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.659 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.659 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 31.659 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.659 * [taylor]: Taking taylor expansion of delta in delta 31.659 * [backup-simplify]: Simplify 0 into 0 31.659 * [backup-simplify]: Simplify 1 into 1 31.659 * [backup-simplify]: Simplify (/ 1 1) into 1 31.659 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.659 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 31.659 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.659 * [taylor]: Taking taylor expansion of phi1 in delta 31.659 * [backup-simplify]: Simplify phi1 into phi1 31.659 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.659 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.659 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.660 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 31.660 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 31.660 * [backup-simplify]: Simplify (- 0) into 0 31.660 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 31.660 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 31.660 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 31.660 * [backup-simplify]: Simplify (- 0) into 0 31.660 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 31.660 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (cos (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 delta))) 31.660 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 31.661 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 31.661 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 31.661 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 31.661 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 31.661 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) into (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 31.661 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 31.661 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 31.661 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 31.661 * [backup-simplify]: Simplify (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) into (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) 31.662 * [backup-simplify]: Simplify (- (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) into (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 31.662 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))))) into (- (cos (/ 1 delta)) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 31.662 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) in phi1 31.662 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 31.662 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.662 * [taylor]: Taking taylor expansion of delta in phi1 31.662 * [backup-simplify]: Simplify delta into delta 31.662 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.662 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.662 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.662 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) in phi1 31.662 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in phi1 31.662 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 31.662 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.662 * [taylor]: Taking taylor expansion of phi1 in phi1 31.662 * [backup-simplify]: Simplify 0 into 0 31.662 * [backup-simplify]: Simplify 1 into 1 31.663 * [backup-simplify]: Simplify (/ 1 1) into 1 31.663 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.663 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in phi1 31.663 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 31.663 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.663 * [taylor]: Taking taylor expansion of phi1 in phi1 31.663 * [backup-simplify]: Simplify 0 into 0 31.663 * [backup-simplify]: Simplify 1 into 1 31.663 * [backup-simplify]: Simplify (/ 1 1) into 1 31.663 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.663 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in phi1 31.663 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 31.663 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 31.663 * [taylor]: Taking taylor expansion of theta in phi1 31.663 * [backup-simplify]: Simplify theta into theta 31.663 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.663 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.663 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.663 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 31.663 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.663 * [taylor]: Taking taylor expansion of delta in phi1 31.663 * [backup-simplify]: Simplify delta into delta 31.663 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.664 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.664 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.664 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in phi1 31.664 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 31.664 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.664 * [taylor]: Taking taylor expansion of delta in phi1 31.664 * [backup-simplify]: Simplify delta into delta 31.664 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.664 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.664 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.664 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 31.664 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 31.664 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.664 * [taylor]: Taking taylor expansion of phi1 in phi1 31.664 * [backup-simplify]: Simplify 0 into 0 31.664 * [backup-simplify]: Simplify 1 into 1 31.664 * [backup-simplify]: Simplify (/ 1 1) into 1 31.664 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.664 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 31.664 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 31.665 * [backup-simplify]: Simplify (- 0) into 0 31.665 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 31.665 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 31.665 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 31.665 * [backup-simplify]: Simplify (- 0) into 0 31.665 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 31.665 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 31.665 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 31.665 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 31.665 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 31.665 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) 31.665 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) into (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 31.665 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 31.666 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 31.666 * [backup-simplify]: Simplify (- 0) into 0 31.666 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 31.666 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 31.666 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 31.666 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 31.667 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 31.667 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))))) into (- (cos (/ 1 delta)) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 31.667 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) in theta 31.667 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 31.667 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.667 * [taylor]: Taking taylor expansion of delta in theta 31.667 * [backup-simplify]: Simplify delta into delta 31.667 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.667 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.667 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.667 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) in theta 31.667 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) in theta 31.667 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 31.667 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.667 * [taylor]: Taking taylor expansion of phi1 in theta 31.667 * [backup-simplify]: Simplify phi1 into phi1 31.667 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.667 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.667 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.667 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) in theta 31.667 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 31.667 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.667 * [taylor]: Taking taylor expansion of delta in theta 31.667 * [backup-simplify]: Simplify delta into delta 31.668 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.668 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.668 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.668 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 phi1))) in theta 31.668 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 31.668 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 31.668 * [taylor]: Taking taylor expansion of theta in theta 31.668 * [backup-simplify]: Simplify 0 into 0 31.668 * [backup-simplify]: Simplify 1 into 1 31.668 * [backup-simplify]: Simplify (/ 1 1) into 1 31.668 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.668 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 31.668 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.668 * [taylor]: Taking taylor expansion of phi1 in theta 31.668 * [backup-simplify]: Simplify phi1 into phi1 31.668 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.668 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.668 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.668 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in theta 31.668 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 31.668 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.668 * [taylor]: Taking taylor expansion of delta in theta 31.668 * [backup-simplify]: Simplify delta into delta 31.668 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.668 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.668 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.668 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 31.668 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 31.668 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.668 * [taylor]: Taking taylor expansion of phi1 in theta 31.668 * [backup-simplify]: Simplify phi1 into phi1 31.668 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.669 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.669 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.669 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 31.669 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 31.669 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 31.669 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 31.669 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 31.669 * [backup-simplify]: Simplify (- 0) into 0 31.669 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 31.669 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 31.669 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 31.669 * [backup-simplify]: Simplify (- 0) into 0 31.670 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 31.670 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 31.670 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 31.670 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 31.670 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 31.670 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 31.670 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 31.670 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 phi1))) into (* (cos (/ 1 theta)) (sin (/ 1 phi1))) 31.670 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) into (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 31.670 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 31.670 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 31.670 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 31.670 * [backup-simplify]: Simplify (- 0) into 0 31.671 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 31.671 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 31.671 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 31.671 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 31.671 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (+ (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 31.672 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))))) into (- (cos (/ 1 delta)) (+ (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 31.672 * [backup-simplify]: Simplify (- (cos (/ 1 delta)) (+ (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) into (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 31.672 * [backup-simplify]: Simplify (+ 0) into 0 31.673 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 31.673 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.673 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.673 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 31.674 * [backup-simplify]: Simplify (+ 0 0) into 0 31.674 * [backup-simplify]: Simplify (+ 0) into 0 31.674 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 31.675 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.675 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.676 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 31.676 * [backup-simplify]: Simplify (- 0) into 0 31.677 * [backup-simplify]: Simplify (+ 0 0) into 0 31.677 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 31.677 * [backup-simplify]: Simplify (+ 0) into 0 31.678 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 31.678 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 31.679 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.679 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 31.680 * [backup-simplify]: Simplify (- 0) into 0 31.680 * [backup-simplify]: Simplify (+ 0 0) into 0 31.680 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta))))) into 0 31.680 * [backup-simplify]: Simplify (+ 0) into 0 31.681 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 31.681 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.682 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.683 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 31.683 * [backup-simplify]: Simplify (+ 0 0) into 0 31.683 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 31.683 * [backup-simplify]: Simplify (+ 0 0) into 0 31.684 * [backup-simplify]: Simplify (+ (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 31.684 * [backup-simplify]: Simplify (- 0) into 0 31.685 * [backup-simplify]: Simplify (+ 0 0) into 0 31.685 * [taylor]: Taking taylor expansion of 0 in phi1 31.685 * [backup-simplify]: Simplify 0 into 0 31.685 * [taylor]: Taking taylor expansion of 0 in theta 31.685 * [backup-simplify]: Simplify 0 into 0 31.685 * [backup-simplify]: Simplify 0 into 0 31.685 * [backup-simplify]: Simplify (+ 0) into 0 31.686 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 31.686 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.687 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.687 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 31.687 * [backup-simplify]: Simplify (- 0) into 0 31.688 * [backup-simplify]: Simplify (+ 0 0) into 0 31.688 * [backup-simplify]: Simplify (+ 0) into 0 31.689 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 31.689 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.690 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.690 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 31.690 * [backup-simplify]: Simplify (+ 0 0) into 0 31.691 * [backup-simplify]: Simplify (+ 0) into 0 31.691 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 31.691 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 31.692 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.693 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 31.693 * [backup-simplify]: Simplify (- 0) into 0 31.693 * [backup-simplify]: Simplify (+ 0 0) into 0 31.694 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 31.694 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 31.694 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))))) into 0 31.694 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 31.695 * [backup-simplify]: Simplify (+ 0) into 0 31.695 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 31.695 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.696 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.696 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 31.697 * [backup-simplify]: Simplify (- 0) into 0 31.697 * [backup-simplify]: Simplify (+ 0 0) into 0 31.697 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 31.698 * [backup-simplify]: Simplify (+ 0 0) into 0 31.698 * [backup-simplify]: Simplify (- 0) into 0 31.698 * [backup-simplify]: Simplify (+ 0 0) into 0 31.698 * [taylor]: Taking taylor expansion of 0 in theta 31.699 * [backup-simplify]: Simplify 0 into 0 31.699 * [backup-simplify]: Simplify 0 into 0 31.699 * [backup-simplify]: Simplify (+ 0) into 0 31.699 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 31.700 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.700 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.701 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 31.701 * [backup-simplify]: Simplify (- 0) into 0 31.702 * [backup-simplify]: Simplify (+ 0 0) into 0 31.702 * [backup-simplify]: Simplify (+ 0) into 0 31.702 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 31.703 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.703 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.704 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 31.704 * [backup-simplify]: Simplify (+ 0 0) into 0 31.704 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 31.705 * [backup-simplify]: Simplify (+ 0) into 0 31.705 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 31.705 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.706 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.707 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 31.707 * [backup-simplify]: Simplify (+ 0 0) into 0 31.707 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) into 0 31.708 * [backup-simplify]: Simplify (+ 0) into 0 31.708 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 31.708 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.709 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.710 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 31.710 * [backup-simplify]: Simplify (- 0) into 0 31.710 * [backup-simplify]: Simplify (+ 0 0) into 0 31.711 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 31.711 * [backup-simplify]: Simplify (+ 0) into 0 31.712 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 31.712 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.712 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.713 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 31.713 * [backup-simplify]: Simplify (+ 0 0) into 0 31.713 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 31.714 * [backup-simplify]: Simplify (+ 0) into 0 31.714 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 31.714 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.715 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.716 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 31.716 * [backup-simplify]: Simplify (- 0) into 0 31.716 * [backup-simplify]: Simplify (+ 0 0) into 0 31.717 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 31.717 * [backup-simplify]: Simplify (+ 0 0) into 0 31.717 * [backup-simplify]: Simplify (- 0) into 0 31.718 * [backup-simplify]: Simplify (+ 0 0) into 0 31.718 * [backup-simplify]: Simplify 0 into 0 31.719 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.719 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.719 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.720 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.721 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.721 * [backup-simplify]: Simplify (+ 0 0) into 0 31.722 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.723 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.723 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.724 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.724 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.725 * [backup-simplify]: Simplify (- 0) into 0 31.725 * [backup-simplify]: Simplify (+ 0 0) into 0 31.725 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 31.726 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.727 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.727 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.728 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.729 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.729 * [backup-simplify]: Simplify (- 0) into 0 31.730 * [backup-simplify]: Simplify (+ 0 0) into 0 31.730 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta)))))) into 0 31.731 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.732 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.732 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.733 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.733 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.734 * [backup-simplify]: Simplify (+ 0 0) into 0 31.734 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 31.735 * [backup-simplify]: Simplify (+ 0 0) into 0 31.735 * [backup-simplify]: Simplify (+ (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 31.736 * [backup-simplify]: Simplify (- 0) into 0 31.736 * [backup-simplify]: Simplify (+ 0 0) into 0 31.736 * [taylor]: Taking taylor expansion of 0 in phi1 31.736 * [backup-simplify]: Simplify 0 into 0 31.736 * [taylor]: Taking taylor expansion of 0 in theta 31.736 * [backup-simplify]: Simplify 0 into 0 31.736 * [backup-simplify]: Simplify 0 into 0 31.736 * [taylor]: Taking taylor expansion of 0 in theta 31.736 * [backup-simplify]: Simplify 0 into 0 31.736 * [backup-simplify]: Simplify 0 into 0 31.737 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.738 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.738 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.739 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.739 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.740 * [backup-simplify]: Simplify (- 0) into 0 31.740 * [backup-simplify]: Simplify (+ 0 0) into 0 31.741 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.742 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.742 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.743 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.743 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.744 * [backup-simplify]: Simplify (+ 0 0) into 0 31.745 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.746 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.746 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.747 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.747 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.747 * [backup-simplify]: Simplify (- 0) into 0 31.748 * [backup-simplify]: Simplify (+ 0 0) into 0 31.748 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 31.749 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 31.750 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))))) into 0 31.750 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 31.751 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.752 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.752 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.753 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.753 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.754 * [backup-simplify]: Simplify (- 0) into 0 31.754 * [backup-simplify]: Simplify (+ 0 0) into 0 31.755 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 1 phi1)) 2)))) into 0 31.755 * [backup-simplify]: Simplify (+ 0 0) into 0 31.755 * [backup-simplify]: Simplify (- 0) into 0 31.756 * [backup-simplify]: Simplify (+ 0 0) into 0 31.756 * [taylor]: Taking taylor expansion of 0 in theta 31.756 * [backup-simplify]: Simplify 0 into 0 31.756 * [backup-simplify]: Simplify 0 into 0 31.757 * [backup-simplify]: Simplify (- (cos (/ 1 (/ 1 delta))) (+ (* (sin (/ 1 (/ 1 delta))) (* (sin (/ 1 (/ 1 phi1))) (* (cos (/ 1 (/ 1 theta))) (cos (/ 1 (/ 1 phi1)))))) (* (pow (sin (/ 1 (/ 1 phi1))) 2) (cos (/ 1 (/ 1 delta)))))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (sin phi1) (* (cos theta) (cos phi1)))))) 31.757 * [backup-simplify]: Simplify (- (cos (/ 1 (- delta))) (* (sin (/ 1 (- phi1))) (sin (asin (fma (cos (/ 1 (- theta))) (* (cos (/ 1 (- phi1))) (sin (/ 1 (- delta)))) (* (cos (/ 1 (- delta))) (sin (/ 1 (- phi1))))))))) into (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) 31.757 * [approximate]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in (delta phi1 theta) around 0 31.757 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in theta 31.757 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 31.757 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.757 * [taylor]: Taking taylor expansion of -1 in theta 31.757 * [backup-simplify]: Simplify -1 into -1 31.757 * [taylor]: Taking taylor expansion of delta in theta 31.757 * [backup-simplify]: Simplify delta into delta 31.757 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.758 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.758 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.758 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 31.758 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 31.758 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.758 * [taylor]: Taking taylor expansion of -1 in theta 31.758 * [backup-simplify]: Simplify -1 into -1 31.758 * [taylor]: Taking taylor expansion of phi1 in theta 31.758 * [backup-simplify]: Simplify phi1 into phi1 31.758 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.758 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.758 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.758 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 31.758 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 31.758 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 31.758 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 31.758 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 31.758 * [taylor]: Taking taylor expansion of -1 in theta 31.758 * [backup-simplify]: Simplify -1 into -1 31.758 * [taylor]: Taking taylor expansion of theta in theta 31.758 * [backup-simplify]: Simplify 0 into 0 31.758 * [backup-simplify]: Simplify 1 into 1 31.761 * [backup-simplify]: Simplify (/ -1 1) into -1 31.761 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.761 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 31.762 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 31.762 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.762 * [taylor]: Taking taylor expansion of -1 in theta 31.762 * [backup-simplify]: Simplify -1 into -1 31.762 * [taylor]: Taking taylor expansion of phi1 in theta 31.762 * [backup-simplify]: Simplify phi1 into phi1 31.762 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.762 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.762 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.762 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 31.762 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.762 * [taylor]: Taking taylor expansion of -1 in theta 31.762 * [backup-simplify]: Simplify -1 into -1 31.762 * [taylor]: Taking taylor expansion of delta in theta 31.762 * [backup-simplify]: Simplify delta into delta 31.762 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.762 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.762 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.762 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 31.762 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 31.762 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.762 * [taylor]: Taking taylor expansion of -1 in theta 31.762 * [backup-simplify]: Simplify -1 into -1 31.762 * [taylor]: Taking taylor expansion of phi1 in theta 31.762 * [backup-simplify]: Simplify phi1 into phi1 31.762 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.763 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.763 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.763 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 31.763 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.763 * [taylor]: Taking taylor expansion of -1 in theta 31.763 * [backup-simplify]: Simplify -1 into -1 31.763 * [taylor]: Taking taylor expansion of delta in theta 31.763 * [backup-simplify]: Simplify delta into delta 31.763 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.763 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.763 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.763 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in phi1 31.763 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 31.763 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.763 * [taylor]: Taking taylor expansion of -1 in phi1 31.763 * [backup-simplify]: Simplify -1 into -1 31.763 * [taylor]: Taking taylor expansion of delta in phi1 31.763 * [backup-simplify]: Simplify delta into delta 31.763 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.763 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.763 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.763 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 31.763 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 31.763 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.763 * [taylor]: Taking taylor expansion of -1 in phi1 31.763 * [backup-simplify]: Simplify -1 into -1 31.764 * [taylor]: Taking taylor expansion of phi1 in phi1 31.764 * [backup-simplify]: Simplify 0 into 0 31.764 * [backup-simplify]: Simplify 1 into 1 31.764 * [backup-simplify]: Simplify (/ -1 1) into -1 31.764 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.764 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 31.765 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 31.765 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 31.765 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 31.765 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 31.765 * [taylor]: Taking taylor expansion of -1 in phi1 31.765 * [backup-simplify]: Simplify -1 into -1 31.765 * [taylor]: Taking taylor expansion of theta in phi1 31.765 * [backup-simplify]: Simplify theta into theta 31.765 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.765 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.765 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.765 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 31.765 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 31.765 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.765 * [taylor]: Taking taylor expansion of -1 in phi1 31.765 * [backup-simplify]: Simplify -1 into -1 31.765 * [taylor]: Taking taylor expansion of phi1 in phi1 31.765 * [backup-simplify]: Simplify 0 into 0 31.765 * [backup-simplify]: Simplify 1 into 1 31.766 * [backup-simplify]: Simplify (/ -1 1) into -1 31.766 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.766 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 31.766 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.766 * [taylor]: Taking taylor expansion of -1 in phi1 31.766 * [backup-simplify]: Simplify -1 into -1 31.766 * [taylor]: Taking taylor expansion of delta in phi1 31.766 * [backup-simplify]: Simplify delta into delta 31.766 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.766 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.766 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.766 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 31.766 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 31.766 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.766 * [taylor]: Taking taylor expansion of -1 in phi1 31.766 * [backup-simplify]: Simplify -1 into -1 31.766 * [taylor]: Taking taylor expansion of phi1 in phi1 31.766 * [backup-simplify]: Simplify 0 into 0 31.766 * [backup-simplify]: Simplify 1 into 1 31.767 * [backup-simplify]: Simplify (/ -1 1) into -1 31.767 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.767 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 31.767 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.767 * [taylor]: Taking taylor expansion of -1 in phi1 31.767 * [backup-simplify]: Simplify -1 into -1 31.767 * [taylor]: Taking taylor expansion of delta in phi1 31.767 * [backup-simplify]: Simplify delta into delta 31.767 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.767 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.767 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.767 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in delta 31.767 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 31.767 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.767 * [taylor]: Taking taylor expansion of -1 in delta 31.767 * [backup-simplify]: Simplify -1 into -1 31.767 * [taylor]: Taking taylor expansion of delta in delta 31.767 * [backup-simplify]: Simplify 0 into 0 31.767 * [backup-simplify]: Simplify 1 into 1 31.768 * [backup-simplify]: Simplify (/ -1 1) into -1 31.768 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.768 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 31.768 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 31.768 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.768 * [taylor]: Taking taylor expansion of -1 in delta 31.768 * [backup-simplify]: Simplify -1 into -1 31.768 * [taylor]: Taking taylor expansion of phi1 in delta 31.768 * [backup-simplify]: Simplify phi1 into phi1 31.768 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.768 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.768 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.768 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 31.768 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 31.768 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 31.768 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 31.768 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 31.769 * [taylor]: Taking taylor expansion of -1 in delta 31.769 * [backup-simplify]: Simplify -1 into -1 31.769 * [taylor]: Taking taylor expansion of theta in delta 31.769 * [backup-simplify]: Simplify theta into theta 31.769 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.769 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.769 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.769 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 31.769 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 31.769 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.769 * [taylor]: Taking taylor expansion of -1 in delta 31.769 * [backup-simplify]: Simplify -1 into -1 31.769 * [taylor]: Taking taylor expansion of phi1 in delta 31.769 * [backup-simplify]: Simplify phi1 into phi1 31.769 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.769 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.769 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.769 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 31.769 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.769 * [taylor]: Taking taylor expansion of -1 in delta 31.769 * [backup-simplify]: Simplify -1 into -1 31.769 * [taylor]: Taking taylor expansion of delta in delta 31.769 * [backup-simplify]: Simplify 0 into 0 31.769 * [backup-simplify]: Simplify 1 into 1 31.770 * [backup-simplify]: Simplify (/ -1 1) into -1 31.770 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.770 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 31.770 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 31.770 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.770 * [taylor]: Taking taylor expansion of -1 in delta 31.770 * [backup-simplify]: Simplify -1 into -1 31.770 * [taylor]: Taking taylor expansion of phi1 in delta 31.770 * [backup-simplify]: Simplify phi1 into phi1 31.770 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.770 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.770 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.770 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 31.770 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.770 * [taylor]: Taking taylor expansion of -1 in delta 31.771 * [backup-simplify]: Simplify -1 into -1 31.771 * [taylor]: Taking taylor expansion of delta in delta 31.771 * [backup-simplify]: Simplify 0 into 0 31.771 * [backup-simplify]: Simplify 1 into 1 31.771 * [backup-simplify]: Simplify (/ -1 1) into -1 31.771 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.771 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in delta 31.771 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 31.771 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.771 * [taylor]: Taking taylor expansion of -1 in delta 31.771 * [backup-simplify]: Simplify -1 into -1 31.771 * [taylor]: Taking taylor expansion of delta in delta 31.771 * [backup-simplify]: Simplify 0 into 0 31.771 * [backup-simplify]: Simplify 1 into 1 31.772 * [backup-simplify]: Simplify (/ -1 1) into -1 31.772 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.772 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 31.772 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 31.772 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.772 * [taylor]: Taking taylor expansion of -1 in delta 31.772 * [backup-simplify]: Simplify -1 into -1 31.772 * [taylor]: Taking taylor expansion of phi1 in delta 31.772 * [backup-simplify]: Simplify phi1 into phi1 31.772 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.772 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.772 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.772 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 31.773 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 31.773 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 31.773 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 31.773 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 31.773 * [taylor]: Taking taylor expansion of -1 in delta 31.773 * [backup-simplify]: Simplify -1 into -1 31.773 * [taylor]: Taking taylor expansion of theta in delta 31.773 * [backup-simplify]: Simplify theta into theta 31.773 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.773 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.773 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.773 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 31.773 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 31.773 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.773 * [taylor]: Taking taylor expansion of -1 in delta 31.773 * [backup-simplify]: Simplify -1 into -1 31.773 * [taylor]: Taking taylor expansion of phi1 in delta 31.773 * [backup-simplify]: Simplify phi1 into phi1 31.773 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.773 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.773 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.773 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 31.774 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.774 * [taylor]: Taking taylor expansion of -1 in delta 31.774 * [backup-simplify]: Simplify -1 into -1 31.774 * [taylor]: Taking taylor expansion of delta in delta 31.774 * [backup-simplify]: Simplify 0 into 0 31.774 * [backup-simplify]: Simplify 1 into 1 31.774 * [backup-simplify]: Simplify (/ -1 1) into -1 31.774 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.774 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 31.774 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 31.774 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.774 * [taylor]: Taking taylor expansion of -1 in delta 31.774 * [backup-simplify]: Simplify -1 into -1 31.775 * [taylor]: Taking taylor expansion of phi1 in delta 31.775 * [backup-simplify]: Simplify phi1 into phi1 31.775 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.775 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.775 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.775 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 31.775 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.775 * [taylor]: Taking taylor expansion of -1 in delta 31.775 * [backup-simplify]: Simplify -1 into -1 31.775 * [taylor]: Taking taylor expansion of delta in delta 31.775 * [backup-simplify]: Simplify 0 into 0 31.775 * [backup-simplify]: Simplify 1 into 1 31.775 * [backup-simplify]: Simplify (/ -1 1) into -1 31.775 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.776 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.776 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.776 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.776 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 31.776 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 31.776 * [backup-simplify]: Simplify (- 0) into 0 31.776 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 31.777 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 31.777 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 31.777 * [backup-simplify]: Simplify (- 0) into 0 31.777 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 31.777 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 31.777 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 31.778 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.778 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.778 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.778 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 31.778 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) into (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 31.779 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 31.779 * [backup-simplify]: Simplify (- (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 31.780 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 31.780 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) in phi1 31.780 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 31.780 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.780 * [taylor]: Taking taylor expansion of -1 in phi1 31.780 * [backup-simplify]: Simplify -1 into -1 31.780 * [taylor]: Taking taylor expansion of delta in phi1 31.780 * [backup-simplify]: Simplify delta into delta 31.780 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.780 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.780 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.780 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) in phi1 31.780 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in phi1 31.780 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 31.780 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 31.780 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.780 * [taylor]: Taking taylor expansion of -1 in phi1 31.780 * [backup-simplify]: Simplify -1 into -1 31.780 * [taylor]: Taking taylor expansion of phi1 in phi1 31.780 * [backup-simplify]: Simplify 0 into 0 31.780 * [backup-simplify]: Simplify 1 into 1 31.781 * [backup-simplify]: Simplify (/ -1 1) into -1 31.781 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.781 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 31.781 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.781 * [taylor]: Taking taylor expansion of -1 in phi1 31.781 * [backup-simplify]: Simplify -1 into -1 31.781 * [taylor]: Taking taylor expansion of delta in phi1 31.781 * [backup-simplify]: Simplify delta into delta 31.781 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.781 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.782 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.782 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) in phi1 31.782 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 31.782 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.782 * [taylor]: Taking taylor expansion of -1 in phi1 31.782 * [backup-simplify]: Simplify -1 into -1 31.782 * [taylor]: Taking taylor expansion of phi1 in phi1 31.782 * [backup-simplify]: Simplify 0 into 0 31.782 * [backup-simplify]: Simplify 1 into 1 31.782 * [backup-simplify]: Simplify (/ -1 1) into -1 31.782 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.782 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))) in phi1 31.782 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 31.782 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 31.782 * [taylor]: Taking taylor expansion of -1 in phi1 31.782 * [backup-simplify]: Simplify -1 into -1 31.782 * [taylor]: Taking taylor expansion of theta in phi1 31.783 * [backup-simplify]: Simplify theta into theta 31.783 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.783 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.783 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.783 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 phi1))) in phi1 31.783 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 31.783 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.783 * [taylor]: Taking taylor expansion of -1 in phi1 31.783 * [backup-simplify]: Simplify -1 into -1 31.783 * [taylor]: Taking taylor expansion of delta in phi1 31.783 * [backup-simplify]: Simplify delta into delta 31.783 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.783 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.783 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.783 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 31.783 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.783 * [taylor]: Taking taylor expansion of -1 in phi1 31.783 * [backup-simplify]: Simplify -1 into -1 31.783 * [taylor]: Taking taylor expansion of phi1 in phi1 31.783 * [backup-simplify]: Simplify 0 into 0 31.783 * [backup-simplify]: Simplify 1 into 1 31.784 * [backup-simplify]: Simplify (/ -1 1) into -1 31.784 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.784 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 31.784 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 31.784 * [backup-simplify]: Simplify (- 0) into 0 31.784 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 31.785 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 31.785 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 31.785 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 31.785 * [backup-simplify]: Simplify (- 0) into 0 31.785 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 31.785 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 31.786 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 31.786 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 31.786 * [backup-simplify]: Simplify (- 0) into 0 31.786 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 31.786 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 31.786 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 31.786 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 31.786 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 31.787 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 31.787 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) 31.787 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) 31.788 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 31.789 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 31.789 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) in theta 31.789 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 31.789 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.789 * [taylor]: Taking taylor expansion of -1 in theta 31.789 * [backup-simplify]: Simplify -1 into -1 31.789 * [taylor]: Taking taylor expansion of delta in theta 31.789 * [backup-simplify]: Simplify delta into delta 31.789 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.789 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.789 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.789 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) in theta 31.789 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in theta 31.789 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in theta 31.789 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 31.789 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.789 * [taylor]: Taking taylor expansion of -1 in theta 31.789 * [backup-simplify]: Simplify -1 into -1 31.789 * [taylor]: Taking taylor expansion of phi1 in theta 31.789 * [backup-simplify]: Simplify phi1 into phi1 31.789 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.789 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.789 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.790 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.790 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.790 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.790 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 31.790 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.790 * [taylor]: Taking taylor expansion of -1 in theta 31.790 * [backup-simplify]: Simplify -1 into -1 31.790 * [taylor]: Taking taylor expansion of delta in theta 31.790 * [backup-simplify]: Simplify delta into delta 31.790 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.790 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.790 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.790 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) in theta 31.790 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 31.790 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.790 * [taylor]: Taking taylor expansion of -1 in theta 31.790 * [backup-simplify]: Simplify -1 into -1 31.790 * [taylor]: Taking taylor expansion of phi1 in theta 31.790 * [backup-simplify]: Simplify phi1 into phi1 31.790 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.790 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.790 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.790 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))) in theta 31.790 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 31.790 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 31.791 * [taylor]: Taking taylor expansion of -1 in theta 31.791 * [backup-simplify]: Simplify -1 into -1 31.791 * [taylor]: Taking taylor expansion of theta in theta 31.791 * [backup-simplify]: Simplify 0 into 0 31.791 * [backup-simplify]: Simplify 1 into 1 31.791 * [backup-simplify]: Simplify (/ -1 1) into -1 31.791 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.791 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 phi1))) in theta 31.791 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 31.791 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.791 * [taylor]: Taking taylor expansion of -1 in theta 31.791 * [backup-simplify]: Simplify -1 into -1 31.791 * [taylor]: Taking taylor expansion of delta in theta 31.791 * [backup-simplify]: Simplify delta into delta 31.791 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.792 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.792 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.792 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 31.792 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.792 * [taylor]: Taking taylor expansion of -1 in theta 31.792 * [backup-simplify]: Simplify -1 into -1 31.792 * [taylor]: Taking taylor expansion of phi1 in theta 31.792 * [backup-simplify]: Simplify phi1 into phi1 31.792 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.792 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.792 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.792 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 31.792 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 31.793 * [backup-simplify]: Simplify (- 0) into 0 31.793 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 31.793 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 31.793 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 31.793 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 31.793 * [backup-simplify]: Simplify (- 0) into 0 31.793 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 31.794 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 31.794 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.794 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.794 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.794 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 31.794 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 31.794 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 31.794 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 31.794 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 31.795 * [backup-simplify]: Simplify (- 0) into 0 31.795 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 31.795 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 31.795 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 31.795 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) 31.796 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) 31.796 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 31.797 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 31.798 * [backup-simplify]: Simplify (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 31.798 * [backup-simplify]: Simplify (+ 0) into 0 31.799 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 31.799 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.800 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.800 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 31.801 * [backup-simplify]: Simplify (- 0) into 0 31.801 * [backup-simplify]: Simplify (+ 0 0) into 0 31.801 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 31.802 * [backup-simplify]: Simplify (+ 0) into 0 31.802 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 31.802 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 31.803 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.804 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 31.804 * [backup-simplify]: Simplify (- 0) into 0 31.804 * [backup-simplify]: Simplify (+ 0 0) into 0 31.804 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 31.805 * [backup-simplify]: Simplify (+ 0) into 0 31.805 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 31.806 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.806 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.807 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 31.807 * [backup-simplify]: Simplify (+ 0 0) into 0 31.807 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 31.808 * [backup-simplify]: Simplify (+ 0 0) into 0 31.808 * [backup-simplify]: Simplify (+ 0) into 0 31.809 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 31.809 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.810 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.811 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 31.811 * [backup-simplify]: Simplify (+ 0 0) into 0 31.812 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) into 0 31.812 * [backup-simplify]: Simplify (- 0) into 0 31.812 * [backup-simplify]: Simplify (+ 0 0) into 0 31.812 * [taylor]: Taking taylor expansion of 0 in phi1 31.813 * [backup-simplify]: Simplify 0 into 0 31.813 * [taylor]: Taking taylor expansion of 0 in theta 31.813 * [backup-simplify]: Simplify 0 into 0 31.813 * [backup-simplify]: Simplify 0 into 0 31.813 * [backup-simplify]: Simplify (+ 0) into 0 31.814 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 31.814 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.815 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.815 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 31.815 * [backup-simplify]: Simplify (- 0) into 0 31.816 * [backup-simplify]: Simplify (+ 0 0) into 0 31.816 * [backup-simplify]: Simplify (+ 0) into 0 31.817 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 31.817 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.818 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.819 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 31.819 * [backup-simplify]: Simplify (- 0) into 0 31.819 * [backup-simplify]: Simplify (+ 0 0) into 0 31.819 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 31.820 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 31.820 * [backup-simplify]: Simplify (+ 0) into 0 31.821 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 31.821 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.822 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.822 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 31.822 * [backup-simplify]: Simplify (+ 0 0) into 0 31.823 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 31.823 * [backup-simplify]: Simplify (+ 0) into 0 31.824 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 31.824 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 31.824 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.825 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 31.825 * [backup-simplify]: Simplify (- 0) into 0 31.826 * [backup-simplify]: Simplify (+ 0 0) into 0 31.826 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 31.826 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 31.827 * [backup-simplify]: Simplify (+ 0 0) into 0 31.827 * [backup-simplify]: Simplify (- 0) into 0 31.827 * [backup-simplify]: Simplify (+ 0 0) into 0 31.827 * [taylor]: Taking taylor expansion of 0 in theta 31.827 * [backup-simplify]: Simplify 0 into 0 31.827 * [backup-simplify]: Simplify 0 into 0 31.828 * [backup-simplify]: Simplify (+ 0) into 0 31.828 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 31.828 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.829 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.830 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 31.830 * [backup-simplify]: Simplify (- 0) into 0 31.830 * [backup-simplify]: Simplify (+ 0 0) into 0 31.831 * [backup-simplify]: Simplify (+ 0) into 0 31.831 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 31.831 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.832 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.833 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 31.833 * [backup-simplify]: Simplify (- 0) into 0 31.833 * [backup-simplify]: Simplify (+ 0 0) into 0 31.834 * [backup-simplify]: Simplify (+ 0) into 0 31.834 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 31.834 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.835 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.836 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 31.836 * [backup-simplify]: Simplify (+ 0 0) into 0 31.836 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 31.836 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 31.837 * [backup-simplify]: Simplify (+ 0) into 0 31.837 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 31.837 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.838 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.839 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 31.839 * [backup-simplify]: Simplify (- 0) into 0 31.839 * [backup-simplify]: Simplify (+ 0 0) into 0 31.840 * [backup-simplify]: Simplify (+ 0) into 0 31.840 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 31.840 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.841 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.842 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 31.842 * [backup-simplify]: Simplify (+ 0 0) into 0 31.842 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 31.842 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 31.843 * [backup-simplify]: Simplify (+ 0) into 0 31.843 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 31.843 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.844 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.845 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 31.845 * [backup-simplify]: Simplify (+ 0 0) into 0 31.845 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 31.846 * [backup-simplify]: Simplify (+ 0 0) into 0 31.846 * [backup-simplify]: Simplify (- 0) into 0 31.846 * [backup-simplify]: Simplify (+ 0 0) into 0 31.846 * [backup-simplify]: Simplify 0 into 0 31.847 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.848 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.848 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.849 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.849 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.850 * [backup-simplify]: Simplify (- 0) into 0 31.850 * [backup-simplify]: Simplify (+ 0 0) into 0 31.851 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 31.852 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.852 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.852 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.853 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.854 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.854 * [backup-simplify]: Simplify (- 0) into 0 31.855 * [backup-simplify]: Simplify (+ 0 0) into 0 31.855 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 31.856 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.857 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.857 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.858 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.858 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.859 * [backup-simplify]: Simplify (+ 0 0) into 0 31.859 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 31.859 * [backup-simplify]: Simplify (+ 0 0) into 0 31.860 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.861 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.861 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.862 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.863 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.863 * [backup-simplify]: Simplify (+ 0 0) into 0 31.864 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) into 0 31.864 * [backup-simplify]: Simplify (- 0) into 0 31.864 * [backup-simplify]: Simplify (+ 0 0) into 0 31.864 * [taylor]: Taking taylor expansion of 0 in phi1 31.865 * [backup-simplify]: Simplify 0 into 0 31.865 * [taylor]: Taking taylor expansion of 0 in theta 31.865 * [backup-simplify]: Simplify 0 into 0 31.865 * [backup-simplify]: Simplify 0 into 0 31.865 * [taylor]: Taking taylor expansion of 0 in theta 31.865 * [backup-simplify]: Simplify 0 into 0 31.865 * [backup-simplify]: Simplify 0 into 0 31.866 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.866 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.866 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.867 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.867 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.868 * [backup-simplify]: Simplify (- 0) into 0 31.868 * [backup-simplify]: Simplify (+ 0 0) into 0 31.868 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.869 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.869 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.869 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.870 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.870 * [backup-simplify]: Simplify (- 0) into 0 31.870 * [backup-simplify]: Simplify (+ 0 0) into 0 31.870 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 31.871 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 31.871 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.872 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.872 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.872 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.873 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.873 * [backup-simplify]: Simplify (+ 0 0) into 0 31.873 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 phi1))))) into 0 31.874 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.874 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.874 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.875 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.875 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.875 * [backup-simplify]: Simplify (- 0) into 0 31.876 * [backup-simplify]: Simplify (+ 0 0) into 0 31.876 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 31.876 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))))) into 0 31.877 * [backup-simplify]: Simplify (+ 0 0) into 0 31.877 * [backup-simplify]: Simplify (- 0) into 0 31.877 * [backup-simplify]: Simplify (+ 0 0) into 0 31.877 * [taylor]: Taking taylor expansion of 0 in theta 31.877 * [backup-simplify]: Simplify 0 into 0 31.877 * [backup-simplify]: Simplify 0 into 0 31.877 * [backup-simplify]: Simplify (- (cos (/ -1 (/ 1 (- delta)))) (+ (* (pow (sin (/ -1 (/ 1 (- phi1)))) 2) (cos (/ -1 (/ 1 (- delta))))) (* (sin (/ -1 (/ 1 (- phi1)))) (* (cos (/ -1 (/ 1 (- theta)))) (* (sin (/ -1 (/ 1 (- delta)))) (cos (/ -1 (/ 1 (- phi1))))))))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos theta) (* (sin delta) (cos phi1)))))) 31.878 * * * * [progress]: [ 2 / 4 ] generating series at (2 1 2 2 2 1) 31.878 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 31.878 * [approximate]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in (theta phi1 delta) around 0 31.878 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 31.878 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 31.878 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 31.878 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 31.878 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 31.878 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 31.878 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 31.878 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 31.878 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 31.879 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 31.879 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 31.879 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 31.879 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 31.879 * [taylor]: Taking taylor expansion of 0 in phi1 31.879 * [backup-simplify]: Simplify 0 into 0 31.879 * [taylor]: Taking taylor expansion of 0 in delta 31.879 * [backup-simplify]: Simplify 0 into 0 31.879 * [backup-simplify]: Simplify 0 into 0 31.879 * [taylor]: Taking taylor expansion of 0 in delta 31.879 * [backup-simplify]: Simplify 0 into 0 31.879 * [backup-simplify]: Simplify 0 into 0 31.879 * [backup-simplify]: Simplify 0 into 0 31.879 * [taylor]: Taking taylor expansion of 0 in phi1 31.879 * [backup-simplify]: Simplify 0 into 0 31.879 * [taylor]: Taking taylor expansion of 0 in delta 31.879 * [backup-simplify]: Simplify 0 into 0 31.879 * [backup-simplify]: Simplify 0 into 0 31.879 * [taylor]: Taking taylor expansion of 0 in delta 31.879 * [backup-simplify]: Simplify 0 into 0 31.879 * [backup-simplify]: Simplify 0 into 0 31.879 * [taylor]: Taking taylor expansion of 0 in delta 31.879 * [backup-simplify]: Simplify 0 into 0 31.879 * [backup-simplify]: Simplify 0 into 0 31.879 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 31.879 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) into (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) 31.880 * [approximate]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in (theta phi1 delta) around 0 31.880 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in delta 31.880 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) into (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) 31.880 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in phi1 31.880 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) into (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) 31.880 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in theta 31.880 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) into (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) 31.880 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in theta 31.880 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) into (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) 31.880 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in phi1 31.880 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) into (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) 31.881 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in delta 31.881 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) into (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) 31.881 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) into (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) 31.881 * [taylor]: Taking taylor expansion of 0 in phi1 31.881 * [backup-simplify]: Simplify 0 into 0 31.881 * [taylor]: Taking taylor expansion of 0 in delta 31.881 * [backup-simplify]: Simplify 0 into 0 31.881 * [backup-simplify]: Simplify 0 into 0 31.881 * [taylor]: Taking taylor expansion of 0 in delta 31.881 * [backup-simplify]: Simplify 0 into 0 31.881 * [backup-simplify]: Simplify 0 into 0 31.881 * [backup-simplify]: Simplify 0 into 0 31.881 * [taylor]: Taking taylor expansion of 0 in phi1 31.881 * [backup-simplify]: Simplify 0 into 0 31.881 * [taylor]: Taking taylor expansion of 0 in delta 31.881 * [backup-simplify]: Simplify 0 into 0 31.881 * [backup-simplify]: Simplify 0 into 0 31.881 * [taylor]: Taking taylor expansion of 0 in delta 31.881 * [backup-simplify]: Simplify 0 into 0 31.881 * [backup-simplify]: Simplify 0 into 0 31.881 * [taylor]: Taking taylor expansion of 0 in delta 31.881 * [backup-simplify]: Simplify 0 into 0 31.881 * [backup-simplify]: Simplify 0 into 0 31.882 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 (/ 1 theta))) (* (sin (/ 1 (/ 1 delta))) (cos (/ 1 (/ 1 phi1)))) (* (sin (/ 1 (/ 1 phi1))) (cos (/ 1 (/ 1 delta)))))) into (asin (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta)))) 31.882 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 (- theta))) (* (cos (/ 1 (- phi1))) (sin (/ 1 (- delta)))) (* (cos (/ 1 (- delta))) (sin (/ 1 (- phi1)))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 31.882 * [approximate]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in (theta phi1 delta) around 0 31.882 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 31.882 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 31.882 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 31.882 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 31.882 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 31.882 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 31.882 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 31.882 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 31.883 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 31.883 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 31.883 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 31.883 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 31.883 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 31.883 * [taylor]: Taking taylor expansion of 0 in phi1 31.883 * [backup-simplify]: Simplify 0 into 0 31.883 * [taylor]: Taking taylor expansion of 0 in delta 31.883 * [backup-simplify]: Simplify 0 into 0 31.883 * [backup-simplify]: Simplify 0 into 0 31.883 * [taylor]: Taking taylor expansion of 0 in delta 31.883 * [backup-simplify]: Simplify 0 into 0 31.883 * [backup-simplify]: Simplify 0 into 0 31.883 * [backup-simplify]: Simplify 0 into 0 31.883 * [taylor]: Taking taylor expansion of 0 in phi1 31.883 * [backup-simplify]: Simplify 0 into 0 31.883 * [taylor]: Taking taylor expansion of 0 in delta 31.883 * [backup-simplify]: Simplify 0 into 0 31.883 * [backup-simplify]: Simplify 0 into 0 31.883 * [taylor]: Taking taylor expansion of 0 in delta 31.883 * [backup-simplify]: Simplify 0 into 0 31.883 * [backup-simplify]: Simplify 0 into 0 31.883 * [taylor]: Taking taylor expansion of 0 in delta 31.883 * [backup-simplify]: Simplify 0 into 0 31.883 * [backup-simplify]: Simplify 0 into 0 31.884 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 (/ 1 (- theta)))) (* (cos (/ -1 (/ 1 (- phi1)))) (sin (/ -1 (/ 1 (- delta))))) (* (sin (/ -1 (/ 1 (- phi1)))) (cos (/ -1 (/ 1 (- delta))))))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 31.884 * * * * [progress]: [ 3 / 4 ] generating series at (2 1 1) 31.884 * [backup-simplify]: Simplify (* (sin delta) (* (cos phi1) (sin theta))) into (* (sin delta) (* (cos phi1) (sin theta))) 31.884 * [approximate]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in (delta phi1 theta) around 0 31.884 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in theta 31.884 * [taylor]: Taking taylor expansion of (sin delta) in theta 31.884 * [taylor]: Taking taylor expansion of delta in theta 31.884 * [backup-simplify]: Simplify delta into delta 31.884 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.884 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.884 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in theta 31.884 * [taylor]: Taking taylor expansion of (cos phi1) in theta 31.884 * [taylor]: Taking taylor expansion of phi1 in theta 31.884 * [backup-simplify]: Simplify phi1 into phi1 31.884 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.884 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.884 * [taylor]: Taking taylor expansion of (sin theta) in theta 31.884 * [taylor]: Taking taylor expansion of theta in theta 31.884 * [backup-simplify]: Simplify 0 into 0 31.884 * [backup-simplify]: Simplify 1 into 1 31.884 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in phi1 31.884 * [taylor]: Taking taylor expansion of (sin delta) in phi1 31.884 * [taylor]: Taking taylor expansion of delta in phi1 31.884 * [backup-simplify]: Simplify delta into delta 31.884 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.884 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.884 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in phi1 31.884 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 31.884 * [taylor]: Taking taylor expansion of phi1 in phi1 31.884 * [backup-simplify]: Simplify 0 into 0 31.884 * [backup-simplify]: Simplify 1 into 1 31.884 * [taylor]: Taking taylor expansion of (sin theta) in phi1 31.884 * [taylor]: Taking taylor expansion of theta in phi1 31.884 * [backup-simplify]: Simplify theta into theta 31.884 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.884 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.884 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in delta 31.884 * [taylor]: Taking taylor expansion of (sin delta) in delta 31.884 * [taylor]: Taking taylor expansion of delta in delta 31.884 * [backup-simplify]: Simplify 0 into 0 31.884 * [backup-simplify]: Simplify 1 into 1 31.884 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in delta 31.884 * [taylor]: Taking taylor expansion of (cos phi1) in delta 31.884 * [taylor]: Taking taylor expansion of phi1 in delta 31.884 * [backup-simplify]: Simplify phi1 into phi1 31.885 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.885 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.885 * [taylor]: Taking taylor expansion of (sin theta) in delta 31.885 * [taylor]: Taking taylor expansion of theta in delta 31.885 * [backup-simplify]: Simplify theta into theta 31.885 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.885 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.885 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in delta 31.885 * [taylor]: Taking taylor expansion of (sin delta) in delta 31.885 * [taylor]: Taking taylor expansion of delta in delta 31.885 * [backup-simplify]: Simplify 0 into 0 31.885 * [backup-simplify]: Simplify 1 into 1 31.885 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in delta 31.885 * [taylor]: Taking taylor expansion of (cos phi1) in delta 31.885 * [taylor]: Taking taylor expansion of phi1 in delta 31.885 * [backup-simplify]: Simplify phi1 into phi1 31.885 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.885 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.885 * [taylor]: Taking taylor expansion of (sin theta) in delta 31.885 * [taylor]: Taking taylor expansion of theta in delta 31.885 * [backup-simplify]: Simplify theta into theta 31.885 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.885 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.885 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 31.885 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 31.885 * [backup-simplify]: Simplify (- 0) into 0 31.885 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 31.886 * [backup-simplify]: Simplify (* (sin theta) 1) into (sin theta) 31.886 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 31.886 * [backup-simplify]: Simplify (+ (sin theta) 0) into (sin theta) 31.886 * [backup-simplify]: Simplify (* (cos phi1) (sin theta)) into (* (cos phi1) (sin theta)) 31.886 * [backup-simplify]: Simplify (* 0 (* (cos phi1) (sin theta))) into 0 31.886 * [taylor]: Taking taylor expansion of 0 in phi1 31.886 * [backup-simplify]: Simplify 0 into 0 31.886 * [taylor]: Taking taylor expansion of 0 in theta 31.886 * [backup-simplify]: Simplify 0 into 0 31.886 * [backup-simplify]: Simplify 0 into 0 31.886 * [backup-simplify]: Simplify (+ 0) into 0 31.886 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 1)) into 0 31.887 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.887 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 0)) into 0 31.887 * [backup-simplify]: Simplify (+ 0 0) into 0 31.888 * [backup-simplify]: Simplify (+ 0) into 0 31.888 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 31.888 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.889 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 31.889 * [backup-simplify]: Simplify (- 0) into 0 31.889 * [backup-simplify]: Simplify (+ 0 0) into 0 31.889 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 (sin theta))) into 0 31.890 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.890 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos phi1) (sin theta)))) into (* (cos phi1) (sin theta)) 31.890 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in phi1 31.890 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 31.890 * [taylor]: Taking taylor expansion of phi1 in phi1 31.890 * [backup-simplify]: Simplify 0 into 0 31.890 * [backup-simplify]: Simplify 1 into 1 31.890 * [taylor]: Taking taylor expansion of (sin theta) in phi1 31.890 * [taylor]: Taking taylor expansion of theta in phi1 31.890 * [backup-simplify]: Simplify theta into theta 31.890 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.890 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.890 * [backup-simplify]: Simplify (* (sin theta) 1) into (sin theta) 31.890 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 31.890 * [backup-simplify]: Simplify (+ (sin theta) 0) into (sin theta) 31.890 * [backup-simplify]: Simplify (* 1 (sin theta)) into (sin theta) 31.890 * [taylor]: Taking taylor expansion of (sin theta) in theta 31.890 * [taylor]: Taking taylor expansion of theta in theta 31.890 * [backup-simplify]: Simplify 0 into 0 31.891 * [backup-simplify]: Simplify 1 into 1 31.891 * [backup-simplify]: Simplify 0 into 0 31.891 * [taylor]: Taking taylor expansion of 0 in theta 31.891 * [backup-simplify]: Simplify 0 into 0 31.891 * [backup-simplify]: Simplify 0 into 0 31.891 * [backup-simplify]: Simplify 0 into 0 31.891 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.892 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 1))) into 0 31.892 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.892 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 0))) into 0 31.893 * [backup-simplify]: Simplify (+ 0 0) into 0 31.893 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.894 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 31.896 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.897 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 31.897 * [backup-simplify]: Simplify (- 0) into 0 31.897 * [backup-simplify]: Simplify (+ 0 0) into 0 31.898 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 (sin theta)))) into 0 31.898 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.899 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (cos phi1) (sin theta))))) into 0 31.899 * [taylor]: Taking taylor expansion of 0 in phi1 31.899 * [backup-simplify]: Simplify 0 into 0 31.899 * [taylor]: Taking taylor expansion of 0 in theta 31.899 * [backup-simplify]: Simplify 0 into 0 31.899 * [backup-simplify]: Simplify 0 into 0 31.900 * [backup-simplify]: Simplify (+ 0) into 0 31.900 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 1)) into 0 31.901 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.902 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 0)) into 0 31.902 * [backup-simplify]: Simplify (+ 0 0) into 0 31.902 * [backup-simplify]: Simplify (+ 0) into 0 31.903 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin theta))) into 0 31.903 * [taylor]: Taking taylor expansion of 0 in theta 31.903 * [backup-simplify]: Simplify 0 into 0 31.903 * [backup-simplify]: Simplify 0 into 0 31.903 * [backup-simplify]: Simplify 0 into 0 31.903 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) 31.903 * [approximate]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in (delta phi1 theta) around 0 31.903 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in theta 31.903 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 31.903 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.903 * [taylor]: Taking taylor expansion of phi1 in theta 31.903 * [backup-simplify]: Simplify phi1 into phi1 31.903 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.903 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.904 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.904 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in theta 31.904 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in theta 31.904 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 31.904 * [taylor]: Taking taylor expansion of theta in theta 31.904 * [backup-simplify]: Simplify 0 into 0 31.904 * [backup-simplify]: Simplify 1 into 1 31.904 * [backup-simplify]: Simplify (/ 1 1) into 1 31.904 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.904 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 31.904 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.904 * [taylor]: Taking taylor expansion of delta in theta 31.904 * [backup-simplify]: Simplify delta into delta 31.904 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.904 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.904 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.904 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in phi1 31.905 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 31.905 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.905 * [taylor]: Taking taylor expansion of phi1 in phi1 31.905 * [backup-simplify]: Simplify 0 into 0 31.905 * [backup-simplify]: Simplify 1 into 1 31.905 * [backup-simplify]: Simplify (/ 1 1) into 1 31.905 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.905 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in phi1 31.905 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in phi1 31.905 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 31.905 * [taylor]: Taking taylor expansion of theta in phi1 31.905 * [backup-simplify]: Simplify theta into theta 31.905 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.905 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.905 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.905 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 31.905 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.905 * [taylor]: Taking taylor expansion of delta in phi1 31.906 * [backup-simplify]: Simplify delta into delta 31.906 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.906 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.906 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.906 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in delta 31.906 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 31.906 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.906 * [taylor]: Taking taylor expansion of phi1 in delta 31.906 * [backup-simplify]: Simplify phi1 into phi1 31.906 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.906 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.906 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.906 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in delta 31.906 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in delta 31.906 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 31.906 * [taylor]: Taking taylor expansion of theta in delta 31.906 * [backup-simplify]: Simplify theta into theta 31.906 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.906 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.906 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.906 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 31.906 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.906 * [taylor]: Taking taylor expansion of delta in delta 31.906 * [backup-simplify]: Simplify 0 into 0 31.906 * [backup-simplify]: Simplify 1 into 1 31.907 * [backup-simplify]: Simplify (/ 1 1) into 1 31.907 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.907 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in delta 31.907 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 31.907 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.907 * [taylor]: Taking taylor expansion of phi1 in delta 31.907 * [backup-simplify]: Simplify phi1 into phi1 31.907 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.907 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.907 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.907 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in delta 31.907 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in delta 31.907 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 31.907 * [taylor]: Taking taylor expansion of theta in delta 31.907 * [backup-simplify]: Simplify theta into theta 31.907 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.907 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.907 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.907 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 31.907 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.908 * [taylor]: Taking taylor expansion of delta in delta 31.908 * [backup-simplify]: Simplify 0 into 0 31.908 * [backup-simplify]: Simplify 1 into 1 31.908 * [backup-simplify]: Simplify (/ 1 1) into 1 31.908 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.908 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 31.908 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 31.909 * [backup-simplify]: Simplify (- 0) into 0 31.909 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 31.909 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 1) into (sin (/ 1 theta)) 31.909 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 0) into 0 31.909 * [backup-simplify]: Simplify (+ (sin (/ 1 theta)) 0) into (sin (/ 1 theta)) 31.909 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (sin (/ 1 delta))) into (* (sin (/ 1 theta)) (sin (/ 1 delta))) 31.909 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) 31.909 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 31.909 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 31.909 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.909 * [taylor]: Taking taylor expansion of delta in phi1 31.910 * [backup-simplify]: Simplify delta into delta 31.910 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.910 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.910 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.910 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (cos (/ 1 phi1))) in phi1 31.910 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in phi1 31.910 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 31.910 * [taylor]: Taking taylor expansion of theta in phi1 31.910 * [backup-simplify]: Simplify theta into theta 31.910 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.910 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.910 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.910 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 31.910 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.910 * [taylor]: Taking taylor expansion of phi1 in phi1 31.910 * [backup-simplify]: Simplify 0 into 0 31.910 * [backup-simplify]: Simplify 1 into 1 31.911 * [backup-simplify]: Simplify (/ 1 1) into 1 31.911 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.911 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 31.911 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 31.911 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 31.911 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 1) into (sin (/ 1 theta)) 31.911 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 0) into 0 31.911 * [backup-simplify]: Simplify (+ (sin (/ 1 theta)) 0) into (sin (/ 1 theta)) 31.911 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (cos (/ 1 phi1))) into (* (sin (/ 1 theta)) (cos (/ 1 phi1))) 31.911 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) 31.911 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in theta 31.912 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 31.912 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.912 * [taylor]: Taking taylor expansion of phi1 in theta 31.912 * [backup-simplify]: Simplify phi1 into phi1 31.912 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.912 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.912 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.912 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in theta 31.912 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in theta 31.912 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 31.912 * [taylor]: Taking taylor expansion of theta in theta 31.912 * [backup-simplify]: Simplify 0 into 0 31.912 * [backup-simplify]: Simplify 1 into 1 31.912 * [backup-simplify]: Simplify (/ 1 1) into 1 31.912 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.912 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 31.912 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.912 * [taylor]: Taking taylor expansion of delta in theta 31.912 * [backup-simplify]: Simplify delta into delta 31.913 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.913 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.913 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.913 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 31.913 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 31.913 * [backup-simplify]: Simplify (- 0) into 0 31.913 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 31.913 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 31.913 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 31.914 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 31.914 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (sin (/ 1 delta))) into (* (sin (/ 1 theta)) (sin (/ 1 delta))) 31.914 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) 31.914 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) 31.914 * [backup-simplify]: Simplify (+ 0) into 0 31.915 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 1)) into 0 31.915 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 31.916 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.916 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 0)) into 0 31.917 * [backup-simplify]: Simplify (+ 0 0) into 0 31.917 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 31.917 * [backup-simplify]: Simplify (+ 0) into 0 31.918 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 31.918 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.919 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.919 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 31.920 * [backup-simplify]: Simplify (- 0) into 0 31.920 * [backup-simplify]: Simplify (+ 0 0) into 0 31.920 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 theta)) (sin (/ 1 delta))))) into 0 31.920 * [taylor]: Taking taylor expansion of 0 in phi1 31.920 * [backup-simplify]: Simplify 0 into 0 31.920 * [taylor]: Taking taylor expansion of 0 in theta 31.920 * [backup-simplify]: Simplify 0 into 0 31.920 * [backup-simplify]: Simplify 0 into 0 31.921 * [backup-simplify]: Simplify (+ 0) into 0 31.921 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 1)) into 0 31.921 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 31.922 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.923 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 0)) into 0 31.923 * [backup-simplify]: Simplify (+ 0 0) into 0 31.923 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 31.924 * [backup-simplify]: Simplify (+ 0) into 0 31.924 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 31.924 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.925 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.926 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 31.926 * [backup-simplify]: Simplify (+ 0 0) into 0 31.926 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (sin (/ 1 theta)) (cos (/ 1 phi1))))) into 0 31.926 * [taylor]: Taking taylor expansion of 0 in theta 31.926 * [backup-simplify]: Simplify 0 into 0 31.926 * [backup-simplify]: Simplify 0 into 0 31.927 * [backup-simplify]: Simplify (+ 0) into 0 31.927 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 31.927 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.928 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.929 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 31.929 * [backup-simplify]: Simplify (+ 0 0) into 0 31.929 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 31.929 * [backup-simplify]: Simplify (+ 0) into 0 31.930 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 31.930 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.931 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.931 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 31.932 * [backup-simplify]: Simplify (- 0) into 0 31.932 * [backup-simplify]: Simplify (+ 0 0) into 0 31.932 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 theta)) (sin (/ 1 delta))))) into 0 31.932 * [backup-simplify]: Simplify 0 into 0 31.933 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.934 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.934 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.935 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.935 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.936 * [backup-simplify]: Simplify (+ 0 0) into 0 31.936 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 31.937 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.938 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.938 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.939 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.940 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.940 * [backup-simplify]: Simplify (- 0) into 0 31.940 * [backup-simplify]: Simplify (+ 0 0) into 0 31.941 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 theta)) (sin (/ 1 delta)))))) into 0 31.941 * [taylor]: Taking taylor expansion of 0 in phi1 31.941 * [backup-simplify]: Simplify 0 into 0 31.941 * [taylor]: Taking taylor expansion of 0 in theta 31.941 * [backup-simplify]: Simplify 0 into 0 31.941 * [backup-simplify]: Simplify 0 into 0 31.941 * [taylor]: Taking taylor expansion of 0 in theta 31.941 * [backup-simplify]: Simplify 0 into 0 31.941 * [backup-simplify]: Simplify 0 into 0 31.942 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.943 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.943 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.944 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.944 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.945 * [backup-simplify]: Simplify (+ 0 0) into 0 31.945 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 31.946 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.947 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.947 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.948 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.948 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.948 * [backup-simplify]: Simplify (+ 0 0) into 0 31.949 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 31.949 * [taylor]: Taking taylor expansion of 0 in theta 31.949 * [backup-simplify]: Simplify 0 into 0 31.949 * [backup-simplify]: Simplify 0 into 0 31.949 * [backup-simplify]: Simplify (* (cos (/ 1 (/ 1 phi1))) (* (sin (/ 1 (/ 1 theta))) (sin (/ 1 (/ 1 delta))))) into (* (cos phi1) (* (sin theta) (sin delta))) 31.950 * [backup-simplify]: Simplify (* (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (sin (/ 1 (- theta))))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) 31.950 * [approximate]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in (delta phi1 theta) around 0 31.950 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in theta 31.950 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 31.950 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.950 * [taylor]: Taking taylor expansion of -1 in theta 31.950 * [backup-simplify]: Simplify -1 into -1 31.950 * [taylor]: Taking taylor expansion of phi1 in theta 31.950 * [backup-simplify]: Simplify phi1 into phi1 31.950 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.950 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.950 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.950 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in theta 31.950 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in theta 31.950 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 31.950 * [taylor]: Taking taylor expansion of -1 in theta 31.950 * [backup-simplify]: Simplify -1 into -1 31.950 * [taylor]: Taking taylor expansion of theta in theta 31.950 * [backup-simplify]: Simplify 0 into 0 31.950 * [backup-simplify]: Simplify 1 into 1 31.951 * [backup-simplify]: Simplify (/ -1 1) into -1 31.951 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.951 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 31.951 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.951 * [taylor]: Taking taylor expansion of -1 in theta 31.951 * [backup-simplify]: Simplify -1 into -1 31.951 * [taylor]: Taking taylor expansion of delta in theta 31.951 * [backup-simplify]: Simplify delta into delta 31.951 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.951 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.951 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.951 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in phi1 31.951 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 31.951 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.951 * [taylor]: Taking taylor expansion of -1 in phi1 31.951 * [backup-simplify]: Simplify -1 into -1 31.951 * [taylor]: Taking taylor expansion of phi1 in phi1 31.951 * [backup-simplify]: Simplify 0 into 0 31.951 * [backup-simplify]: Simplify 1 into 1 31.952 * [backup-simplify]: Simplify (/ -1 1) into -1 31.952 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.952 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in phi1 31.952 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in phi1 31.952 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 31.952 * [taylor]: Taking taylor expansion of -1 in phi1 31.952 * [backup-simplify]: Simplify -1 into -1 31.952 * [taylor]: Taking taylor expansion of theta in phi1 31.952 * [backup-simplify]: Simplify theta into theta 31.952 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.952 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.952 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.952 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 31.952 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.952 * [taylor]: Taking taylor expansion of -1 in phi1 31.952 * [backup-simplify]: Simplify -1 into -1 31.952 * [taylor]: Taking taylor expansion of delta in phi1 31.952 * [backup-simplify]: Simplify delta into delta 31.952 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.953 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.953 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.953 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in delta 31.953 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 31.953 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.953 * [taylor]: Taking taylor expansion of -1 in delta 31.953 * [backup-simplify]: Simplify -1 into -1 31.953 * [taylor]: Taking taylor expansion of phi1 in delta 31.953 * [backup-simplify]: Simplify phi1 into phi1 31.953 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.953 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.953 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.953 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in delta 31.953 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in delta 31.953 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 31.953 * [taylor]: Taking taylor expansion of -1 in delta 31.953 * [backup-simplify]: Simplify -1 into -1 31.953 * [taylor]: Taking taylor expansion of theta in delta 31.953 * [backup-simplify]: Simplify theta into theta 31.953 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.953 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.953 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.953 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 31.953 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.953 * [taylor]: Taking taylor expansion of -1 in delta 31.953 * [backup-simplify]: Simplify -1 into -1 31.953 * [taylor]: Taking taylor expansion of delta in delta 31.953 * [backup-simplify]: Simplify 0 into 0 31.954 * [backup-simplify]: Simplify 1 into 1 31.954 * [backup-simplify]: Simplify (/ -1 1) into -1 31.954 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.954 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in delta 31.954 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 31.954 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.954 * [taylor]: Taking taylor expansion of -1 in delta 31.954 * [backup-simplify]: Simplify -1 into -1 31.954 * [taylor]: Taking taylor expansion of phi1 in delta 31.954 * [backup-simplify]: Simplify phi1 into phi1 31.954 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.954 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.954 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.954 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in delta 31.955 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in delta 31.955 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 31.955 * [taylor]: Taking taylor expansion of -1 in delta 31.955 * [backup-simplify]: Simplify -1 into -1 31.955 * [taylor]: Taking taylor expansion of theta in delta 31.955 * [backup-simplify]: Simplify theta into theta 31.955 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.955 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.955 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.955 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 31.955 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.955 * [taylor]: Taking taylor expansion of -1 in delta 31.955 * [backup-simplify]: Simplify -1 into -1 31.955 * [taylor]: Taking taylor expansion of delta in delta 31.955 * [backup-simplify]: Simplify 0 into 0 31.955 * [backup-simplify]: Simplify 1 into 1 31.955 * [backup-simplify]: Simplify (/ -1 1) into -1 31.956 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.956 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 31.956 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 31.956 * [backup-simplify]: Simplify (- 0) into 0 31.956 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 31.956 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 1) into (sin (/ -1 theta)) 31.957 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 0) into 0 31.957 * [backup-simplify]: Simplify (+ (sin (/ -1 theta)) 0) into (sin (/ -1 theta)) 31.957 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (sin (/ -1 theta))) 31.957 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) 31.957 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) in phi1 31.957 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 31.957 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.957 * [taylor]: Taking taylor expansion of -1 in phi1 31.957 * [backup-simplify]: Simplify -1 into -1 31.957 * [taylor]: Taking taylor expansion of phi1 in phi1 31.957 * [backup-simplify]: Simplify 0 into 0 31.957 * [backup-simplify]: Simplify 1 into 1 31.958 * [backup-simplify]: Simplify (/ -1 1) into -1 31.958 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.958 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (sin (/ -1 theta))) in phi1 31.958 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 31.958 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.958 * [taylor]: Taking taylor expansion of -1 in phi1 31.958 * [backup-simplify]: Simplify -1 into -1 31.958 * [taylor]: Taking taylor expansion of delta in phi1 31.958 * [backup-simplify]: Simplify delta into delta 31.958 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.958 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.958 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.958 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in phi1 31.958 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 31.958 * [taylor]: Taking taylor expansion of -1 in phi1 31.958 * [backup-simplify]: Simplify -1 into -1 31.958 * [taylor]: Taking taylor expansion of theta in phi1 31.958 * [backup-simplify]: Simplify theta into theta 31.958 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.958 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.958 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.958 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 31.959 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 31.959 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 31.959 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 1) into (sin (/ -1 theta)) 31.959 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 0) into 0 31.959 * [backup-simplify]: Simplify (+ (sin (/ -1 theta)) 0) into (sin (/ -1 theta)) 31.959 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (sin (/ -1 theta))) into (* (sin (/ -1 theta)) (sin (/ -1 delta))) 31.959 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) 31.959 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in theta 31.959 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 31.959 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.959 * [taylor]: Taking taylor expansion of -1 in theta 31.959 * [backup-simplify]: Simplify -1 into -1 31.959 * [taylor]: Taking taylor expansion of phi1 in theta 31.959 * [backup-simplify]: Simplify phi1 into phi1 31.959 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.960 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.960 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.960 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in theta 31.960 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in theta 31.960 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 31.960 * [taylor]: Taking taylor expansion of -1 in theta 31.960 * [backup-simplify]: Simplify -1 into -1 31.960 * [taylor]: Taking taylor expansion of theta in theta 31.960 * [backup-simplify]: Simplify 0 into 0 31.960 * [backup-simplify]: Simplify 1 into 1 31.960 * [backup-simplify]: Simplify (/ -1 1) into -1 31.960 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.960 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 31.960 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.960 * [taylor]: Taking taylor expansion of -1 in theta 31.961 * [backup-simplify]: Simplify -1 into -1 31.961 * [taylor]: Taking taylor expansion of delta in theta 31.961 * [backup-simplify]: Simplify delta into delta 31.961 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.961 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.961 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.961 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 31.961 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 31.961 * [backup-simplify]: Simplify (- 0) into 0 31.961 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 31.962 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 31.962 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 31.962 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 31.962 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (sin (/ -1 theta))) 31.962 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) 31.962 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) 31.963 * [backup-simplify]: Simplify (+ 0) into 0 31.963 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 1)) into 0 31.963 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 31.964 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.965 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 0)) into 0 31.965 * [backup-simplify]: Simplify (+ 0 0) into 0 31.965 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 31.966 * [backup-simplify]: Simplify (+ 0) into 0 31.966 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 31.966 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.967 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.968 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 31.968 * [backup-simplify]: Simplify (- 0) into 0 31.969 * [backup-simplify]: Simplify (+ 0 0) into 0 31.969 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (sin (/ -1 theta))))) into 0 31.969 * [taylor]: Taking taylor expansion of 0 in phi1 31.969 * [backup-simplify]: Simplify 0 into 0 31.969 * [taylor]: Taking taylor expansion of 0 in theta 31.969 * [backup-simplify]: Simplify 0 into 0 31.969 * [backup-simplify]: Simplify 0 into 0 31.970 * [backup-simplify]: Simplify (+ 0) into 0 31.970 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 1)) into 0 31.970 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 31.971 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.972 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 0)) into 0 31.972 * [backup-simplify]: Simplify (+ 0 0) into 0 31.972 * [backup-simplify]: Simplify (+ 0) into 0 31.973 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 31.973 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.974 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.974 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 31.975 * [backup-simplify]: Simplify (+ 0 0) into 0 31.975 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (sin (/ -1 theta)))) into 0 31.975 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 theta)) (sin (/ -1 delta))))) into 0 31.975 * [taylor]: Taking taylor expansion of 0 in theta 31.975 * [backup-simplify]: Simplify 0 into 0 31.975 * [backup-simplify]: Simplify 0 into 0 31.975 * [backup-simplify]: Simplify (+ 0) into 0 31.976 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 31.976 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.977 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.977 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 31.978 * [backup-simplify]: Simplify (+ 0 0) into 0 31.978 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 31.978 * [backup-simplify]: Simplify (+ 0) into 0 31.979 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 31.979 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.980 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.980 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 31.980 * [backup-simplify]: Simplify (- 0) into 0 31.981 * [backup-simplify]: Simplify (+ 0 0) into 0 31.981 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (sin (/ -1 theta))))) into 0 31.981 * [backup-simplify]: Simplify 0 into 0 31.982 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.983 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.983 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.984 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.984 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.985 * [backup-simplify]: Simplify (+ 0 0) into 0 31.985 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 31.986 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.987 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.987 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.988 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.988 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.989 * [backup-simplify]: Simplify (- 0) into 0 31.989 * [backup-simplify]: Simplify (+ 0 0) into 0 31.990 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -1 delta)) (sin (/ -1 theta)))))) into 0 31.990 * [taylor]: Taking taylor expansion of 0 in phi1 31.990 * [backup-simplify]: Simplify 0 into 0 31.990 * [taylor]: Taking taylor expansion of 0 in theta 31.990 * [backup-simplify]: Simplify 0 into 0 31.990 * [backup-simplify]: Simplify 0 into 0 31.990 * [taylor]: Taking taylor expansion of 0 in theta 31.990 * [backup-simplify]: Simplify 0 into 0 31.990 * [backup-simplify]: Simplify 0 into 0 31.991 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.992 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.992 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.993 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.993 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.994 * [backup-simplify]: Simplify (+ 0 0) into 0 31.995 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.996 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.996 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.997 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.997 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.997 * [backup-simplify]: Simplify (+ 0 0) into 0 31.998 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 theta))))) into 0 31.999 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -1 theta)) (sin (/ -1 delta)))))) into 0 31.999 * [taylor]: Taking taylor expansion of 0 in theta 31.999 * [backup-simplify]: Simplify 0 into 0 31.999 * [backup-simplify]: Simplify 0 into 0 31.999 * [backup-simplify]: Simplify (* (cos (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- delta)))) (sin (/ -1 (/ 1 (- theta)))))) into (* (cos phi1) (* (sin delta) (sin theta))) 31.999 * * * * [progress]: [ 4 / 4 ] generating series at (2 1 2 2 2 1 1) 31.999 * [backup-simplify]: Simplify (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))) into (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) 31.999 * [approximate]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in (theta phi1 delta) around 0 31.999 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 31.999 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 31.999 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 32.000 * [taylor]: Taking taylor expansion of (cos theta) in delta 32.000 * [taylor]: Taking taylor expansion of theta in delta 32.000 * [backup-simplify]: Simplify theta into theta 32.000 * [backup-simplify]: Simplify (cos theta) into (cos theta) 32.000 * [backup-simplify]: Simplify (sin theta) into (sin theta) 32.000 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 32.000 * [taylor]: Taking taylor expansion of (cos phi1) in delta 32.000 * [taylor]: Taking taylor expansion of phi1 in delta 32.000 * [backup-simplify]: Simplify phi1 into phi1 32.000 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 32.000 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 32.000 * [taylor]: Taking taylor expansion of (sin delta) in delta 32.000 * [taylor]: Taking taylor expansion of delta in delta 32.000 * [backup-simplify]: Simplify 0 into 0 32.000 * [backup-simplify]: Simplify 1 into 1 32.000 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 32.000 * [taylor]: Taking taylor expansion of (sin phi1) in delta 32.000 * [taylor]: Taking taylor expansion of phi1 in delta 32.000 * [backup-simplify]: Simplify phi1 into phi1 32.000 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 32.000 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 32.000 * [taylor]: Taking taylor expansion of (cos delta) in delta 32.000 * [taylor]: Taking taylor expansion of delta in delta 32.000 * [backup-simplify]: Simplify 0 into 0 32.000 * [backup-simplify]: Simplify 1 into 1 32.000 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 32.000 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 32.000 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 32.000 * [taylor]: Taking taylor expansion of (cos theta) in phi1 32.000 * [taylor]: Taking taylor expansion of theta in phi1 32.000 * [backup-simplify]: Simplify theta into theta 32.001 * [backup-simplify]: Simplify (cos theta) into (cos theta) 32.001 * [backup-simplify]: Simplify (sin theta) into (sin theta) 32.001 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 32.001 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 32.001 * [taylor]: Taking taylor expansion of phi1 in phi1 32.001 * [backup-simplify]: Simplify 0 into 0 32.001 * [backup-simplify]: Simplify 1 into 1 32.001 * [taylor]: Taking taylor expansion of (sin delta) in phi1 32.001 * [taylor]: Taking taylor expansion of delta in phi1 32.001 * [backup-simplify]: Simplify delta into delta 32.001 * [backup-simplify]: Simplify (sin delta) into (sin delta) 32.001 * [backup-simplify]: Simplify (cos delta) into (cos delta) 32.001 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 32.001 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 32.001 * [taylor]: Taking taylor expansion of phi1 in phi1 32.001 * [backup-simplify]: Simplify 0 into 0 32.001 * [backup-simplify]: Simplify 1 into 1 32.001 * [taylor]: Taking taylor expansion of (cos delta) in phi1 32.001 * [taylor]: Taking taylor expansion of delta in phi1 32.001 * [backup-simplify]: Simplify delta into delta 32.001 * [backup-simplify]: Simplify (cos delta) into (cos delta) 32.001 * [backup-simplify]: Simplify (sin delta) into (sin delta) 32.001 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 32.001 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 32.001 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 32.001 * [taylor]: Taking taylor expansion of (cos theta) in theta 32.001 * [taylor]: Taking taylor expansion of theta in theta 32.001 * [backup-simplify]: Simplify 0 into 0 32.001 * [backup-simplify]: Simplify 1 into 1 32.001 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 32.001 * [taylor]: Taking taylor expansion of (cos phi1) in theta 32.001 * [taylor]: Taking taylor expansion of phi1 in theta 32.001 * [backup-simplify]: Simplify phi1 into phi1 32.002 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 32.002 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 32.002 * [taylor]: Taking taylor expansion of (sin delta) in theta 32.002 * [taylor]: Taking taylor expansion of delta in theta 32.002 * [backup-simplify]: Simplify delta into delta 32.002 * [backup-simplify]: Simplify (sin delta) into (sin delta) 32.002 * [backup-simplify]: Simplify (cos delta) into (cos delta) 32.002 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 32.002 * [taylor]: Taking taylor expansion of (sin phi1) in theta 32.002 * [taylor]: Taking taylor expansion of phi1 in theta 32.002 * [backup-simplify]: Simplify phi1 into phi1 32.002 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 32.002 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 32.002 * [taylor]: Taking taylor expansion of (cos delta) in theta 32.002 * [taylor]: Taking taylor expansion of delta in theta 32.002 * [backup-simplify]: Simplify delta into delta 32.002 * [backup-simplify]: Simplify (cos delta) into (cos delta) 32.002 * [backup-simplify]: Simplify (sin delta) into (sin delta) 32.002 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 32.002 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 32.002 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 32.002 * [taylor]: Taking taylor expansion of (cos theta) in theta 32.002 * [taylor]: Taking taylor expansion of theta in theta 32.002 * [backup-simplify]: Simplify 0 into 0 32.002 * [backup-simplify]: Simplify 1 into 1 32.002 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 32.002 * [taylor]: Taking taylor expansion of (cos phi1) in theta 32.002 * [taylor]: Taking taylor expansion of phi1 in theta 32.002 * [backup-simplify]: Simplify phi1 into phi1 32.002 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 32.003 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 32.003 * [taylor]: Taking taylor expansion of (sin delta) in theta 32.003 * [taylor]: Taking taylor expansion of delta in theta 32.003 * [backup-simplify]: Simplify delta into delta 32.003 * [backup-simplify]: Simplify (sin delta) into (sin delta) 32.003 * [backup-simplify]: Simplify (cos delta) into (cos delta) 32.003 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 32.003 * [taylor]: Taking taylor expansion of (sin phi1) in theta 32.003 * [taylor]: Taking taylor expansion of phi1 in theta 32.003 * [backup-simplify]: Simplify phi1 into phi1 32.003 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 32.003 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 32.003 * [taylor]: Taking taylor expansion of (cos delta) in theta 32.003 * [taylor]: Taking taylor expansion of delta in theta 32.003 * [backup-simplify]: Simplify delta into delta 32.003 * [backup-simplify]: Simplify (cos delta) into (cos delta) 32.003 * [backup-simplify]: Simplify (sin delta) into (sin delta) 32.003 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 32.003 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 32.004 * [backup-simplify]: Simplify (- 0) into 0 32.004 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 32.004 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 32.004 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 32.004 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 32.004 * [backup-simplify]: Simplify (* (cos phi1) (sin delta)) into (* (cos phi1) (sin delta)) 32.004 * [backup-simplify]: Simplify (* 1 (* (cos phi1) (sin delta))) into (* (cos phi1) (sin delta)) 32.004 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 32.004 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 32.004 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 32.005 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 32.005 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 32.005 * [backup-simplify]: Simplify (- 0) into 0 32.005 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 32.005 * [backup-simplify]: Simplify (* (sin phi1) (cos delta)) into (* (sin phi1) (cos delta)) 32.005 * [backup-simplify]: Simplify (+ (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) into (+ (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) 32.005 * [taylor]: Taking taylor expansion of (+ (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 32.005 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 32.005 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 32.005 * [taylor]: Taking taylor expansion of phi1 in phi1 32.005 * [backup-simplify]: Simplify 0 into 0 32.005 * [backup-simplify]: Simplify 1 into 1 32.005 * [taylor]: Taking taylor expansion of (sin delta) in phi1 32.006 * [taylor]: Taking taylor expansion of delta in phi1 32.006 * [backup-simplify]: Simplify delta into delta 32.006 * [backup-simplify]: Simplify (sin delta) into (sin delta) 32.006 * [backup-simplify]: Simplify (cos delta) into (cos delta) 32.006 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 32.006 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 32.006 * [taylor]: Taking taylor expansion of phi1 in phi1 32.006 * [backup-simplify]: Simplify 0 into 0 32.006 * [backup-simplify]: Simplify 1 into 1 32.006 * [taylor]: Taking taylor expansion of (cos delta) in phi1 32.006 * [taylor]: Taking taylor expansion of delta in phi1 32.006 * [backup-simplify]: Simplify delta into delta 32.006 * [backup-simplify]: Simplify (cos delta) into (cos delta) 32.006 * [backup-simplify]: Simplify (sin delta) into (sin delta) 32.006 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 32.006 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 32.006 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 32.006 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 32.006 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 32.006 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 32.006 * [backup-simplify]: Simplify (- 0) into 0 32.007 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 32.007 * [backup-simplify]: Simplify (* 0 (cos delta)) into 0 32.007 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 32.007 * [taylor]: Taking taylor expansion of (sin delta) in delta 32.007 * [taylor]: Taking taylor expansion of delta in delta 32.007 * [backup-simplify]: Simplify 0 into 0 32.007 * [backup-simplify]: Simplify 1 into 1 32.007 * [backup-simplify]: Simplify 0 into 0 32.007 * [backup-simplify]: Simplify (+ 0) into 0 32.007 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 32.008 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.008 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 32.008 * [backup-simplify]: Simplify (+ 0 0) into 0 32.009 * [backup-simplify]: Simplify (+ 0) into 0 32.009 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 32.009 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.010 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 32.010 * [backup-simplify]: Simplify (- 0) into 0 32.010 * [backup-simplify]: Simplify (+ 0 0) into 0 32.010 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 (sin delta))) into 0 32.011 * [backup-simplify]: Simplify (+ 0) into 0 32.011 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (cos phi1) (sin delta)))) into 0 32.011 * [backup-simplify]: Simplify (+ 0) into 0 32.012 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 32.012 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.012 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 32.013 * [backup-simplify]: Simplify (- 0) into 0 32.013 * [backup-simplify]: Simplify (+ 0 0) into 0 32.013 * [backup-simplify]: Simplify (+ 0) into 0 32.013 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 32.014 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.014 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 32.014 * [backup-simplify]: Simplify (+ 0 0) into 0 32.015 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 (cos delta))) into 0 32.015 * [backup-simplify]: Simplify (+ 0 0) into 0 32.015 * [taylor]: Taking taylor expansion of 0 in phi1 32.015 * [backup-simplify]: Simplify 0 into 0 32.015 * [taylor]: Taking taylor expansion of 0 in delta 32.015 * [backup-simplify]: Simplify 0 into 0 32.015 * [backup-simplify]: Simplify 0 into 0 32.015 * [backup-simplify]: Simplify (+ 0) into 0 32.015 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 32.016 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.016 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 32.016 * [backup-simplify]: Simplify (+ 0 0) into 0 32.017 * [backup-simplify]: Simplify (+ 0) into 0 32.017 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin delta))) into 0 32.017 * [backup-simplify]: Simplify (+ 0) into 0 32.017 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 32.018 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.018 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 32.018 * [backup-simplify]: Simplify (- 0) into 0 32.019 * [backup-simplify]: Simplify (+ 0 0) into 0 32.019 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 32.019 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos delta))) into (cos delta) 32.019 * [backup-simplify]: Simplify (+ 0 (cos delta)) into (cos delta) 32.019 * [taylor]: Taking taylor expansion of (cos delta) in delta 32.019 * [taylor]: Taking taylor expansion of delta in delta 32.019 * [backup-simplify]: Simplify 0 into 0 32.019 * [backup-simplify]: Simplify 1 into 1 32.019 * [backup-simplify]: Simplify 1 into 1 32.020 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 32.020 * [backup-simplify]: Simplify 1 into 1 32.020 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.021 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 32.021 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.022 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 32.022 * [backup-simplify]: Simplify (+ 0 0) into 0 32.022 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.023 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 32.023 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.024 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 32.024 * [backup-simplify]: Simplify (- 0) into 0 32.024 * [backup-simplify]: Simplify (+ 0 0) into 0 32.024 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 (sin delta)))) into 0 32.025 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 32.026 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (* (cos phi1) (sin delta))))) into (- (* 1/2 (* (cos phi1) (sin delta)))) 32.026 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.026 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 1))) into 0 32.027 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.027 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 0))) into 0 32.027 * [backup-simplify]: Simplify (- 0) into 0 32.028 * [backup-simplify]: Simplify (+ 0 0) into 0 32.028 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.029 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 32.029 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.030 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 32.030 * [backup-simplify]: Simplify (+ 0 0) into 0 32.030 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 (cos delta)))) into 0 32.030 * [backup-simplify]: Simplify (+ (- (* 1/2 (* (cos phi1) (sin delta)))) 0) into (- (* 1/2 (* (cos phi1) (sin delta)))) 32.030 * [taylor]: Taking taylor expansion of (- (* 1/2 (* (cos phi1) (sin delta)))) in phi1 32.030 * [taylor]: Taking taylor expansion of (* 1/2 (* (cos phi1) (sin delta))) in phi1 32.030 * [taylor]: Taking taylor expansion of 1/2 in phi1 32.030 * [backup-simplify]: Simplify 1/2 into 1/2 32.030 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 32.030 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 32.030 * [taylor]: Taking taylor expansion of phi1 in phi1 32.030 * [backup-simplify]: Simplify 0 into 0 32.030 * [backup-simplify]: Simplify 1 into 1 32.030 * [taylor]: Taking taylor expansion of (sin delta) in phi1 32.030 * [taylor]: Taking taylor expansion of delta in phi1 32.030 * [backup-simplify]: Simplify delta into delta 32.031 * [backup-simplify]: Simplify (sin delta) into (sin delta) 32.031 * [backup-simplify]: Simplify (cos delta) into (cos delta) 32.031 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 32.031 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 32.031 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 32.031 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 32.031 * [backup-simplify]: Simplify (* 1/2 (sin delta)) into (* 1/2 (sin delta)) 32.031 * [backup-simplify]: Simplify (- (* 1/2 (sin delta))) into (- (* 1/2 (sin delta))) 32.031 * [taylor]: Taking taylor expansion of (- (* 1/2 (sin delta))) in delta 32.031 * [taylor]: Taking taylor expansion of (* 1/2 (sin delta)) in delta 32.031 * [taylor]: Taking taylor expansion of 1/2 in delta 32.031 * [backup-simplify]: Simplify 1/2 into 1/2 32.031 * [taylor]: Taking taylor expansion of (sin delta) in delta 32.031 * [taylor]: Taking taylor expansion of delta in delta 32.031 * [backup-simplify]: Simplify 0 into 0 32.031 * [backup-simplify]: Simplify 1 into 1 32.031 * [backup-simplify]: Simplify (* 1/2 0) into 0 32.033 * [backup-simplify]: Simplify (- 0) into 0 32.033 * [backup-simplify]: Simplify 0 into 0 32.033 * [taylor]: Taking taylor expansion of 0 in delta 32.033 * [backup-simplify]: Simplify 0 into 0 32.033 * [backup-simplify]: Simplify 0 into 0 32.034 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.034 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 32.035 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.035 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 32.035 * [backup-simplify]: Simplify (+ 0 0) into 0 32.036 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 32.036 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (sin delta)))) into (- (* 1/2 (sin delta))) 32.037 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.037 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 1))) into 0 32.038 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.038 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 0))) into 0 32.038 * [backup-simplify]: Simplify (- 0) into 0 32.038 * [backup-simplify]: Simplify (+ 0 0) into 0 32.039 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.039 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (cos delta)))) into 0 32.039 * [backup-simplify]: Simplify (+ (- (* 1/2 (sin delta))) 0) into (- (* 1/2 (sin delta))) 32.040 * [taylor]: Taking taylor expansion of (- (* 1/2 (sin delta))) in delta 32.040 * [taylor]: Taking taylor expansion of (* 1/2 (sin delta)) in delta 32.040 * [taylor]: Taking taylor expansion of 1/2 in delta 32.040 * [backup-simplify]: Simplify 1/2 into 1/2 32.040 * [taylor]: Taking taylor expansion of (sin delta) in delta 32.040 * [taylor]: Taking taylor expansion of delta in delta 32.040 * [backup-simplify]: Simplify 0 into 0 32.040 * [backup-simplify]: Simplify 1 into 1 32.040 * [backup-simplify]: Simplify (* 1/2 0) into 0 32.040 * [backup-simplify]: Simplify (- 0) into 0 32.040 * [backup-simplify]: Simplify 0 into 0 32.040 * [backup-simplify]: Simplify 0 into 0 32.040 * [backup-simplify]: Simplify (+ 0) into 0 32.040 * [backup-simplify]: Simplify 0 into 0 32.041 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.041 * [backup-simplify]: Simplify 0 into 0 32.041 * [backup-simplify]: Simplify (+ (* 1 (* delta (* 1 1))) (* 1 (* 1 (* phi1 1)))) into (+ phi1 delta) 32.041 * [backup-simplify]: Simplify (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) into (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 32.041 * [approximate]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in (theta phi1 delta) around 0 32.041 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 32.042 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 32.042 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 32.042 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 32.042 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 32.042 * [taylor]: Taking taylor expansion of theta in delta 32.042 * [backup-simplify]: Simplify theta into theta 32.042 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 32.042 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 32.042 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 32.042 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 32.042 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 32.042 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 32.042 * [taylor]: Taking taylor expansion of delta in delta 32.042 * [backup-simplify]: Simplify 0 into 0 32.042 * [backup-simplify]: Simplify 1 into 1 32.042 * [backup-simplify]: Simplify (/ 1 1) into 1 32.042 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 32.042 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 32.042 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 32.042 * [taylor]: Taking taylor expansion of phi1 in delta 32.042 * [backup-simplify]: Simplify phi1 into phi1 32.042 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 32.042 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 32.042 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 32.042 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 32.042 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 32.042 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 32.042 * [taylor]: Taking taylor expansion of phi1 in delta 32.042 * [backup-simplify]: Simplify phi1 into phi1 32.042 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 32.043 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 32.043 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 32.043 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 32.043 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 32.043 * [taylor]: Taking taylor expansion of delta in delta 32.043 * [backup-simplify]: Simplify 0 into 0 32.043 * [backup-simplify]: Simplify 1 into 1 32.043 * [backup-simplify]: Simplify (/ 1 1) into 1 32.043 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 32.043 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 32.043 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 32.043 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 32.043 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 32.043 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 32.043 * [taylor]: Taking taylor expansion of theta in phi1 32.043 * [backup-simplify]: Simplify theta into theta 32.043 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 32.043 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 32.043 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 32.043 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 32.043 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 32.043 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 32.043 * [taylor]: Taking taylor expansion of delta in phi1 32.043 * [backup-simplify]: Simplify delta into delta 32.043 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 32.043 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 32.043 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 32.043 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 32.043 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 32.043 * [taylor]: Taking taylor expansion of phi1 in phi1 32.043 * [backup-simplify]: Simplify 0 into 0 32.043 * [backup-simplify]: Simplify 1 into 1 32.044 * [backup-simplify]: Simplify (/ 1 1) into 1 32.044 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 32.044 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 32.044 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 32.044 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 32.044 * [taylor]: Taking taylor expansion of phi1 in phi1 32.044 * [backup-simplify]: Simplify 0 into 0 32.044 * [backup-simplify]: Simplify 1 into 1 32.044 * [backup-simplify]: Simplify (/ 1 1) into 1 32.044 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 32.044 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 32.044 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 32.044 * [taylor]: Taking taylor expansion of delta in phi1 32.044 * [backup-simplify]: Simplify delta into delta 32.044 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 32.044 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 32.044 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 32.044 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 32.044 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 32.044 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 32.044 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 32.044 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 32.044 * [taylor]: Taking taylor expansion of theta in theta 32.044 * [backup-simplify]: Simplify 0 into 0 32.045 * [backup-simplify]: Simplify 1 into 1 32.045 * [backup-simplify]: Simplify (/ 1 1) into 1 32.045 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 32.045 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 32.045 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 32.045 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 32.045 * [taylor]: Taking taylor expansion of delta in theta 32.045 * [backup-simplify]: Simplify delta into delta 32.045 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 32.045 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 32.045 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 32.045 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 32.045 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 32.045 * [taylor]: Taking taylor expansion of phi1 in theta 32.045 * [backup-simplify]: Simplify phi1 into phi1 32.045 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 32.045 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 32.045 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 32.045 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 32.045 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 32.045 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 32.045 * [taylor]: Taking taylor expansion of phi1 in theta 32.045 * [backup-simplify]: Simplify phi1 into phi1 32.045 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 32.045 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 32.045 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 32.045 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 32.045 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 32.045 * [taylor]: Taking taylor expansion of delta in theta 32.045 * [backup-simplify]: Simplify delta into delta 32.045 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 32.045 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 32.046 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 32.046 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 32.046 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 32.046 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 32.046 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 32.046 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 32.046 * [taylor]: Taking taylor expansion of theta in theta 32.046 * [backup-simplify]: Simplify 0 into 0 32.046 * [backup-simplify]: Simplify 1 into 1 32.046 * [backup-simplify]: Simplify (/ 1 1) into 1 32.046 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 32.046 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 32.046 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 32.046 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 32.046 * [taylor]: Taking taylor expansion of delta in theta 32.046 * [backup-simplify]: Simplify delta into delta 32.046 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 32.046 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 32.046 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 32.046 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 32.046 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 32.046 * [taylor]: Taking taylor expansion of phi1 in theta 32.046 * [backup-simplify]: Simplify phi1 into phi1 32.046 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 32.047 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 32.047 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 32.047 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 32.047 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 32.047 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 32.047 * [taylor]: Taking taylor expansion of phi1 in theta 32.047 * [backup-simplify]: Simplify phi1 into phi1 32.047 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 32.047 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 32.047 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 32.047 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 32.047 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 32.047 * [taylor]: Taking taylor expansion of delta in theta 32.047 * [backup-simplify]: Simplify delta into delta 32.047 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 32.047 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 32.047 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 32.047 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 32.047 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 32.048 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 32.048 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 32.048 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 32.048 * [backup-simplify]: Simplify (- 0) into 0 32.048 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 32.048 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (cos (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 delta))) 32.048 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 32.049 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 32.049 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 32.049 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 32.049 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 32.049 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 32.049 * [backup-simplify]: Simplify (- 0) into 0 32.049 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 32.049 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 32.050 * [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))))) 32.050 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in phi1 32.050 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in phi1 32.050 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 32.050 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 32.050 * [taylor]: Taking taylor expansion of delta in phi1 32.050 * [backup-simplify]: Simplify delta into delta 32.050 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 32.050 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 32.050 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 32.050 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 32.050 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 32.050 * [taylor]: Taking taylor expansion of phi1 in phi1 32.050 * [backup-simplify]: Simplify 0 into 0 32.050 * [backup-simplify]: Simplify 1 into 1 32.051 * [backup-simplify]: Simplify (/ 1 1) into 1 32.051 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 32.051 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in phi1 32.051 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 32.051 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 32.051 * [taylor]: Taking taylor expansion of phi1 in phi1 32.051 * [backup-simplify]: Simplify 0 into 0 32.051 * [backup-simplify]: Simplify 1 into 1 32.051 * [backup-simplify]: Simplify (/ 1 1) into 1 32.051 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 32.051 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in phi1 32.051 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 32.051 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 32.052 * [taylor]: Taking taylor expansion of theta in phi1 32.052 * [backup-simplify]: Simplify theta into theta 32.052 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 32.052 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 32.052 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 32.052 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 32.052 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 32.052 * [taylor]: Taking taylor expansion of delta in phi1 32.052 * [backup-simplify]: Simplify delta into delta 32.052 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 32.052 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 32.052 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 32.052 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 32.052 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 32.053 * [backup-simplify]: Simplify (- 0) into 0 32.053 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 32.053 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 32.053 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 32.053 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 32.053 * [backup-simplify]: Simplify (- 0) into 0 32.053 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 32.053 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 32.054 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 32.054 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 32.054 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 32.054 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 32.054 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 32.054 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in delta 32.054 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 32.054 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 32.054 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 32.054 * [taylor]: Taking taylor expansion of phi1 in delta 32.055 * [backup-simplify]: Simplify phi1 into phi1 32.055 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 32.055 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 32.055 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 32.055 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 32.055 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 32.055 * [taylor]: Taking taylor expansion of delta in delta 32.055 * [backup-simplify]: Simplify 0 into 0 32.055 * [backup-simplify]: Simplify 1 into 1 32.055 * [backup-simplify]: Simplify (/ 1 1) into 1 32.055 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 32.055 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 32.055 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 32.055 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 32.055 * [taylor]: Taking taylor expansion of delta in delta 32.055 * [backup-simplify]: Simplify 0 into 0 32.056 * [backup-simplify]: Simplify 1 into 1 32.056 * [backup-simplify]: Simplify (/ 1 1) into 1 32.056 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 32.056 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 32.056 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 32.056 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 32.056 * [taylor]: Taking taylor expansion of theta in delta 32.056 * [backup-simplify]: Simplify theta into theta 32.056 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 32.056 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 32.056 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 32.056 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 32.056 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 32.056 * [taylor]: Taking taylor expansion of phi1 in delta 32.056 * [backup-simplify]: Simplify phi1 into phi1 32.056 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 32.057 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 32.057 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 32.057 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 32.057 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 32.057 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 32.057 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 32.057 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 32.057 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 32.058 * [backup-simplify]: Simplify (- 0) into 0 32.058 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 32.058 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 32.058 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 32.058 * [backup-simplify]: Simplify (- 0) into 0 32.058 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 32.058 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 32.059 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 32.059 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 32.059 * [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))))) 32.060 * [backup-simplify]: Simplify (+ 0) into 0 32.060 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 32.060 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 32.061 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.061 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 32.062 * [backup-simplify]: Simplify (- 0) into 0 32.062 * [backup-simplify]: Simplify (+ 0 0) into 0 32.063 * [backup-simplify]: Simplify (+ 0) into 0 32.063 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 32.063 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 32.064 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.064 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 32.065 * [backup-simplify]: Simplify (+ 0 0) into 0 32.065 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 32.065 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta))))) into 0 32.066 * [backup-simplify]: Simplify (+ 0) into 0 32.066 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 32.066 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 32.067 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.067 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 32.068 * [backup-simplify]: Simplify (- 0) into 0 32.068 * [backup-simplify]: Simplify (+ 0 0) into 0 32.069 * [backup-simplify]: Simplify (+ 0) into 0 32.069 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 32.069 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 32.070 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.070 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 32.071 * [backup-simplify]: Simplify (+ 0 0) into 0 32.071 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 32.071 * [backup-simplify]: Simplify (+ 0 0) into 0 32.071 * [taylor]: Taking taylor expansion of 0 in phi1 32.071 * [backup-simplify]: Simplify 0 into 0 32.071 * [taylor]: Taking taylor expansion of 0 in delta 32.072 * [backup-simplify]: Simplify 0 into 0 32.072 * [backup-simplify]: Simplify 0 into 0 32.072 * [backup-simplify]: Simplify (+ 0) into 0 32.072 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 32.073 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 32.073 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.074 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 32.074 * [backup-simplify]: Simplify (- 0) into 0 32.074 * [backup-simplify]: Simplify (+ 0 0) into 0 32.074 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 32.075 * [backup-simplify]: Simplify (+ 0) into 0 32.075 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 32.075 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 32.076 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.076 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 32.076 * [backup-simplify]: Simplify (+ 0 0) into 0 32.076 * [backup-simplify]: Simplify (+ 0) into 0 32.077 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 32.077 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 32.077 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.077 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 32.078 * [backup-simplify]: Simplify (- 0) into 0 32.078 * [backup-simplify]: Simplify (+ 0 0) into 0 32.078 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 32.078 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 32.079 * [backup-simplify]: Simplify (+ 0 0) into 0 32.079 * [taylor]: Taking taylor expansion of 0 in delta 32.079 * [backup-simplify]: Simplify 0 into 0 32.079 * [backup-simplify]: Simplify 0 into 0 32.079 * [backup-simplify]: Simplify (+ 0) into 0 32.079 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 32.079 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 32.080 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.080 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 32.080 * [backup-simplify]: Simplify (+ 0 0) into 0 32.080 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 32.081 * [backup-simplify]: Simplify (+ 0) into 0 32.081 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 32.081 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 32.082 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.082 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 32.082 * [backup-simplify]: Simplify (- 0) into 0 32.082 * [backup-simplify]: Simplify (+ 0 0) into 0 32.083 * [backup-simplify]: Simplify (+ 0) into 0 32.083 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 32.083 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 32.083 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.084 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 32.084 * [backup-simplify]: Simplify (- 0) into 0 32.084 * [backup-simplify]: Simplify (+ 0 0) into 0 32.084 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 32.084 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 32.085 * [backup-simplify]: Simplify (+ 0 0) into 0 32.085 * [backup-simplify]: Simplify 0 into 0 32.085 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.086 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.086 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.087 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.087 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.087 * [backup-simplify]: Simplify (- 0) into 0 32.087 * [backup-simplify]: Simplify (+ 0 0) into 0 32.088 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.088 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.089 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 32.089 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.089 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.090 * [backup-simplify]: Simplify (+ 0 0) into 0 32.090 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 32.090 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta)))))) into 0 32.091 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.091 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.092 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 32.092 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.092 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.093 * [backup-simplify]: Simplify (- 0) into 0 32.093 * [backup-simplify]: Simplify (+ 0 0) into 0 32.094 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.094 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.094 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.095 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.095 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.095 * [backup-simplify]: Simplify (+ 0 0) into 0 32.096 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 32.096 * [backup-simplify]: Simplify (+ 0 0) into 0 32.096 * [taylor]: Taking taylor expansion of 0 in phi1 32.096 * [backup-simplify]: Simplify 0 into 0 32.096 * [taylor]: Taking taylor expansion of 0 in delta 32.096 * [backup-simplify]: Simplify 0 into 0 32.096 * [backup-simplify]: Simplify 0 into 0 32.096 * [taylor]: Taking taylor expansion of 0 in delta 32.096 * [backup-simplify]: Simplify 0 into 0 32.096 * [backup-simplify]: Simplify 0 into 0 32.097 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.097 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.097 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 32.098 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.098 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.098 * [backup-simplify]: Simplify (- 0) into 0 32.099 * [backup-simplify]: Simplify (+ 0 0) into 0 32.099 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 32.099 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.100 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.100 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 32.100 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.101 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.101 * [backup-simplify]: Simplify (+ 0 0) into 0 32.102 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.102 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.102 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 32.103 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.103 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.103 * [backup-simplify]: Simplify (- 0) into 0 32.103 * [backup-simplify]: Simplify (+ 0 0) into 0 32.104 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 32.104 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 32.104 * [backup-simplify]: Simplify (+ 0 0) into 0 32.104 * [taylor]: Taking taylor expansion of 0 in delta 32.104 * [backup-simplify]: Simplify 0 into 0 32.104 * [backup-simplify]: Simplify 0 into 0 32.105 * [backup-simplify]: Simplify (+ (* (cos (/ 1 (/ 1 delta))) (sin (/ 1 (/ 1 phi1)))) (* (cos (/ 1 (/ 1 phi1))) (* (cos (/ 1 (/ 1 theta))) (sin (/ 1 (/ 1 delta)))))) into (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta)))) 32.105 * [backup-simplify]: Simplify (fma (cos (/ 1 (- theta))) (* (cos (/ 1 (- phi1))) (sin (/ 1 (- delta)))) (* (cos (/ 1 (- delta))) (sin (/ 1 (- phi1))))) into (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 32.105 * [approximate]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in (theta phi1 delta) around 0 32.105 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 32.105 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 32.105 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 32.105 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 32.105 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 32.105 * [taylor]: Taking taylor expansion of -1 in delta 32.105 * [backup-simplify]: Simplify -1 into -1 32.105 * [taylor]: Taking taylor expansion of theta in delta 32.105 * [backup-simplify]: Simplify theta into theta 32.105 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 32.105 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 32.105 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 32.105 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 32.105 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 32.105 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 32.105 * [taylor]: Taking taylor expansion of -1 in delta 32.105 * [backup-simplify]: Simplify -1 into -1 32.105 * [taylor]: Taking taylor expansion of phi1 in delta 32.105 * [backup-simplify]: Simplify phi1 into phi1 32.105 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.105 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.105 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.105 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 32.105 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 32.105 * [taylor]: Taking taylor expansion of -1 in delta 32.105 * [backup-simplify]: Simplify -1 into -1 32.105 * [taylor]: Taking taylor expansion of delta in delta 32.105 * [backup-simplify]: Simplify 0 into 0 32.105 * [backup-simplify]: Simplify 1 into 1 32.106 * [backup-simplify]: Simplify (/ -1 1) into -1 32.106 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.106 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 32.106 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 32.106 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 32.106 * [taylor]: Taking taylor expansion of -1 in delta 32.106 * [backup-simplify]: Simplify -1 into -1 32.106 * [taylor]: Taking taylor expansion of phi1 in delta 32.106 * [backup-simplify]: Simplify phi1 into phi1 32.106 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.106 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.106 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.106 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 32.106 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 32.106 * [taylor]: Taking taylor expansion of -1 in delta 32.106 * [backup-simplify]: Simplify -1 into -1 32.106 * [taylor]: Taking taylor expansion of delta in delta 32.106 * [backup-simplify]: Simplify 0 into 0 32.106 * [backup-simplify]: Simplify 1 into 1 32.107 * [backup-simplify]: Simplify (/ -1 1) into -1 32.107 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.107 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 32.107 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 32.107 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 32.107 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 32.107 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 32.107 * [taylor]: Taking taylor expansion of -1 in phi1 32.107 * [backup-simplify]: Simplify -1 into -1 32.107 * [taylor]: Taking taylor expansion of theta in phi1 32.107 * [backup-simplify]: Simplify theta into theta 32.107 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 32.107 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 32.107 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 32.107 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 32.107 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 32.107 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 32.107 * [taylor]: Taking taylor expansion of -1 in phi1 32.107 * [backup-simplify]: Simplify -1 into -1 32.107 * [taylor]: Taking taylor expansion of phi1 in phi1 32.107 * [backup-simplify]: Simplify 0 into 0 32.107 * [backup-simplify]: Simplify 1 into 1 32.108 * [backup-simplify]: Simplify (/ -1 1) into -1 32.108 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.108 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 32.108 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 32.108 * [taylor]: Taking taylor expansion of -1 in phi1 32.108 * [backup-simplify]: Simplify -1 into -1 32.108 * [taylor]: Taking taylor expansion of delta in phi1 32.108 * [backup-simplify]: Simplify delta into delta 32.108 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.108 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.108 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.108 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 32.108 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 32.108 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 32.108 * [taylor]: Taking taylor expansion of -1 in phi1 32.108 * [backup-simplify]: Simplify -1 into -1 32.108 * [taylor]: Taking taylor expansion of phi1 in phi1 32.108 * [backup-simplify]: Simplify 0 into 0 32.108 * [backup-simplify]: Simplify 1 into 1 32.109 * [backup-simplify]: Simplify (/ -1 1) into -1 32.109 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.109 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 32.109 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 32.109 * [taylor]: Taking taylor expansion of -1 in phi1 32.109 * [backup-simplify]: Simplify -1 into -1 32.109 * [taylor]: Taking taylor expansion of delta in phi1 32.109 * [backup-simplify]: Simplify delta into delta 32.109 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.109 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.109 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.109 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 32.109 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 32.109 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 32.109 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 32.109 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 32.109 * [taylor]: Taking taylor expansion of -1 in theta 32.109 * [backup-simplify]: Simplify -1 into -1 32.110 * [taylor]: Taking taylor expansion of theta in theta 32.110 * [backup-simplify]: Simplify 0 into 0 32.110 * [backup-simplify]: Simplify 1 into 1 32.110 * [backup-simplify]: Simplify (/ -1 1) into -1 32.110 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 32.110 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 32.110 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 32.110 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 32.110 * [taylor]: Taking taylor expansion of -1 in theta 32.110 * [backup-simplify]: Simplify -1 into -1 32.110 * [taylor]: Taking taylor expansion of phi1 in theta 32.110 * [backup-simplify]: Simplify phi1 into phi1 32.110 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.110 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.110 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.110 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 32.110 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 32.110 * [taylor]: Taking taylor expansion of -1 in theta 32.110 * [backup-simplify]: Simplify -1 into -1 32.111 * [taylor]: Taking taylor expansion of delta in theta 32.111 * [backup-simplify]: Simplify delta into delta 32.111 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.111 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.111 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.111 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 32.111 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 32.111 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 32.111 * [taylor]: Taking taylor expansion of -1 in theta 32.111 * [backup-simplify]: Simplify -1 into -1 32.111 * [taylor]: Taking taylor expansion of phi1 in theta 32.111 * [backup-simplify]: Simplify phi1 into phi1 32.111 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.111 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.111 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.111 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 32.111 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 32.111 * [taylor]: Taking taylor expansion of -1 in theta 32.111 * [backup-simplify]: Simplify -1 into -1 32.111 * [taylor]: Taking taylor expansion of delta in theta 32.111 * [backup-simplify]: Simplify delta into delta 32.111 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.111 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.111 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.111 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 32.111 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 32.111 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 32.112 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 32.112 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 32.112 * [taylor]: Taking taylor expansion of -1 in theta 32.112 * [backup-simplify]: Simplify -1 into -1 32.112 * [taylor]: Taking taylor expansion of theta in theta 32.112 * [backup-simplify]: Simplify 0 into 0 32.112 * [backup-simplify]: Simplify 1 into 1 32.112 * [backup-simplify]: Simplify (/ -1 1) into -1 32.112 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 32.112 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 32.112 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 32.112 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 32.112 * [taylor]: Taking taylor expansion of -1 in theta 32.112 * [backup-simplify]: Simplify -1 into -1 32.112 * [taylor]: Taking taylor expansion of phi1 in theta 32.112 * [backup-simplify]: Simplify phi1 into phi1 32.112 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.113 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.113 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.113 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 32.113 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 32.113 * [taylor]: Taking taylor expansion of -1 in theta 32.113 * [backup-simplify]: Simplify -1 into -1 32.113 * [taylor]: Taking taylor expansion of delta in theta 32.113 * [backup-simplify]: Simplify delta into delta 32.113 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.113 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.113 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.113 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 32.113 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 32.113 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 32.113 * [taylor]: Taking taylor expansion of -1 in theta 32.113 * [backup-simplify]: Simplify -1 into -1 32.113 * [taylor]: Taking taylor expansion of phi1 in theta 32.113 * [backup-simplify]: Simplify phi1 into phi1 32.113 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.113 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.113 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.113 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 32.113 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 32.113 * [taylor]: Taking taylor expansion of -1 in theta 32.114 * [backup-simplify]: Simplify -1 into -1 32.114 * [taylor]: Taking taylor expansion of delta in theta 32.114 * [backup-simplify]: Simplify delta into delta 32.114 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.114 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.114 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.114 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 32.114 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 32.114 * [backup-simplify]: Simplify (- 0) into 0 32.115 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 32.115 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 32.115 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 32.115 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 32.115 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 32.115 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 32.115 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 32.115 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 32.115 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 32.115 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 32.116 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 32.116 * [backup-simplify]: Simplify (- 0) into 0 32.116 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 32.116 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 32.116 * [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)))) 32.116 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 32.116 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) in phi1 32.117 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 32.117 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 32.117 * [taylor]: Taking taylor expansion of -1 in phi1 32.117 * [backup-simplify]: Simplify -1 into -1 32.117 * [taylor]: Taking taylor expansion of phi1 in phi1 32.117 * [backup-simplify]: Simplify 0 into 0 32.117 * [backup-simplify]: Simplify 1 into 1 32.117 * [backup-simplify]: Simplify (/ -1 1) into -1 32.117 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.117 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 theta))) in phi1 32.117 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 32.117 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 32.117 * [taylor]: Taking taylor expansion of -1 in phi1 32.117 * [backup-simplify]: Simplify -1 into -1 32.117 * [taylor]: Taking taylor expansion of delta in phi1 32.117 * [backup-simplify]: Simplify delta into delta 32.117 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.117 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.118 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.118 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 32.118 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 32.118 * [taylor]: Taking taylor expansion of -1 in phi1 32.118 * [backup-simplify]: Simplify -1 into -1 32.118 * [taylor]: Taking taylor expansion of theta in phi1 32.118 * [backup-simplify]: Simplify theta into theta 32.118 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 32.118 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 32.118 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 32.118 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 32.118 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 32.118 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 32.118 * [taylor]: Taking taylor expansion of -1 in phi1 32.118 * [backup-simplify]: Simplify -1 into -1 32.118 * [taylor]: Taking taylor expansion of phi1 in phi1 32.118 * [backup-simplify]: Simplify 0 into 0 32.118 * [backup-simplify]: Simplify 1 into 1 32.118 * [backup-simplify]: Simplify (/ -1 1) into -1 32.119 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.119 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 32.119 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 32.119 * [taylor]: Taking taylor expansion of -1 in phi1 32.119 * [backup-simplify]: Simplify -1 into -1 32.119 * [taylor]: Taking taylor expansion of delta in phi1 32.119 * [backup-simplify]: Simplify delta into delta 32.119 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.119 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.119 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.119 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 32.119 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 32.119 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 32.119 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 32.119 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 32.120 * [backup-simplify]: Simplify (- 0) into 0 32.120 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 32.120 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 theta))) into (* (cos (/ -1 theta)) (sin (/ -1 delta))) 32.120 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 32.120 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 32.120 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 32.121 * [backup-simplify]: Simplify (- 0) into 0 32.121 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 32.121 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 32.121 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) into (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) 32.121 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in delta 32.121 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 32.121 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 32.121 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 32.121 * [taylor]: Taking taylor expansion of -1 in delta 32.122 * [backup-simplify]: Simplify -1 into -1 32.122 * [taylor]: Taking taylor expansion of phi1 in delta 32.122 * [backup-simplify]: Simplify phi1 into phi1 32.122 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.122 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.122 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.122 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 32.122 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 32.122 * [taylor]: Taking taylor expansion of -1 in delta 32.122 * [backup-simplify]: Simplify -1 into -1 32.122 * [taylor]: Taking taylor expansion of delta in delta 32.122 * [backup-simplify]: Simplify 0 into 0 32.122 * [backup-simplify]: Simplify 1 into 1 32.122 * [backup-simplify]: Simplify (/ -1 1) into -1 32.122 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.122 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in delta 32.122 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 32.123 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 32.123 * [taylor]: Taking taylor expansion of -1 in delta 32.123 * [backup-simplify]: Simplify -1 into -1 32.123 * [taylor]: Taking taylor expansion of phi1 in delta 32.123 * [backup-simplify]: Simplify phi1 into phi1 32.123 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.123 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.123 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.123 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in delta 32.123 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 32.123 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 32.123 * [taylor]: Taking taylor expansion of -1 in delta 32.123 * [backup-simplify]: Simplify -1 into -1 32.123 * [taylor]: Taking taylor expansion of theta in delta 32.123 * [backup-simplify]: Simplify theta into theta 32.123 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 32.123 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 32.123 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 32.123 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 32.123 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 32.123 * [taylor]: Taking taylor expansion of -1 in delta 32.123 * [backup-simplify]: Simplify -1 into -1 32.123 * [taylor]: Taking taylor expansion of delta in delta 32.123 * [backup-simplify]: Simplify 0 into 0 32.123 * [backup-simplify]: Simplify 1 into 1 32.124 * [backup-simplify]: Simplify (/ -1 1) into -1 32.124 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.124 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 32.124 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 32.124 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 32.124 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 32.124 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 32.124 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 32.125 * [backup-simplify]: Simplify (- 0) into 0 32.125 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 32.125 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 32.125 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 32.125 * [backup-simplify]: Simplify (- 0) into 0 32.125 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 32.126 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (cos (/ -1 theta))) 32.126 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 32.126 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 32.126 * [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)))) 32.127 * [backup-simplify]: Simplify (+ 0) into 0 32.127 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 32.128 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 32.129 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.129 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 32.130 * [backup-simplify]: Simplify (+ 0 0) into 0 32.130 * [backup-simplify]: Simplify (+ 0) into 0 32.130 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 32.131 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 32.131 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.132 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 32.132 * [backup-simplify]: Simplify (- 0) into 0 32.133 * [backup-simplify]: Simplify (+ 0 0) into 0 32.133 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 32.133 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 32.133 * [backup-simplify]: Simplify (+ 0) into 0 32.134 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 32.134 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 32.135 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.135 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 32.136 * [backup-simplify]: Simplify (- 0) into 0 32.136 * [backup-simplify]: Simplify (+ 0 0) into 0 32.136 * [backup-simplify]: Simplify (+ 0) into 0 32.137 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 32.137 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 32.138 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.138 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 32.139 * [backup-simplify]: Simplify (+ 0 0) into 0 32.139 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 32.139 * [backup-simplify]: Simplify (+ 0 0) into 0 32.139 * [taylor]: Taking taylor expansion of 0 in phi1 32.139 * [backup-simplify]: Simplify 0 into 0 32.139 * [taylor]: Taking taylor expansion of 0 in delta 32.139 * [backup-simplify]: Simplify 0 into 0 32.139 * [backup-simplify]: Simplify 0 into 0 32.140 * [backup-simplify]: Simplify (+ 0) into 0 32.140 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 32.140 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 32.141 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.141 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 32.142 * [backup-simplify]: Simplify (- 0) into 0 32.142 * [backup-simplify]: Simplify (+ 0 0) into 0 32.142 * [backup-simplify]: Simplify (+ 0) into 0 32.143 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 32.143 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 32.144 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.144 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 32.145 * [backup-simplify]: Simplify (+ 0 0) into 0 32.145 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 theta)))) into 0 32.145 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into 0 32.145 * [backup-simplify]: Simplify (+ 0) into 0 32.146 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 32.146 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 32.147 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.147 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 32.148 * [backup-simplify]: Simplify (- 0) into 0 32.148 * [backup-simplify]: Simplify (+ 0 0) into 0 32.148 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 32.149 * [backup-simplify]: Simplify (+ 0 0) into 0 32.149 * [taylor]: Taking taylor expansion of 0 in delta 32.149 * [backup-simplify]: Simplify 0 into 0 32.149 * [backup-simplify]: Simplify 0 into 0 32.149 * [backup-simplify]: Simplify (+ 0) into 0 32.150 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 32.150 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 32.150 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.151 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 32.151 * [backup-simplify]: Simplify (+ 0 0) into 0 32.151 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 32.152 * [backup-simplify]: Simplify (+ 0) into 0 32.152 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 32.152 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 32.153 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.154 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 32.154 * [backup-simplify]: Simplify (- 0) into 0 32.154 * [backup-simplify]: Simplify (+ 0 0) into 0 32.155 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 32.155 * [backup-simplify]: Simplify (+ 0) into 0 32.155 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 32.156 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 32.159 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.160 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 32.160 * [backup-simplify]: Simplify (- 0) into 0 32.160 * [backup-simplify]: Simplify (+ 0 0) into 0 32.161 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into 0 32.161 * [backup-simplify]: Simplify (+ 0 0) into 0 32.161 * [backup-simplify]: Simplify 0 into 0 32.162 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.163 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.163 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 32.164 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.165 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.165 * [backup-simplify]: Simplify (+ 0 0) into 0 32.166 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.167 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.167 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.168 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.168 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.169 * [backup-simplify]: Simplify (- 0) into 0 32.169 * [backup-simplify]: Simplify (+ 0 0) into 0 32.170 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 32.170 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 32.171 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.172 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.172 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 32.173 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.173 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.174 * [backup-simplify]: Simplify (- 0) into 0 32.174 * [backup-simplify]: Simplify (+ 0 0) into 0 32.175 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.176 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.176 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.177 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.177 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.178 * [backup-simplify]: Simplify (+ 0 0) into 0 32.178 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 32.178 * [backup-simplify]: Simplify (+ 0 0) into 0 32.178 * [taylor]: Taking taylor expansion of 0 in phi1 32.178 * [backup-simplify]: Simplify 0 into 0 32.179 * [taylor]: Taking taylor expansion of 0 in delta 32.179 * [backup-simplify]: Simplify 0 into 0 32.179 * [backup-simplify]: Simplify 0 into 0 32.179 * [taylor]: Taking taylor expansion of 0 in delta 32.179 * [backup-simplify]: Simplify 0 into 0 32.179 * [backup-simplify]: Simplify 0 into 0 32.180 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.181 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.181 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 32.182 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.182 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.183 * [backup-simplify]: Simplify (- 0) into 0 32.183 * [backup-simplify]: Simplify (+ 0 0) into 0 32.184 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.185 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.185 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 32.186 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.186 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.187 * [backup-simplify]: Simplify (+ 0 0) into 0 32.187 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 32.188 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 32.189 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.189 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.190 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 32.190 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.191 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.191 * [backup-simplify]: Simplify (- 0) into 0 32.192 * [backup-simplify]: Simplify (+ 0 0) into 0 32.192 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 32.192 * [backup-simplify]: Simplify (+ 0 0) into 0 32.193 * [taylor]: Taking taylor expansion of 0 in delta 32.193 * [backup-simplify]: Simplify 0 into 0 32.193 * [backup-simplify]: Simplify 0 into 0 32.193 * [backup-simplify]: Simplify (+ (* (cos (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- delta)))) (cos (/ -1 (/ 1 (- theta)))))) (* (sin (/ -1 (/ 1 (- phi1)))) (cos (/ -1 (/ 1 (- delta)))))) into (+ (* (cos phi1) (* (sin delta) (cos theta))) (* (sin phi1) (cos delta))) 32.193 * * * [progress]: simplifying candidates 32.193 * * * * [progress]: [ 1 / 76 ] simplifiying candidate # 32.194 * [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)))) 32.194 * * [simplify]: iters left: 6 (18 enodes) 32.202 * * [simplify]: iters left: 5 (65 enodes) 32.220 * * [simplify]: iters left: 4 (84 enodes) 32.246 * * [simplify]: iters left: 3 (104 enodes) 32.274 * * [simplify]: iters left: 2 (111 enodes) 32.304 * * [simplify]: iters left: 1 (137 enodes) 32.349 * * [simplify]: Extracting #0: cost 1 inf + 0 32.349 * * [simplify]: Extracting #1: cost 11 inf + 0 32.349 * * [simplify]: Extracting #2: cost 26 inf + 0 32.350 * * [simplify]: Extracting #3: cost 26 inf + 165 32.350 * * [simplify]: Extracting #4: cost 34 inf + 389 32.351 * * [simplify]: Extracting #5: cost 36 inf + 2245 32.352 * * [simplify]: Extracting #6: cost 25 inf + 5855 32.355 * * [simplify]: Extracting #7: cost 5 inf + 14523 32.360 * * [simplify]: Extracting #8: cost 0 inf + 17473 32.364 * [simplify]: Simplified to (- (cos delta) (* (sin (asin (fma (* (cos phi1) (sin delta)) (cos theta) (* (cos delta) (sin phi1))))) (sin phi1))) 32.364 * [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)) 32.365 * [simplify]: Simplifying (fma (- (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin phi1) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1))) 32.365 * * [simplify]: iters left: 6 (16 enodes) 32.373 * * [simplify]: iters left: 5 (55 enodes) 32.389 * * [simplify]: iters left: 4 (70 enodes) 32.402 * * [simplify]: iters left: 3 (95 enodes) 32.415 * * [simplify]: iters left: 2 (101 enodes) 32.427 * * [simplify]: Extracting #0: cost 1 inf + 0 32.428 * * [simplify]: Extracting #1: cost 0 inf + 1 32.428 * [simplify]: Simplified to 0 32.428 * [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)) 32.428 * * * * [progress]: [ 2 / 76 ] simplifiying candidate # 32.428 * [simplify]: Simplifying (fma (sqrt (cos delta)) (sqrt (cos delta)) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))) 32.428 * * [simplify]: iters left: 6 (17 enodes) 32.436 * * [simplify]: iters left: 5 (62 enodes) 32.454 * * [simplify]: iters left: 4 (77 enodes) 32.475 * * [simplify]: iters left: 3 (95 enodes) 32.500 * * [simplify]: iters left: 2 (101 enodes) 32.524 * * [simplify]: Extracting #0: cost 1 inf + 0 32.524 * * [simplify]: Extracting #1: cost 6 inf + 0 32.525 * * [simplify]: Extracting #2: cost 15 inf + 0 32.525 * * [simplify]: Extracting #3: cost 20 inf + 1 32.525 * * [simplify]: Extracting #4: cost 20 inf + 63 32.525 * * [simplify]: Extracting #5: cost 25 inf + 387 32.525 * * [simplify]: Extracting #6: cost 28 inf + 1096 32.526 * * [simplify]: Extracting #7: cost 21 inf + 2069 32.528 * * [simplify]: Extracting #8: cost 9 inf + 5808 32.530 * * [simplify]: Extracting #9: cost 1 inf + 11072 32.533 * * [simplify]: Extracting #10: cost 0 inf + 11715 32.537 * [simplify]: Simplified to (- (cos delta) (* (sin phi1) (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))))) 32.537 * [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)) 32.537 * [simplify]: Simplifying (fma (- (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin phi1) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1))) 32.538 * * [simplify]: iters left: 6 (16 enodes) 32.544 * * [simplify]: iters left: 5 (55 enodes) 32.560 * * [simplify]: iters left: 4 (70 enodes) 32.580 * * [simplify]: iters left: 3 (95 enodes) 32.592 * * [simplify]: iters left: 2 (101 enodes) 32.605 * * [simplify]: Extracting #0: cost 1 inf + 0 32.605 * * [simplify]: Extracting #1: cost 0 inf + 1 32.605 * [simplify]: Simplified to 0 32.605 * [simplify]: Simplified (2 1 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (+ (fma (sqrt (cos delta)) (sqrt (cos delta)) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))) 0)) lambda1)) 32.605 * * * * [progress]: [ 3 / 76 ] simplifiying candidate # 32.606 * [simplify]: Simplifying (fma 1 (cos delta) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))) 32.606 * * [simplify]: iters left: 6 (17 enodes) 32.614 * * [simplify]: iters left: 5 (64 enodes) 32.632 * * [simplify]: iters left: 4 (82 enodes) 32.657 * * [simplify]: iters left: 3 (105 enodes) 32.685 * * [simplify]: iters left: 2 (106 enodes) 32.713 * * [simplify]: iters left: 1 (128 enodes) 32.731 * * [simplify]: Extracting #0: cost 1 inf + 0 32.731 * * [simplify]: Extracting #1: cost 10 inf + 0 32.731 * * [simplify]: Extracting #2: cost 20 inf + 1 32.731 * * [simplify]: Extracting #3: cost 19 inf + 4 32.731 * * [simplify]: Extracting #4: cost 25 inf + 187 32.731 * * [simplify]: Extracting #5: cost 27 inf + 896 32.732 * * [simplify]: Extracting #6: cost 18 inf + 1789 32.732 * * [simplify]: Extracting #7: cost 11 inf + 4223 32.734 * * [simplify]: Extracting #8: cost 2 inf + 9745 32.736 * * [simplify]: Extracting #9: cost 0 inf + 11111 32.739 * [simplify]: Simplified to (- (cos delta) (* (sin phi1) (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (cos delta) (sin phi1))))))) 32.739 * [simplify]: Simplified (2 1 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (+ (- (cos delta) (* (sin phi1) (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (cos delta) (sin phi1))))))) (fma (- (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin phi1) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1))))) lambda1)) 32.739 * [simplify]: Simplifying (fma (- (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin phi1) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1))) 32.739 * * [simplify]: iters left: 6 (16 enodes) 32.746 * * [simplify]: iters left: 5 (55 enodes) 32.762 * * [simplify]: iters left: 4 (70 enodes) 32.777 * * [simplify]: iters left: 3 (95 enodes) 32.790 * * [simplify]: iters left: 2 (101 enodes) 32.807 * * [simplify]: Extracting #0: cost 1 inf + 0 32.807 * * [simplify]: Extracting #1: cost 0 inf + 1 32.807 * [simplify]: Simplified to 0 32.807 * [simplify]: Simplified (2 1 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (+ (fma 1 (cos delta) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))) 0)) lambda1)) 32.808 * * * * [progress]: [ 4 / 76 ] simplifiying candidate # 32.808 * * * * [progress]: [ 5 / 76 ] simplifiying candidate # 32.808 * * * * [progress]: [ 6 / 76 ] simplifiying candidate # 32.808 * [simplify]: Simplifying (* (cbrt (cos delta)) (cbrt (cos delta))) 32.808 * * [simplify]: iters left: 4 (4 enodes) 32.810 * * [simplify]: iters left: 3 (12 enodes) 32.813 * * [simplify]: Extracting #0: cost 1 inf + 0 32.813 * * [simplify]: Extracting #1: cost 3 inf + 0 32.813 * * [simplify]: Extracting #2: cost 5 inf + 0 32.813 * * [simplify]: Extracting #3: cost 7 inf + 0 32.814 * * [simplify]: Extracting #4: cost 6 inf + 1 32.814 * * [simplify]: Extracting #5: cost 0 inf + 767 32.814 * [simplify]: Simplified to (* (cbrt (cos delta)) (cbrt (cos delta))) 32.814 * [simplify]: Simplified (2 1 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (fma (* (cbrt (cos delta)) (cbrt (cos delta))) (cbrt (cos delta)) (- (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))))) lambda1)) 32.814 * * * * [progress]: [ 7 / 76 ] simplifiying candidate # 32.815 * [simplify]: Simplifying (sqrt (cos delta)) 32.815 * * [simplify]: iters left: 2 (3 enodes) 32.816 * * [simplify]: iters left: 1 (9 enodes) 32.819 * * [simplify]: Extracting #0: cost 1 inf + 0 32.819 * * [simplify]: Extracting #1: cost 3 inf + 0 32.819 * * [simplify]: Extracting #2: cost 5 inf + 0 32.819 * * [simplify]: Extracting #3: cost 4 inf + 1 32.819 * * [simplify]: Extracting #4: cost 0 inf + 325 32.819 * [simplify]: Simplified to (sqrt (cos delta)) 32.819 * [simplify]: Simplified (2 1 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (fma (sqrt (cos delta)) (sqrt (cos delta)) (- (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))))) lambda1)) 32.819 * * * * [progress]: [ 8 / 76 ] simplifiying candidate # 32.819 * * * * [progress]: [ 9 / 76 ] simplifiying candidate # 32.820 * [simplify]: Simplifying (/ (exp (cos delta)) (exp (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) 32.820 * * [simplify]: iters left: 6 (17 enodes) 32.827 * * [simplify]: iters left: 5 (60 enodes) 32.844 * * [simplify]: iters left: 4 (80 enodes) 32.857 * * [simplify]: iters left: 3 (119 enodes) 32.878 * * [simplify]: iters left: 2 (169 enodes) 32.930 * * [simplify]: iters left: 1 (274 enodes) 33.003 * * [simplify]: Extracting #0: cost 1 inf + 0 33.003 * * [simplify]: Extracting #1: cost 48 inf + 0 33.004 * * [simplify]: Extracting #2: cost 128 inf + 1 33.005 * * [simplify]: Extracting #3: cost 179 inf + 3 33.006 * * [simplify]: Extracting #4: cost 178 inf + 684 33.007 * * [simplify]: Extracting #5: cost 177 inf + 1869 33.009 * * [simplify]: Extracting #6: cost 174 inf + 3513 33.013 * * [simplify]: Extracting #7: cost 150 inf + 14771 33.025 * * [simplify]: Extracting #8: cost 85 inf + 67888 33.045 * * [simplify]: Extracting #9: cost 3 inf + 153557 33.078 * * [simplify]: Extracting #10: cost 0 inf + 155583 33.114 * [simplify]: Simplified to (exp (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) 33.114 * [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)) 33.114 * * * * [progress]: [ 10 / 76 ] simplifiying candidate # 33.115 * * * * [progress]: [ 11 / 76 ] simplifiying candidate # 33.115 * * * * [progress]: [ 12 / 76 ] simplifiying candidate # 33.115 * * * * [progress]: [ 13 / 76 ] simplifiying candidate # 33.115 * * * * [progress]: [ 14 / 76 ] simplifiying candidate # 33.115 * * * * [progress]: [ 15 / 76 ] simplifiying candidate # 33.115 * * * * [progress]: [ 16 / 76 ] simplifiying candidate # 33.115 * * * * [progress]: [ 17 / 76 ] simplifiying candidate # 33.115 * * * * [progress]: [ 18 / 76 ] simplifiying candidate # 33.115 * * * * [progress]: [ 19 / 76 ] simplifiying candidate # 33.115 * * * * [progress]: [ 20 / 76 ] simplifiying candidate # 33.115 * * * * [progress]: [ 21 / 76 ] simplifiying candidate #real (real->posit16 (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 33.115 * * * * [progress]: [ 22 / 76 ] simplifiying candidate # 33.115 * * * * [progress]: [ 23 / 76 ] simplifiying candidate # 33.116 * * * * [progress]: [ 24 / 76 ] simplifiying candidate # 33.116 * * * * [progress]: [ 25 / 76 ] simplifiying candidate # 33.116 * * * * [progress]: [ 26 / 76 ] simplifiying candidate # 33.116 * * * * [progress]: [ 27 / 76 ] simplifiying candidate # 33.116 * * * * [progress]: [ 28 / 76 ] simplifiying candidate # 33.116 * * * * [progress]: [ 29 / 76 ] simplifiying candidate # 33.116 * * * * [progress]: [ 30 / 76 ] simplifiying candidate # 33.116 * * * * [progress]: [ 31 / 76 ] simplifiying candidate # 33.116 * * * * [progress]: [ 32 / 76 ] simplifiying candidate #real (real->posit16 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 33.116 * * * * [progress]: [ 33 / 76 ] simplifiying candidate # 33.116 * * * * [progress]: [ 34 / 76 ] simplifiying candidate # 33.116 * * * * [progress]: [ 35 / 76 ] simplifiying candidate # 33.117 * [simplify]: Simplifying (* (sin delta) (* (cos phi1) (sin theta))) 33.117 * * [simplify]: iters left: 5 (8 enodes) 33.120 * * [simplify]: iters left: 4 (28 enodes) 33.128 * * [simplify]: iters left: 3 (36 enodes) 33.138 * * [simplify]: iters left: 2 (42 enodes) 33.148 * * [simplify]: Extracting #0: cost 1 inf + 0 33.148 * * [simplify]: Extracting #1: cost 8 inf + 0 33.148 * * [simplify]: Extracting #2: cost 17 inf + 0 33.148 * * [simplify]: Extracting #3: cost 12 inf + 125 33.148 * * [simplify]: Extracting #4: cost 5 inf + 1057 33.148 * * [simplify]: Extracting #5: cost 1 inf + 1705 33.148 * * [simplify]: Extracting #6: cost 0 inf + 1867 33.149 * [simplify]: Simplified to (* (* (cos phi1) (sin theta)) (sin delta)) 33.149 * [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)) 33.149 * * * * [progress]: [ 36 / 76 ] simplifiying candidate # 33.149 * [simplify]: Simplifying (* (sin delta) (* (cos phi1) (sin theta))) 33.149 * * [simplify]: iters left: 5 (8 enodes) 33.151 * * [simplify]: iters left: 4 (28 enodes) 33.155 * * [simplify]: iters left: 3 (36 enodes) 33.160 * * [simplify]: iters left: 2 (42 enodes) 33.166 * * [simplify]: Extracting #0: cost 1 inf + 0 33.166 * * [simplify]: Extracting #1: cost 8 inf + 0 33.166 * * [simplify]: Extracting #2: cost 17 inf + 0 33.167 * * [simplify]: Extracting #3: cost 12 inf + 125 33.167 * * [simplify]: Extracting #4: cost 5 inf + 1057 33.167 * * [simplify]: Extracting #5: cost 1 inf + 1705 33.167 * * [simplify]: Extracting #6: cost 0 inf + 1867 33.168 * [simplify]: Simplified to (* (* (cos phi1) (sin theta)) (sin delta)) 33.168 * [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)) 33.168 * * * * [progress]: [ 37 / 76 ] simplifiying candidate # 33.168 * * * * [progress]: [ 38 / 76 ] simplifiying candidate # 33.168 * [simplify]: Simplifying (+ (log (sin delta)) (+ (log (cos phi1)) (log (sin theta)))) 33.168 * * [simplify]: iters left: 6 (11 enodes) 33.170 * * [simplify]: iters left: 5 (37 enodes) 33.176 * * [simplify]: iters left: 4 (45 enodes) 33.189 * * [simplify]: iters left: 3 (51 enodes) 33.202 * * [simplify]: Extracting #0: cost 1 inf + 0 33.202 * * [simplify]: Extracting #1: cost 8 inf + 0 33.202 * * [simplify]: Extracting #2: cost 17 inf + 0 33.202 * * [simplify]: Extracting #3: cost 23 inf + 0 33.203 * * [simplify]: Extracting #4: cost 19 inf + 64 33.203 * * [simplify]: Extracting #5: cost 12 inf + 701 33.203 * * [simplify]: Extracting #6: cost 5 inf + 2061 33.204 * * [simplify]: Extracting #7: cost 0 inf + 3913 33.205 * [simplify]: Simplified to (+ (+ (log (sin theta)) (log (sin delta))) (log (cos phi1))) 33.205 * [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)) 33.205 * * * * [progress]: [ 39 / 76 ] simplifiying candidate # 33.206 * [simplify]: Simplifying (+ (log (sin delta)) (log (* (cos phi1) (sin theta)))) 33.206 * * [simplify]: iters left: 6 (10 enodes) 33.210 * * [simplify]: iters left: 5 (35 enodes) 33.220 * * [simplify]: iters left: 4 (44 enodes) 33.232 * * [simplify]: iters left: 3 (52 enodes) 33.245 * * [simplify]: Extracting #0: cost 1 inf + 0 33.246 * * [simplify]: Extracting #1: cost 8 inf + 0 33.246 * * [simplify]: Extracting #2: cost 18 inf + 0 33.246 * * [simplify]: Extracting #3: cost 25 inf + 0 33.246 * * [simplify]: Extracting #4: cost 19 inf + 186 33.247 * * [simplify]: Extracting #5: cost 6 inf + 2285 33.248 * * [simplify]: Extracting #6: cost 0 inf + 3957 33.249 * [simplify]: Simplified to (+ (log (* (sin theta) (cos phi1))) (log (sin delta))) 33.249 * [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)) 33.249 * * * * [progress]: [ 40 / 76 ] simplifiying candidate # 33.249 * * * * [progress]: [ 41 / 76 ] simplifiying candidate # 33.249 * * * * [progress]: [ 42 / 76 ] simplifiying candidate # 33.249 * [simplify]: Simplifying (* (* (* (sin delta) (sin delta)) (sin delta)) (* (* (* (cos phi1) (cos phi1)) (cos phi1)) (* (* (sin theta) (sin theta)) (sin theta)))) 33.250 * * [simplify]: iters left: 6 (14 enodes) 33.253 * * [simplify]: iters left: 5 (55 enodes) 33.263 * * [simplify]: iters left: 4 (129 enodes) 33.305 * * [simplify]: iters left: 3 (377 enodes) 33.543 * * [simplify]: Extracting #0: cost 1 inf + 0 33.543 * * [simplify]: Extracting #1: cost 90 inf + 0 33.545 * * [simplify]: Extracting #2: cost 262 inf + 0 33.551 * * [simplify]: Extracting #3: cost 196 inf + 16716 33.581 * * [simplify]: Extracting #4: cost 15 inf + 84091 33.615 * * [simplify]: Extracting #5: cost 0 inf + 86905 33.653 * * [simplify]: Extracting #6: cost 0 inf + 86505 33.677 * [simplify]: Simplified to (* (* (sin theta) (* (* (* (cos phi1) (sin delta)) (* (cos phi1) (sin delta))) (* (cos phi1) (sin delta)))) (* (sin theta) (sin theta))) 33.677 * [simplify]: Simplified (2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (cbrt (* (* (sin theta) (* (* (* (cos phi1) (sin delta)) (* (cos phi1) (sin delta))) (* (cos phi1) (sin delta)))) (* (sin theta) (sin theta)))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 33.677 * * * * [progress]: [ 43 / 76 ] simplifiying candidate # 33.677 * [simplify]: Simplifying (* (* (* (sin delta) (sin delta)) (sin delta)) (* (* (* (cos phi1) (sin theta)) (* (cos phi1) (sin theta))) (* (cos phi1) (sin theta)))) 33.677 * * [simplify]: iters left: 6 (12 enodes) 33.680 * * [simplify]: iters left: 5 (53 enodes) 33.691 * * [simplify]: iters left: 4 (136 enodes) 33.766 * * [simplify]: iters left: 3 (434 enodes) 34.067 * * [simplify]: Extracting #0: cost 1 inf + 0 34.067 * * [simplify]: Extracting #1: cost 83 inf + 0 34.069 * * [simplify]: Extracting #2: cost 211 inf + 0 34.075 * * [simplify]: Extracting #3: cost 163 inf + 12279 34.094 * * [simplify]: Extracting #4: cost 24 inf + 56995 34.115 * * [simplify]: Extracting #5: cost 0 inf + 64809 34.145 * * [simplify]: Extracting #6: cost 0 inf + 64409 34.179 * * [simplify]: Extracting #7: cost 0 inf + 64369 34.211 * [simplify]: Simplified to (* (* (* (sin theta) (cos phi1)) (sin delta)) (* (* (* (sin theta) (cos phi1)) (sin delta)) (* (* (sin theta) (cos phi1)) (sin delta)))) 34.211 * [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)) 34.212 * * * * [progress]: [ 44 / 76 ] simplifiying candidate # 34.212 * * * * [progress]: [ 45 / 76 ] simplifiying candidate # 34.212 * * * * [progress]: [ 46 / 76 ] simplifiying candidate # 34.212 * * * * [progress]: [ 47 / 76 ] simplifiying candidate # 34.212 * * * * [progress]: [ 48 / 76 ] simplifiying candidate # 34.212 * [simplify]: Simplifying (sin theta) 34.212 * * [simplify]: iters left: 1 (2 enodes) 34.213 * * [simplify]: Extracting #0: cost 1 inf + 0 34.213 * * [simplify]: Extracting #1: cost 3 inf + 0 34.213 * * [simplify]: Extracting #2: cost 2 inf + 1 34.213 * * [simplify]: Extracting #3: cost 0 inf + 123 34.213 * [simplify]: Simplified to (sin theta) 34.213 * [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)) 34.214 * * * * [progress]: [ 49 / 76 ] simplifiying candidate # 34.214 * [simplify]: Simplifying (* (cbrt (sin delta)) (cbrt (sin delta))) 34.214 * * [simplify]: iters left: 4 (4 enodes) 34.216 * * [simplify]: iters left: 3 (12 enodes) 34.219 * * [simplify]: Extracting #0: cost 1 inf + 0 34.219 * * [simplify]: Extracting #1: cost 3 inf + 0 34.219 * * [simplify]: Extracting #2: cost 5 inf + 0 34.219 * * [simplify]: Extracting #3: cost 7 inf + 0 34.219 * * [simplify]: Extracting #4: cost 6 inf + 1 34.219 * * [simplify]: Extracting #5: cost 0 inf + 767 34.220 * [simplify]: Simplified to (* (cbrt (sin delta)) (cbrt (sin delta))) 34.220 * [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)) 34.220 * * * * [progress]: [ 50 / 76 ] simplifiying candidate # 34.220 * [simplify]: Simplifying (sqrt (sin delta)) 34.220 * * [simplify]: iters left: 2 (3 enodes) 34.221 * * [simplify]: iters left: 1 (9 enodes) 34.224 * * [simplify]: Extracting #0: cost 1 inf + 0 34.224 * * [simplify]: Extracting #1: cost 3 inf + 0 34.224 * * [simplify]: Extracting #2: cost 5 inf + 0 34.224 * * [simplify]: Extracting #3: cost 4 inf + 1 34.224 * * [simplify]: Extracting #4: cost 0 inf + 325 34.224 * [simplify]: Simplified to (sqrt (sin delta)) 34.224 * [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)) 34.224 * * * * [progress]: [ 51 / 76 ] simplifiying candidate # 34.224 * * * * [progress]: [ 52 / 76 ] 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))> 34.225 * * * * [progress]: [ 53 / 76 ] simplifiying candidate # 34.225 * * * * [progress]: [ 54 / 76 ] simplifiying candidate # 34.225 * * * * [progress]: [ 55 / 76 ] simplifiying candidate # 34.225 * * * * [progress]: [ 56 / 76 ] simplifiying candidate # 34.225 * * * * [progress]: [ 57 / 76 ] simplifiying candidate # 34.225 * * * * [progress]: [ 58 / 76 ] simplifiying candidate # 34.225 * * * * [progress]: [ 59 / 76 ] simplifiying candidate # 34.225 * * * * [progress]: [ 60 / 76 ] simplifiying candidate # 34.225 * * * * [progress]: [ 61 / 76 ] simplifiying candidate # 34.225 * * * * [progress]: [ 62 / 76 ] simplifiying candidate # 34.225 * * * * [progress]: [ 63 / 76 ] simplifiying candidate # 34.225 * * * * [progress]: [ 64 / 76 ] simplifiying candidate #real (real->posit16 (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 34.225 * * * * [progress]: [ 65 / 76 ] simplifiying candidate # 34.226 * [simplify]: Simplifying (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) 34.226 * * [simplify]: iters left: 6 (10 enodes) 34.232 * * [simplify]: iters left: 5 (44 enodes) 34.246 * * [simplify]: iters left: 4 (66 enodes) 34.259 * * [simplify]: iters left: 3 (115 enodes) 34.292 * * [simplify]: iters left: 2 (226 enodes) 34.338 * * [simplify]: iters left: 1 (314 enodes) 34.416 * * [simplify]: Extracting #0: cost 1 inf + 0 34.416 * * [simplify]: Extracting #1: cost 29 inf + 0 34.416 * * [simplify]: Extracting #2: cost 43 inf + 390 34.418 * * [simplify]: Extracting #3: cost 15 inf + 2617 34.419 * * [simplify]: Extracting #4: cost 2 inf + 4019 34.421 * * [simplify]: Extracting #5: cost 0 inf + 4155 34.423 * [simplify]: Simplified to (- 1 (* (fma delta 1/2 phi1) delta)) 34.423 * [simplify]: Simplified (2 1 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- 1 (* (fma delta 1/2 phi1) delta))) lambda1)) 34.423 * * * * [progress]: [ 66 / 76 ] simplifiying candidate # 34.423 * [simplify]: Simplifying (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (sin phi1) (* (cos theta) (cos phi1)))))) 34.424 * * [simplify]: iters left: 6 (16 enodes) 34.428 * * [simplify]: iters left: 5 (67 enodes) 34.449 * * [simplify]: iters left: 4 (124 enodes) 34.481 * * [simplify]: iters left: 3 (263 enodes) 34.582 * * [simplify]: Extracting #0: cost 1 inf + 0 34.582 * * [simplify]: Extracting #1: cost 44 inf + 0 34.583 * * [simplify]: Extracting #2: cost 133 inf + 0 34.585 * * [simplify]: Extracting #3: cost 129 inf + 1057 34.591 * * [simplify]: Extracting #4: cost 38 inf + 23638 34.603 * * [simplify]: Extracting #5: cost 2 inf + 34441 34.611 * * [simplify]: Extracting #6: cost 0 inf + 34985 34.620 * [simplify]: Simplified to (- (cos delta) (* (sin phi1) (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta))))) 34.620 * [simplify]: Simplified (2 1 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta)))))) lambda1)) 34.620 * * * * [progress]: [ 67 / 76 ] simplifiying candidate # 34.620 * [simplify]: Simplifying (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos theta) (* (sin delta) (cos phi1)))))) 34.621 * * [simplify]: iters left: 6 (16 enodes) 34.625 * * [simplify]: iters left: 5 (67 enodes) 34.637 * * [simplify]: iters left: 4 (124 enodes) 34.663 * * [simplify]: iters left: 3 (263 enodes) 34.758 * * [simplify]: Extracting #0: cost 1 inf + 0 34.759 * * [simplify]: Extracting #1: cost 44 inf + 0 34.759 * * [simplify]: Extracting #2: cost 140 inf + 0 34.760 * * [simplify]: Extracting #3: cost 134 inf + 1137 34.766 * * [simplify]: Extracting #4: cost 39 inf + 24533 34.775 * * [simplify]: Extracting #5: cost 0 inf + 36983 34.792 * * [simplify]: Extracting #6: cost 0 inf + 36903 34.805 * [simplify]: Simplified to (- (cos delta) (* (sin phi1) (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta))))) 34.806 * [simplify]: Simplified (2 1 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta)))))) lambda1)) 34.806 * * * * [progress]: [ 68 / 76 ] simplifiying candidate # 34.806 * [simplify]: Simplifying (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 34.806 * * [simplify]: iters left: 5 (12 enodes) 34.808 * * [simplify]: iters left: 4 (40 enodes) 34.814 * * [simplify]: iters left: 3 (48 enodes) 34.821 * * [simplify]: iters left: 2 (61 enodes) 34.829 * * [simplify]: Extracting #0: cost 1 inf + 0 34.829 * * [simplify]: Extracting #1: cost 3 inf + 0 34.829 * * [simplify]: Extracting #2: cost 14 inf + 0 34.829 * * [simplify]: Extracting #3: cost 27 inf + 0 34.829 * * [simplify]: Extracting #4: cost 16 inf + 592 34.830 * * [simplify]: Extracting #5: cost 1 inf + 4134 34.830 * * [simplify]: Extracting #6: cost 0 inf + 4397 34.831 * [simplify]: Simplified to (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 34.831 * [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)) 34.831 * * * * [progress]: [ 69 / 76 ] simplifiying candidate # 34.831 * [simplify]: Simplifying (asin (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta)))) 34.832 * * [simplify]: iters left: 5 (12 enodes) 34.834 * * [simplify]: iters left: 4 (40 enodes) 34.840 * * [simplify]: iters left: 3 (48 enodes) 34.847 * * [simplify]: iters left: 2 (61 enodes) 34.856 * * [simplify]: Extracting #0: cost 1 inf + 0 34.856 * * [simplify]: Extracting #1: cost 3 inf + 0 34.856 * * [simplify]: Extracting #2: cost 14 inf + 0 34.856 * * [simplify]: Extracting #3: cost 27 inf + 0 34.856 * * [simplify]: Extracting #4: cost 19 inf + 308 34.857 * * [simplify]: Extracting #5: cost 6 inf + 2010 34.857 * * [simplify]: Extracting #6: cost 0 inf + 4397 34.858 * [simplify]: Simplified to (asin (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta)))) 34.858 * [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)) 34.858 * * * * [progress]: [ 70 / 76 ] simplifiying candidate # 34.858 * [simplify]: Simplifying (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 34.858 * * [simplify]: iters left: 5 (12 enodes) 34.861 * * [simplify]: iters left: 4 (40 enodes) 34.871 * * [simplify]: iters left: 3 (48 enodes) 34.882 * * [simplify]: iters left: 2 (61 enodes) 34.889 * * [simplify]: Extracting #0: cost 1 inf + 0 34.889 * * [simplify]: Extracting #1: cost 3 inf + 0 34.889 * * [simplify]: Extracting #2: cost 14 inf + 0 34.889 * * [simplify]: Extracting #3: cost 27 inf + 0 34.889 * * [simplify]: Extracting #4: cost 16 inf + 592 34.890 * * [simplify]: Extracting #5: cost 1 inf + 4134 34.891 * * [simplify]: Extracting #6: cost 0 inf + 4397 34.891 * [simplify]: Simplified to (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 34.891 * [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)) 34.891 * * * * [progress]: [ 71 / 76 ] simplifiying candidate # 34.892 * [simplify]: Simplifying 0 34.892 * * [simplify]: iters left: 0 (1 enodes) 34.893 * * [simplify]: Extracting #0: cost 1 inf + 0 34.893 * * [simplify]: Extracting #1: cost 0 inf + 1 34.893 * [simplify]: Simplified to 0 34.893 * [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)) 34.893 * * * * [progress]: [ 72 / 76 ] simplifiying candidate # 34.893 * [simplify]: Simplifying (* (cos phi1) (* (sin theta) (sin delta))) 34.893 * * [simplify]: iters left: 5 (8 enodes) 34.895 * * [simplify]: iters left: 4 (28 enodes) 34.899 * * [simplify]: iters left: 3 (36 enodes) 34.904 * * [simplify]: iters left: 2 (42 enodes) 34.912 * * [simplify]: Extracting #0: cost 1 inf + 0 34.912 * * [simplify]: Extracting #1: cost 8 inf + 0 34.912 * * [simplify]: Extracting #2: cost 17 inf + 0 34.912 * * [simplify]: Extracting #3: cost 12 inf + 125 34.912 * * [simplify]: Extracting #4: cost 5 inf + 1057 34.913 * * [simplify]: Extracting #5: cost 1 inf + 1705 34.913 * * [simplify]: Extracting #6: cost 0 inf + 1867 34.914 * [simplify]: Simplified to (* (* (sin theta) (sin delta)) (cos phi1)) 34.914 * [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)) 34.914 * * * * [progress]: [ 73 / 76 ] simplifiying candidate # 34.914 * [simplify]: Simplifying (* (cos phi1) (* (sin delta) (sin theta))) 34.915 * * [simplify]: iters left: 5 (8 enodes) 34.918 * * [simplify]: iters left: 4 (28 enodes) 34.926 * * [simplify]: iters left: 3 (36 enodes) 34.937 * * [simplify]: iters left: 2 (42 enodes) 34.945 * * [simplify]: Extracting #0: cost 1 inf + 0 34.945 * * [simplify]: Extracting #1: cost 8 inf + 0 34.945 * * [simplify]: Extracting #2: cost 17 inf + 0 34.945 * * [simplify]: Extracting #3: cost 12 inf + 125 34.945 * * [simplify]: Extracting #4: cost 5 inf + 1057 34.945 * * [simplify]: Extracting #5: cost 1 inf + 1705 34.946 * * [simplify]: Extracting #6: cost 0 inf + 1867 34.946 * [simplify]: Simplified to (* (* (sin delta) (sin theta)) (cos phi1)) 34.946 * [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)) 34.946 * * * * [progress]: [ 74 / 76 ] simplifiying candidate # 34.946 * [simplify]: Simplifying (+ phi1 delta) 34.946 * * [simplify]: iters left: 2 (3 enodes) 34.947 * * [simplify]: iters left: 1 (10 enodes) 34.949 * * [simplify]: Extracting #0: cost 1 inf + 0 34.949 * * [simplify]: Extracting #1: cost 4 inf + 0 34.949 * * [simplify]: Extracting #2: cost 2 inf + 2 34.949 * * [simplify]: Extracting #3: cost 0 inf + 86 34.949 * [simplify]: Simplified to (+ delta phi1) 34.949 * [simplify]: Simplified (2 1 2 2 2 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (+ delta phi1)))))) lambda1)) 34.949 * * * * [progress]: [ 75 / 76 ] simplifiying candidate # 34.949 * [simplify]: Simplifying (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta)))) 34.949 * * [simplify]: iters left: 6 (12 enodes) 34.952 * * [simplify]: iters left: 5 (43 enodes) 34.959 * * [simplify]: iters left: 4 (55 enodes) 34.967 * * [simplify]: iters left: 3 (61 enodes) 34.978 * * [simplify]: Extracting #0: cost 1 inf + 0 34.978 * * [simplify]: Extracting #1: cost 10 inf + 0 34.978 * * [simplify]: Extracting #2: cost 22 inf + 0 34.978 * * [simplify]: Extracting #3: cost 20 inf + 185 34.978 * * [simplify]: Extracting #4: cost 12 inf + 916 34.979 * * [simplify]: Extracting #5: cost 0 inf + 3311 34.980 * [simplify]: Simplified to (fma (sin phi1) (cos delta) (* (* (cos theta) (sin delta)) (cos phi1))) 34.980 * [simplify]: Simplified (2 1 2 2 2 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (fma (sin phi1) (cos delta) (* (* (cos theta) (sin delta)) (cos phi1)))))))) lambda1)) 34.981 * * * * [progress]: [ 76 / 76 ] simplifiying candidate # 34.981 * [simplify]: Simplifying (+ (* (cos phi1) (* (sin delta) (cos theta))) (* (sin phi1) (cos delta))) 34.981 * * [simplify]: iters left: 6 (12 enodes) 34.987 * * [simplify]: iters left: 5 (43 enodes) 34.999 * * [simplify]: iters left: 4 (55 enodes) 35.010 * * [simplify]: iters left: 3 (60 enodes) 35.017 * * [simplify]: Extracting #0: cost 1 inf + 0 35.017 * * [simplify]: Extracting #1: cost 10 inf + 0 35.017 * * [simplify]: Extracting #2: cost 23 inf + 0 35.017 * * [simplify]: Extracting #3: cost 19 inf + 186 35.017 * * [simplify]: Extracting #4: cost 9 inf + 1200 35.018 * * [simplify]: Extracting #5: cost 1 inf + 3048 35.018 * * [simplify]: Extracting #6: cost 0 inf + 3311 35.019 * [simplify]: Simplified to (fma (sin phi1) (cos delta) (* (cos theta) (* (sin delta) (cos phi1)))) 35.019 * [simplify]: Simplified (2 1 2 2 2 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (fma (sin phi1) (cos delta) (* (cos theta) (* (sin delta) (cos phi1))))))))) lambda1)) 35.019 * * * [progress]: adding candidates to table 36.724 * [progress]: [Phase 3 of 3] Extracting. 36.736 * [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) 36.736 * * [simplify]: iters left: 6 (21 enodes) 36.738 * * [simplify]: iters left: 5 (27 enodes) 36.739 * * [simplify]: Extracting #0: cost 1 inf + 0 36.739 * * [simplify]: Extracting #1: cost 3 inf + 0 36.739 * * [simplify]: Extracting #2: cost 4 inf + 1 36.739 * * [simplify]: Extracting #3: cost 8 inf + 1 36.739 * * [simplify]: Extracting #4: cost 13 inf + 1 36.739 * * [simplify]: Extracting #5: cost 15 inf + 2 36.739 * * [simplify]: Extracting #6: cost 9 inf + 309 36.740 * * [simplify]: Extracting #7: cost 10 inf + 734 36.740 * * [simplify]: Extracting #8: cost 6 inf + 1557 36.740 * * [simplify]: Extracting #9: cost 4 inf + 2703 36.741 * * [simplify]: Extracting #10: cost 3 inf + 3346 36.742 * * [simplify]: Extracting #11: cost 0 inf + 5996 36.743 * [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)))))))))