0.001 * [progress]: [Phase 1 of 3] Setting up. 0.001 * * * [progress]: [1/2] Preparing points 29.305 * * * [progress]: [2/2] Setting up program. 29.319 * [progress]: [Phase 2 of 3] Improving. 29.319 * * * * [progress]: [ 1 / 1 ] simplifiying candidate # 29.319 * [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))))))))) 29.320 * * [simplify]: iters left: 6 (22 enodes) 29.329 * * [simplify]: iters left: 5 (80 enodes) 29.342 * * [simplify]: iters left: 4 (107 enodes) 29.357 * * [simplify]: iters left: 3 (125 enodes) 29.397 * * [simplify]: Extracting #0: cost 1 inf + 0 29.397 * * [simplify]: Extracting #1: cost 4 inf + 0 29.397 * * [simplify]: Extracting #2: cost 6 inf + 1 29.397 * * [simplify]: Extracting #3: cost 21 inf + 1 29.397 * * [simplify]: Extracting #4: cost 38 inf + 1 29.397 * * [simplify]: Extracting #5: cost 28 inf + 734 29.398 * * [simplify]: Extracting #6: cost 24 inf + 1889 29.398 * * [simplify]: Extracting #7: cost 25 inf + 2537 29.399 * * [simplify]: Extracting #8: cost 18 inf + 4766 29.400 * * [simplify]: Extracting #9: cost 12 inf + 7142 29.401 * * [simplify]: Extracting #10: cost 3 inf + 13414 29.403 * * [simplify]: Extracting #11: cost 0 inf + 16385 29.406 * * [simplify]: Extracting #12: cost 0 inf + 16340 29.408 * [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) 29.408 * [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)) 29.437 * * [progress]: iteration 1 / 4 29.437 * * * [progress]: picking best candidate 29.449 * * * * [pick]: Picked # 29.449 * * * [progress]: localizing error 29.524 * * * [progress]: generating rewritten candidates 29.524 * * * * [progress]: [ 1 / 4 ] rewriting at (2 1 2) 29.538 * * * * [progress]: [ 2 / 4 ] rewriting at (2 1 2 2) 29.561 * * * * [progress]: [ 3 / 4 ] rewriting at (2 1 2 2 2 1) 29.562 * * * * [progress]: [ 4 / 4 ] rewriting at (2 1 2 2 2 1 1) 29.563 * * * [progress]: generating series expansions 29.563 * * * * [progress]: [ 1 / 4 ] generating series at (2 1 2) 29.564 * [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))))) 29.564 * [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 29.564 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in theta 29.564 * [taylor]: Taking taylor expansion of (cos delta) in theta 29.564 * [taylor]: Taking taylor expansion of delta in theta 29.564 * [backup-simplify]: Simplify delta into delta 29.564 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.564 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.564 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 29.564 * [taylor]: Taking taylor expansion of (sin phi1) in theta 29.564 * [taylor]: Taking taylor expansion of phi1 in theta 29.564 * [backup-simplify]: Simplify phi1 into phi1 29.564 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.564 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.564 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 29.566 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 29.566 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 29.566 * [taylor]: Taking taylor expansion of (cos theta) in theta 29.566 * [taylor]: Taking taylor expansion of theta in theta 29.566 * [backup-simplify]: Simplify 0 into 0 29.566 * [backup-simplify]: Simplify 1 into 1 29.566 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 29.566 * [taylor]: Taking taylor expansion of (cos phi1) in theta 29.566 * [taylor]: Taking taylor expansion of phi1 in theta 29.566 * [backup-simplify]: Simplify phi1 into phi1 29.566 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.566 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.567 * [taylor]: Taking taylor expansion of (sin delta) in theta 29.567 * [taylor]: Taking taylor expansion of delta in theta 29.567 * [backup-simplify]: Simplify delta into delta 29.567 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.567 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.567 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 29.567 * [taylor]: Taking taylor expansion of (sin phi1) in theta 29.567 * [taylor]: Taking taylor expansion of phi1 in theta 29.567 * [backup-simplify]: Simplify phi1 into phi1 29.567 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.567 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.567 * [taylor]: Taking taylor expansion of (cos delta) in theta 29.567 * [taylor]: Taking taylor expansion of delta in theta 29.567 * [backup-simplify]: Simplify delta into delta 29.567 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.567 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.567 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in phi1 29.567 * [taylor]: Taking taylor expansion of (cos delta) in phi1 29.567 * [taylor]: Taking taylor expansion of delta in phi1 29.567 * [backup-simplify]: Simplify delta into delta 29.567 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.567 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.567 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 29.567 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 29.567 * [taylor]: Taking taylor expansion of phi1 in phi1 29.567 * [backup-simplify]: Simplify 0 into 0 29.567 * [backup-simplify]: Simplify 1 into 1 29.567 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 29.567 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 29.567 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 29.567 * [taylor]: Taking taylor expansion of (cos theta) in phi1 29.568 * [taylor]: Taking taylor expansion of theta in phi1 29.568 * [backup-simplify]: Simplify theta into theta 29.568 * [backup-simplify]: Simplify (cos theta) into (cos theta) 29.568 * [backup-simplify]: Simplify (sin theta) into (sin theta) 29.568 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 29.568 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 29.568 * [taylor]: Taking taylor expansion of phi1 in phi1 29.568 * [backup-simplify]: Simplify 0 into 0 29.568 * [backup-simplify]: Simplify 1 into 1 29.568 * [taylor]: Taking taylor expansion of (sin delta) in phi1 29.568 * [taylor]: Taking taylor expansion of delta in phi1 29.568 * [backup-simplify]: Simplify delta into delta 29.568 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.568 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.568 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 29.568 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 29.568 * [taylor]: Taking taylor expansion of phi1 in phi1 29.568 * [backup-simplify]: Simplify 0 into 0 29.568 * [backup-simplify]: Simplify 1 into 1 29.568 * [taylor]: Taking taylor expansion of (cos delta) in phi1 29.568 * [taylor]: Taking taylor expansion of delta in phi1 29.568 * [backup-simplify]: Simplify delta into delta 29.568 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.568 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.568 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in delta 29.568 * [taylor]: Taking taylor expansion of (cos delta) in delta 29.568 * [taylor]: Taking taylor expansion of delta in delta 29.568 * [backup-simplify]: Simplify 0 into 0 29.568 * [backup-simplify]: Simplify 1 into 1 29.568 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 29.568 * [taylor]: Taking taylor expansion of (sin phi1) in delta 29.568 * [taylor]: Taking taylor expansion of phi1 in delta 29.568 * [backup-simplify]: Simplify phi1 into phi1 29.569 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.569 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.569 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 29.569 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 29.569 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 29.569 * [taylor]: Taking taylor expansion of (cos theta) in delta 29.569 * [taylor]: Taking taylor expansion of theta in delta 29.569 * [backup-simplify]: Simplify theta into theta 29.569 * [backup-simplify]: Simplify (cos theta) into (cos theta) 29.569 * [backup-simplify]: Simplify (sin theta) into (sin theta) 29.569 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 29.569 * [taylor]: Taking taylor expansion of (cos phi1) in delta 29.569 * [taylor]: Taking taylor expansion of phi1 in delta 29.569 * [backup-simplify]: Simplify phi1 into phi1 29.569 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.569 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.569 * [taylor]: Taking taylor expansion of (sin delta) in delta 29.569 * [taylor]: Taking taylor expansion of delta in delta 29.569 * [backup-simplify]: Simplify 0 into 0 29.569 * [backup-simplify]: Simplify 1 into 1 29.569 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 29.569 * [taylor]: Taking taylor expansion of (sin phi1) in delta 29.569 * [taylor]: Taking taylor expansion of phi1 in delta 29.569 * [backup-simplify]: Simplify phi1 into phi1 29.569 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.569 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.569 * [taylor]: Taking taylor expansion of (cos delta) in delta 29.569 * [taylor]: Taking taylor expansion of delta in delta 29.569 * [backup-simplify]: Simplify 0 into 0 29.569 * [backup-simplify]: Simplify 1 into 1 29.569 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in delta 29.570 * [taylor]: Taking taylor expansion of (cos delta) in delta 29.570 * [taylor]: Taking taylor expansion of delta in delta 29.570 * [backup-simplify]: Simplify 0 into 0 29.570 * [backup-simplify]: Simplify 1 into 1 29.570 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 29.570 * [taylor]: Taking taylor expansion of (sin phi1) in delta 29.570 * [taylor]: Taking taylor expansion of phi1 in delta 29.570 * [backup-simplify]: Simplify phi1 into phi1 29.570 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.570 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.570 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 29.570 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 29.570 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 29.570 * [taylor]: Taking taylor expansion of (cos theta) in delta 29.570 * [taylor]: Taking taylor expansion of theta in delta 29.570 * [backup-simplify]: Simplify theta into theta 29.570 * [backup-simplify]: Simplify (cos theta) into (cos theta) 29.570 * [backup-simplify]: Simplify (sin theta) into (sin theta) 29.570 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 29.570 * [taylor]: Taking taylor expansion of (cos phi1) in delta 29.570 * [taylor]: Taking taylor expansion of phi1 in delta 29.570 * [backup-simplify]: Simplify phi1 into phi1 29.570 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.570 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.570 * [taylor]: Taking taylor expansion of (sin delta) in delta 29.570 * [taylor]: Taking taylor expansion of delta in delta 29.570 * [backup-simplify]: Simplify 0 into 0 29.570 * [backup-simplify]: Simplify 1 into 1 29.570 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 29.570 * [taylor]: Taking taylor expansion of (sin phi1) in delta 29.570 * [taylor]: Taking taylor expansion of phi1 in delta 29.570 * [backup-simplify]: Simplify phi1 into phi1 29.571 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.571 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.571 * [taylor]: Taking taylor expansion of (cos delta) in delta 29.571 * [taylor]: Taking taylor expansion of delta in delta 29.571 * [backup-simplify]: Simplify 0 into 0 29.571 * [backup-simplify]: Simplify 1 into 1 29.571 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 29.571 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 29.571 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 29.571 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 29.572 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 29.572 * [backup-simplify]: Simplify (- 0) into 0 29.572 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 29.572 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 29.572 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 29.573 * [backup-simplify]: Simplify (- 0) into 0 29.573 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 29.573 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 29.573 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 29.573 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 29.573 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 29.573 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 29.573 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 29.573 * [backup-simplify]: Simplify (+ 0 (sin phi1)) into (sin phi1) 29.573 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 29.574 * [backup-simplify]: Simplify (- (pow (sin phi1) 2)) into (- (pow (sin phi1) 2)) 29.574 * [backup-simplify]: Simplify (+ 1 (- (pow (sin phi1) 2))) into (- 1 (pow (sin phi1) 2)) 29.574 * [taylor]: Taking taylor expansion of (- 1 (pow (sin phi1) 2)) in phi1 29.574 * [taylor]: Taking taylor expansion of 1 in phi1 29.574 * [backup-simplify]: Simplify 1 into 1 29.574 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 29.574 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 29.574 * [taylor]: Taking taylor expansion of phi1 in phi1 29.574 * [backup-simplify]: Simplify 0 into 0 29.574 * [backup-simplify]: Simplify 1 into 1 29.575 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 29.576 * [backup-simplify]: Simplify (+ 1 0) into 1 29.576 * [taylor]: Taking taylor expansion of 1 in theta 29.576 * [backup-simplify]: Simplify 1 into 1 29.576 * [backup-simplify]: Simplify 1 into 1 29.576 * [backup-simplify]: Simplify (+ 0) into 0 29.577 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 29.578 * [backup-simplify]: Simplify (+ 0) into 0 29.578 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 29.579 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.579 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 29.580 * [backup-simplify]: Simplify (- 0) into 0 29.580 * [backup-simplify]: Simplify (+ 0 0) into 0 29.580 * [backup-simplify]: Simplify (+ (* (cos phi1) 1) (* 0 0)) into (cos phi1) 29.581 * [backup-simplify]: Simplify (+ 0) into 0 29.581 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 29.582 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.582 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 29.583 * [backup-simplify]: Simplify (- 0) into 0 29.583 * [backup-simplify]: Simplify (+ 0 0) into 0 29.584 * [backup-simplify]: Simplify (+ (* (cos theta) (cos phi1)) (* 0 0)) into (* (cos theta) (cos phi1)) 29.584 * [backup-simplify]: Simplify (+ 0) into 0 29.584 * [backup-simplify]: Simplify (+ 0) into 0 29.585 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 29.586 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.586 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 29.586 * [backup-simplify]: Simplify (+ 0 0) into 0 29.587 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 29.587 * [backup-simplify]: Simplify (+ (* (cos theta) (cos phi1)) 0) into (* (cos theta) (cos phi1)) 29.587 * [backup-simplify]: Simplify (+ 0) into 0 29.588 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 29.589 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.589 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 29.589 * [backup-simplify]: Simplify (+ 0 0) into 0 29.590 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos theta) (cos phi1))) (* 0 (sin phi1))) into (* (sin phi1) (* (cos theta) (cos phi1))) 29.590 * [backup-simplify]: Simplify (- (* (sin phi1) (* (cos theta) (cos phi1)))) into (- (* (sin phi1) (* (cos theta) (cos phi1)))) 29.590 * [backup-simplify]: Simplify (+ 0 (- (* (sin phi1) (* (cos theta) (cos phi1))))) into (- (* (sin phi1) (* (cos theta) (cos phi1)))) 29.590 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (* (cos theta) (cos phi1)))) in phi1 29.590 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos theta) (cos phi1))) in phi1 29.590 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 29.590 * [taylor]: Taking taylor expansion of phi1 in phi1 29.590 * [backup-simplify]: Simplify 0 into 0 29.590 * [backup-simplify]: Simplify 1 into 1 29.590 * [taylor]: Taking taylor expansion of (* (cos theta) (cos phi1)) in phi1 29.590 * [taylor]: Taking taylor expansion of (cos theta) in phi1 29.590 * [taylor]: Taking taylor expansion of theta in phi1 29.590 * [backup-simplify]: Simplify theta into theta 29.590 * [backup-simplify]: Simplify (cos theta) into (cos theta) 29.590 * [backup-simplify]: Simplify (sin theta) into (sin theta) 29.590 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 29.590 * [taylor]: Taking taylor expansion of phi1 in phi1 29.591 * [backup-simplify]: Simplify 0 into 0 29.591 * [backup-simplify]: Simplify 1 into 1 29.591 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 29.591 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 29.591 * [backup-simplify]: Simplify (- 0) into 0 29.591 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 29.591 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 29.591 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 29.592 * [backup-simplify]: Simplify (- 0) into 0 29.592 * [taylor]: Taking taylor expansion of 0 in theta 29.592 * [backup-simplify]: Simplify 0 into 0 29.592 * [backup-simplify]: Simplify 0 into 0 29.592 * [backup-simplify]: Simplify (+ 0 0) into 0 29.592 * [taylor]: Taking taylor expansion of 0 in theta 29.592 * [backup-simplify]: Simplify 0 into 0 29.592 * [backup-simplify]: Simplify 0 into 0 29.592 * [backup-simplify]: Simplify 0 into 0 29.593 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 29.594 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.595 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.596 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 29.597 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.597 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 29.598 * [backup-simplify]: Simplify (- 0) into 0 29.598 * [backup-simplify]: Simplify (+ 0 0) into 0 29.599 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 1) (* 0 0))) into 0 29.599 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.600 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 29.601 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.602 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 29.602 * [backup-simplify]: Simplify (- 0) into 0 29.602 * [backup-simplify]: Simplify (+ 0 0) into 0 29.603 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 (cos phi1)) (* 0 0))) into 0 29.604 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 29.605 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.605 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 29.606 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.607 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 29.607 * [backup-simplify]: Simplify (+ 0 0) into 0 29.608 * [backup-simplify]: Simplify (+ (* (sin phi1) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (sin phi1))) 29.608 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (sin phi1)))) into (- (* 1/2 (sin phi1))) 29.609 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.610 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 29.610 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.611 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 29.611 * [backup-simplify]: Simplify (+ 0 0) into 0 29.612 * [backup-simplify]: Simplify (+ (* (sin phi1) (- (* 1/2 (sin phi1)))) (+ (* 0 (* (cos theta) (cos phi1))) (* 0 (sin phi1)))) into (- (* 1/2 (pow (sin phi1) 2))) 29.612 * [backup-simplify]: Simplify (- (- (* 1/2 (pow (sin phi1) 2)))) into (* 1/2 (pow (sin phi1) 2)) 29.612 * [backup-simplify]: Simplify (+ -1/2 (* 1/2 (pow (sin phi1) 2))) into (- (* 1/2 (pow (sin phi1) 2)) 1/2) 29.612 * [taylor]: Taking taylor expansion of (- (* 1/2 (pow (sin phi1) 2)) 1/2) in phi1 29.612 * [taylor]: Taking taylor expansion of (* 1/2 (pow (sin phi1) 2)) in phi1 29.612 * [taylor]: Taking taylor expansion of 1/2 in phi1 29.612 * [backup-simplify]: Simplify 1/2 into 1/2 29.612 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 29.612 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 29.612 * [taylor]: Taking taylor expansion of phi1 in phi1 29.612 * [backup-simplify]: Simplify 0 into 0 29.612 * [backup-simplify]: Simplify 1 into 1 29.613 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 29.613 * [taylor]: Taking taylor expansion of 1/2 in phi1 29.613 * [backup-simplify]: Simplify 1/2 into 1/2 29.613 * [backup-simplify]: Simplify (- 1/2) into -1/2 29.614 * [backup-simplify]: Simplify (+ 0 -1/2) into -1/2 29.614 * [taylor]: Taking taylor expansion of -1/2 in theta 29.614 * [backup-simplify]: Simplify -1/2 into -1/2 29.614 * [backup-simplify]: Simplify -1/2 into -1/2 29.614 * [backup-simplify]: Simplify (+ 0) into 0 29.615 * [backup-simplify]: Simplify (+ 0) into 0 29.622 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 29.623 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.624 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 29.624 * [backup-simplify]: Simplify (- 0) into 0 29.625 * [backup-simplify]: Simplify (+ 0 0) into 0 29.625 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 29.626 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 29.626 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos theta))) into (cos theta) 29.627 * [backup-simplify]: Simplify (- (cos theta)) into (- (cos theta)) 29.627 * [taylor]: Taking taylor expansion of (- (cos theta)) in theta 29.627 * [taylor]: Taking taylor expansion of (cos theta) in theta 29.627 * [taylor]: Taking taylor expansion of theta in theta 29.627 * [backup-simplify]: Simplify 0 into 0 29.627 * [backup-simplify]: Simplify 1 into 1 29.627 * [backup-simplify]: Simplify (- 1) into -1 29.627 * [backup-simplify]: Simplify -1 into -1 29.628 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* phi1 delta))) (+ (* -1/2 (pow (* 1 (* 1 delta)) 2)) 1)) into (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) 29.628 * [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)))) 29.628 * [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 29.628 * [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 29.628 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 29.628 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.628 * [taylor]: Taking taylor expansion of delta in theta 29.628 * [backup-simplify]: Simplify delta into delta 29.628 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.628 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.628 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.628 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in theta 29.629 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 29.629 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 29.629 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 29.629 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 29.629 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 29.629 * [taylor]: Taking taylor expansion of theta in theta 29.629 * [backup-simplify]: Simplify 0 into 0 29.629 * [backup-simplify]: Simplify 1 into 1 29.629 * [backup-simplify]: Simplify (/ 1 1) into 1 29.629 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.629 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 29.629 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 29.629 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.629 * [taylor]: Taking taylor expansion of delta in theta 29.630 * [backup-simplify]: Simplify delta into delta 29.630 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.630 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.630 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.630 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 29.630 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.630 * [taylor]: Taking taylor expansion of phi1 in theta 29.630 * [backup-simplify]: Simplify phi1 into phi1 29.630 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.630 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.630 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.630 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 29.630 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 29.630 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.630 * [taylor]: Taking taylor expansion of phi1 in theta 29.630 * [backup-simplify]: Simplify phi1 into phi1 29.630 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.630 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.630 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.630 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 29.630 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.630 * [taylor]: Taking taylor expansion of delta in theta 29.630 * [backup-simplify]: Simplify delta into delta 29.630 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.631 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.631 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.631 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 29.631 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.631 * [taylor]: Taking taylor expansion of phi1 in theta 29.631 * [backup-simplify]: Simplify phi1 into phi1 29.631 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.631 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.631 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.631 * [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 29.631 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 29.631 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.631 * [taylor]: Taking taylor expansion of delta in phi1 29.631 * [backup-simplify]: Simplify delta into delta 29.631 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.631 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.631 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.631 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in phi1 29.631 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 29.631 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 29.631 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 29.631 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 29.631 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 29.631 * [taylor]: Taking taylor expansion of theta in phi1 29.631 * [backup-simplify]: Simplify theta into theta 29.631 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 29.632 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.632 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 29.632 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 29.632 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 29.632 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.632 * [taylor]: Taking taylor expansion of delta in phi1 29.632 * [backup-simplify]: Simplify delta into delta 29.632 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.632 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.632 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.632 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 29.632 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.632 * [taylor]: Taking taylor expansion of phi1 in phi1 29.632 * [backup-simplify]: Simplify 0 into 0 29.632 * [backup-simplify]: Simplify 1 into 1 29.632 * [backup-simplify]: Simplify (/ 1 1) into 1 29.633 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.633 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 29.633 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 29.633 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.633 * [taylor]: Taking taylor expansion of phi1 in phi1 29.633 * [backup-simplify]: Simplify 0 into 0 29.633 * [backup-simplify]: Simplify 1 into 1 29.633 * [backup-simplify]: Simplify (/ 1 1) into 1 29.633 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.633 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 29.633 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.633 * [taylor]: Taking taylor expansion of delta in phi1 29.633 * [backup-simplify]: Simplify delta into delta 29.633 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.634 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.634 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.634 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 29.634 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.634 * [taylor]: Taking taylor expansion of phi1 in phi1 29.634 * [backup-simplify]: Simplify 0 into 0 29.634 * [backup-simplify]: Simplify 1 into 1 29.634 * [backup-simplify]: Simplify (/ 1 1) into 1 29.634 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.634 * [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 29.634 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 29.634 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.634 * [taylor]: Taking taylor expansion of delta in delta 29.634 * [backup-simplify]: Simplify 0 into 0 29.634 * [backup-simplify]: Simplify 1 into 1 29.635 * [backup-simplify]: Simplify (/ 1 1) into 1 29.635 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.635 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in delta 29.635 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 29.635 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 29.635 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 29.635 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 29.635 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 29.635 * [taylor]: Taking taylor expansion of theta in delta 29.635 * [backup-simplify]: Simplify theta into theta 29.635 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 29.635 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.635 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 29.635 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 29.635 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 29.636 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.636 * [taylor]: Taking taylor expansion of delta in delta 29.636 * [backup-simplify]: Simplify 0 into 0 29.636 * [backup-simplify]: Simplify 1 into 1 29.636 * [backup-simplify]: Simplify (/ 1 1) into 1 29.636 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.636 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 29.636 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.636 * [taylor]: Taking taylor expansion of phi1 in delta 29.636 * [backup-simplify]: Simplify phi1 into phi1 29.636 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.636 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.636 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.636 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 29.636 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 29.636 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.636 * [taylor]: Taking taylor expansion of phi1 in delta 29.637 * [backup-simplify]: Simplify phi1 into phi1 29.637 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.637 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.637 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.637 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 29.637 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.637 * [taylor]: Taking taylor expansion of delta in delta 29.637 * [backup-simplify]: Simplify 0 into 0 29.637 * [backup-simplify]: Simplify 1 into 1 29.637 * [backup-simplify]: Simplify (/ 1 1) into 1 29.637 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.637 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 29.637 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.637 * [taylor]: Taking taylor expansion of phi1 in delta 29.637 * [backup-simplify]: Simplify phi1 into phi1 29.637 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.637 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.637 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.637 * [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 29.637 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 29.637 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.637 * [taylor]: Taking taylor expansion of delta in delta 29.637 * [backup-simplify]: Simplify 0 into 0 29.637 * [backup-simplify]: Simplify 1 into 1 29.638 * [backup-simplify]: Simplify (/ 1 1) into 1 29.638 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.638 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in delta 29.638 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 29.638 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 29.638 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 29.638 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 29.638 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 29.638 * [taylor]: Taking taylor expansion of theta in delta 29.638 * [backup-simplify]: Simplify theta into theta 29.638 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 29.638 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.638 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 29.638 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 29.638 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 29.638 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.638 * [taylor]: Taking taylor expansion of delta in delta 29.638 * [backup-simplify]: Simplify 0 into 0 29.638 * [backup-simplify]: Simplify 1 into 1 29.638 * [backup-simplify]: Simplify (/ 1 1) into 1 29.638 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.638 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 29.638 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.638 * [taylor]: Taking taylor expansion of phi1 in delta 29.638 * [backup-simplify]: Simplify phi1 into phi1 29.638 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.638 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.639 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.639 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 29.639 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 29.639 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.639 * [taylor]: Taking taylor expansion of phi1 in delta 29.639 * [backup-simplify]: Simplify phi1 into phi1 29.639 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.639 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.639 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.639 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 29.639 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.639 * [taylor]: Taking taylor expansion of delta in delta 29.639 * [backup-simplify]: Simplify 0 into 0 29.639 * [backup-simplify]: Simplify 1 into 1 29.639 * [backup-simplify]: Simplify (/ 1 1) into 1 29.639 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.639 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 29.639 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.639 * [taylor]: Taking taylor expansion of phi1 in delta 29.639 * [backup-simplify]: Simplify phi1 into phi1 29.639 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.639 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.639 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.639 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 29.640 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 29.640 * [backup-simplify]: Simplify (- 0) into 0 29.640 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 29.640 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 29.640 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 29.640 * [backup-simplify]: Simplify (- 0) into 0 29.640 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 29.640 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (cos (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 delta))) 29.641 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 29.641 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 29.641 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 29.641 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 29.641 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 29.641 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) into (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 29.641 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 29.641 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 29.641 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 29.641 * [backup-simplify]: Simplify (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) into (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) 29.642 * [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)))) 29.642 * [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)))) 29.642 * [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 29.642 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 29.642 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.642 * [taylor]: Taking taylor expansion of delta in phi1 29.642 * [backup-simplify]: Simplify delta into delta 29.642 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.642 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.642 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.643 * [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 29.643 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in phi1 29.643 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 29.643 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.643 * [taylor]: Taking taylor expansion of phi1 in phi1 29.643 * [backup-simplify]: Simplify 0 into 0 29.643 * [backup-simplify]: Simplify 1 into 1 29.643 * [backup-simplify]: Simplify (/ 1 1) into 1 29.643 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.643 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in phi1 29.643 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 29.643 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.643 * [taylor]: Taking taylor expansion of phi1 in phi1 29.643 * [backup-simplify]: Simplify 0 into 0 29.643 * [backup-simplify]: Simplify 1 into 1 29.643 * [backup-simplify]: Simplify (/ 1 1) into 1 29.643 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.643 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in phi1 29.643 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 29.643 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 29.643 * [taylor]: Taking taylor expansion of theta in phi1 29.643 * [backup-simplify]: Simplify theta into theta 29.644 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 29.644 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.644 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 29.644 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 29.644 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.644 * [taylor]: Taking taylor expansion of delta in phi1 29.644 * [backup-simplify]: Simplify delta into delta 29.644 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.644 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.644 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.644 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in phi1 29.644 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 29.644 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.644 * [taylor]: Taking taylor expansion of delta in phi1 29.644 * [backup-simplify]: Simplify delta into delta 29.644 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.644 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.644 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.644 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 29.644 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 29.644 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.644 * [taylor]: Taking taylor expansion of phi1 in phi1 29.644 * [backup-simplify]: Simplify 0 into 0 29.644 * [backup-simplify]: Simplify 1 into 1 29.644 * [backup-simplify]: Simplify (/ 1 1) into 1 29.644 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.644 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 29.645 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 29.645 * [backup-simplify]: Simplify (- 0) into 0 29.645 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 29.645 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 29.645 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 29.645 * [backup-simplify]: Simplify (- 0) into 0 29.645 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 29.645 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 29.645 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 29.645 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 29.646 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 29.646 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) 29.646 * [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))))) 29.646 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 29.646 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 29.646 * [backup-simplify]: Simplify (- 0) into 0 29.646 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 29.646 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 29.646 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 29.647 * [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)))) 29.647 * [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)))) 29.647 * [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)))) 29.647 * [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 29.647 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 29.648 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.648 * [taylor]: Taking taylor expansion of delta in theta 29.648 * [backup-simplify]: Simplify delta into delta 29.648 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.648 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.648 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.648 * [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 29.648 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) in theta 29.648 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 29.648 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.648 * [taylor]: Taking taylor expansion of phi1 in theta 29.648 * [backup-simplify]: Simplify phi1 into phi1 29.648 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.648 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.648 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.648 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) in theta 29.648 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 29.648 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.648 * [taylor]: Taking taylor expansion of delta in theta 29.648 * [backup-simplify]: Simplify delta into delta 29.648 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.648 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.648 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.648 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 phi1))) in theta 29.648 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 29.648 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 29.648 * [taylor]: Taking taylor expansion of theta in theta 29.648 * [backup-simplify]: Simplify 0 into 0 29.648 * [backup-simplify]: Simplify 1 into 1 29.649 * [backup-simplify]: Simplify (/ 1 1) into 1 29.649 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.649 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 29.649 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.649 * [taylor]: Taking taylor expansion of phi1 in theta 29.649 * [backup-simplify]: Simplify phi1 into phi1 29.649 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.649 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.649 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.649 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in theta 29.649 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 29.649 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.649 * [taylor]: Taking taylor expansion of delta in theta 29.649 * [backup-simplify]: Simplify delta into delta 29.649 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.649 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.649 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.649 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 29.649 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 29.649 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.649 * [taylor]: Taking taylor expansion of phi1 in theta 29.649 * [backup-simplify]: Simplify phi1 into phi1 29.649 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.649 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.649 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.649 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 29.649 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 29.649 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 29.649 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 29.649 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 29.650 * [backup-simplify]: Simplify (- 0) into 0 29.650 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 29.650 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 29.650 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 29.650 * [backup-simplify]: Simplify (- 0) into 0 29.650 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 29.650 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 29.651 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 29.651 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 29.651 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 29.651 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 29.651 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 29.651 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 phi1))) into (* (cos (/ 1 theta)) (sin (/ 1 phi1))) 29.651 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) into (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 29.651 * [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))))) 29.651 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 29.651 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 29.651 * [backup-simplify]: Simplify (- 0) into 0 29.652 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 29.652 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 29.652 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 29.652 * [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)))) 29.652 * [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))))))) 29.653 * [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))))))) 29.653 * [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))))) 29.653 * [backup-simplify]: Simplify (+ 0) into 0 29.654 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 29.654 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.654 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.655 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 29.655 * [backup-simplify]: Simplify (+ 0 0) into 0 29.655 * [backup-simplify]: Simplify (+ 0) into 0 29.655 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 29.656 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.656 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.656 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 29.656 * [backup-simplify]: Simplify (- 0) into 0 29.657 * [backup-simplify]: Simplify (+ 0 0) into 0 29.657 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 29.657 * [backup-simplify]: Simplify (+ 0) into 0 29.657 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 29.657 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 29.658 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.658 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 29.659 * [backup-simplify]: Simplify (- 0) into 0 29.659 * [backup-simplify]: Simplify (+ 0 0) into 0 29.659 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta))))) into 0 29.659 * [backup-simplify]: Simplify (+ 0) into 0 29.660 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 29.660 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.660 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.660 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 29.661 * [backup-simplify]: Simplify (+ 0 0) into 0 29.661 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 29.661 * [backup-simplify]: Simplify (+ 0 0) into 0 29.661 * [backup-simplify]: Simplify (+ (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 29.662 * [backup-simplify]: Simplify (- 0) into 0 29.662 * [backup-simplify]: Simplify (+ 0 0) into 0 29.662 * [taylor]: Taking taylor expansion of 0 in phi1 29.662 * [backup-simplify]: Simplify 0 into 0 29.662 * [taylor]: Taking taylor expansion of 0 in theta 29.662 * [backup-simplify]: Simplify 0 into 0 29.662 * [backup-simplify]: Simplify 0 into 0 29.662 * [backup-simplify]: Simplify (+ 0) into 0 29.662 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 29.663 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.663 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.663 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 29.664 * [backup-simplify]: Simplify (- 0) into 0 29.664 * [backup-simplify]: Simplify (+ 0 0) into 0 29.664 * [backup-simplify]: Simplify (+ 0) into 0 29.664 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 29.664 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.665 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.665 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 29.665 * [backup-simplify]: Simplify (+ 0 0) into 0 29.666 * [backup-simplify]: Simplify (+ 0) into 0 29.666 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 29.666 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 29.666 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.667 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 29.667 * [backup-simplify]: Simplify (- 0) into 0 29.667 * [backup-simplify]: Simplify (+ 0 0) into 0 29.667 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 29.668 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 29.668 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))))) into 0 29.668 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 29.668 * [backup-simplify]: Simplify (+ 0) into 0 29.668 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 29.668 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.669 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.669 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 29.669 * [backup-simplify]: Simplify (- 0) into 0 29.670 * [backup-simplify]: Simplify (+ 0 0) into 0 29.670 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 29.670 * [backup-simplify]: Simplify (+ 0 0) into 0 29.670 * [backup-simplify]: Simplify (- 0) into 0 29.670 * [backup-simplify]: Simplify (+ 0 0) into 0 29.670 * [taylor]: Taking taylor expansion of 0 in theta 29.670 * [backup-simplify]: Simplify 0 into 0 29.670 * [backup-simplify]: Simplify 0 into 0 29.671 * [backup-simplify]: Simplify (+ 0) into 0 29.671 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 29.671 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.672 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.672 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 29.672 * [backup-simplify]: Simplify (- 0) into 0 29.672 * [backup-simplify]: Simplify (+ 0 0) into 0 29.673 * [backup-simplify]: Simplify (+ 0) into 0 29.673 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 29.673 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.673 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.674 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 29.674 * [backup-simplify]: Simplify (+ 0 0) into 0 29.674 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 29.674 * [backup-simplify]: Simplify (+ 0) into 0 29.675 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 29.675 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.675 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.675 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 29.676 * [backup-simplify]: Simplify (+ 0 0) into 0 29.676 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) into 0 29.676 * [backup-simplify]: Simplify (+ 0) into 0 29.677 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 29.677 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.677 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.677 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 29.678 * [backup-simplify]: Simplify (- 0) into 0 29.678 * [backup-simplify]: Simplify (+ 0 0) into 0 29.678 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 29.678 * [backup-simplify]: Simplify (+ 0) into 0 29.679 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 29.679 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.679 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.680 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 29.680 * [backup-simplify]: Simplify (+ 0 0) into 0 29.680 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 29.680 * [backup-simplify]: Simplify (+ 0) into 0 29.681 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 29.681 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.681 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.681 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 29.682 * [backup-simplify]: Simplify (- 0) into 0 29.682 * [backup-simplify]: Simplify (+ 0 0) into 0 29.682 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 29.682 * [backup-simplify]: Simplify (+ 0 0) into 0 29.682 * [backup-simplify]: Simplify (- 0) into 0 29.683 * [backup-simplify]: Simplify (+ 0 0) into 0 29.683 * [backup-simplify]: Simplify 0 into 0 29.683 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.684 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.684 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.684 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.685 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.685 * [backup-simplify]: Simplify (+ 0 0) into 0 29.685 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.686 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.686 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.686 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.687 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.687 * [backup-simplify]: Simplify (- 0) into 0 29.687 * [backup-simplify]: Simplify (+ 0 0) into 0 29.687 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 29.688 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.688 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.688 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 29.689 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.689 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.690 * [backup-simplify]: Simplify (- 0) into 0 29.690 * [backup-simplify]: Simplify (+ 0 0) into 0 29.690 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta)))))) into 0 29.691 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.691 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.691 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.692 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.692 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.692 * [backup-simplify]: Simplify (+ 0 0) into 0 29.693 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 29.693 * [backup-simplify]: Simplify (+ 0 0) into 0 29.693 * [backup-simplify]: Simplify (+ (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 29.694 * [backup-simplify]: Simplify (- 0) into 0 29.694 * [backup-simplify]: Simplify (+ 0 0) into 0 29.694 * [taylor]: Taking taylor expansion of 0 in phi1 29.694 * [backup-simplify]: Simplify 0 into 0 29.694 * [taylor]: Taking taylor expansion of 0 in theta 29.694 * [backup-simplify]: Simplify 0 into 0 29.694 * [backup-simplify]: Simplify 0 into 0 29.694 * [taylor]: Taking taylor expansion of 0 in theta 29.694 * [backup-simplify]: Simplify 0 into 0 29.694 * [backup-simplify]: Simplify 0 into 0 29.694 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.695 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.695 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.695 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.696 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.696 * [backup-simplify]: Simplify (- 0) into 0 29.696 * [backup-simplify]: Simplify (+ 0 0) into 0 29.697 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.697 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.697 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.698 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.698 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.698 * [backup-simplify]: Simplify (+ 0 0) into 0 29.699 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.699 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.700 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 29.700 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.700 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.701 * [backup-simplify]: Simplify (- 0) into 0 29.701 * [backup-simplify]: Simplify (+ 0 0) into 0 29.701 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 29.702 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 29.702 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))))) into 0 29.702 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 29.703 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.703 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.703 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.704 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.704 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.704 * [backup-simplify]: Simplify (- 0) into 0 29.705 * [backup-simplify]: Simplify (+ 0 0) into 0 29.705 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 1 phi1)) 2)))) into 0 29.705 * [backup-simplify]: Simplify (+ 0 0) into 0 29.706 * [backup-simplify]: Simplify (- 0) into 0 29.706 * [backup-simplify]: Simplify (+ 0 0) into 0 29.706 * [taylor]: Taking taylor expansion of 0 in theta 29.706 * [backup-simplify]: Simplify 0 into 0 29.706 * [backup-simplify]: Simplify 0 into 0 29.706 * [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)))))) 29.707 * [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)))))) 29.707 * [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 29.707 * [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 29.707 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 29.707 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 29.707 * [taylor]: Taking taylor expansion of -1 in theta 29.707 * [backup-simplify]: Simplify -1 into -1 29.707 * [taylor]: Taking taylor expansion of delta in theta 29.707 * [backup-simplify]: Simplify delta into delta 29.707 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.707 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.707 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.707 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 29.707 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 29.707 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.707 * [taylor]: Taking taylor expansion of -1 in theta 29.707 * [backup-simplify]: Simplify -1 into -1 29.707 * [taylor]: Taking taylor expansion of phi1 in theta 29.707 * [backup-simplify]: Simplify phi1 into phi1 29.707 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.707 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.707 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.707 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 29.707 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 29.707 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 29.707 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 29.707 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 29.707 * [taylor]: Taking taylor expansion of -1 in theta 29.707 * [backup-simplify]: Simplify -1 into -1 29.707 * [taylor]: Taking taylor expansion of theta in theta 29.707 * [backup-simplify]: Simplify 0 into 0 29.707 * [backup-simplify]: Simplify 1 into 1 29.708 * [backup-simplify]: Simplify (/ -1 1) into -1 29.708 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.708 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 29.708 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 29.708 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.708 * [taylor]: Taking taylor expansion of -1 in theta 29.708 * [backup-simplify]: Simplify -1 into -1 29.708 * [taylor]: Taking taylor expansion of phi1 in theta 29.708 * [backup-simplify]: Simplify phi1 into phi1 29.708 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.708 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.708 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.708 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 29.708 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 29.708 * [taylor]: Taking taylor expansion of -1 in theta 29.708 * [backup-simplify]: Simplify -1 into -1 29.708 * [taylor]: Taking taylor expansion of delta in theta 29.708 * [backup-simplify]: Simplify delta into delta 29.708 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.708 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.708 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.708 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 29.708 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 29.708 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.708 * [taylor]: Taking taylor expansion of -1 in theta 29.708 * [backup-simplify]: Simplify -1 into -1 29.708 * [taylor]: Taking taylor expansion of phi1 in theta 29.708 * [backup-simplify]: Simplify phi1 into phi1 29.708 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.708 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.708 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.708 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 29.708 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 29.708 * [taylor]: Taking taylor expansion of -1 in theta 29.708 * [backup-simplify]: Simplify -1 into -1 29.708 * [taylor]: Taking taylor expansion of delta in theta 29.708 * [backup-simplify]: Simplify delta into delta 29.709 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.709 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.709 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.709 * [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 29.709 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 29.709 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 29.709 * [taylor]: Taking taylor expansion of -1 in phi1 29.709 * [backup-simplify]: Simplify -1 into -1 29.709 * [taylor]: Taking taylor expansion of delta in phi1 29.709 * [backup-simplify]: Simplify delta into delta 29.709 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.709 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.709 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.709 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 29.709 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 29.709 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.709 * [taylor]: Taking taylor expansion of -1 in phi1 29.709 * [backup-simplify]: Simplify -1 into -1 29.709 * [taylor]: Taking taylor expansion of phi1 in phi1 29.709 * [backup-simplify]: Simplify 0 into 0 29.709 * [backup-simplify]: Simplify 1 into 1 29.709 * [backup-simplify]: Simplify (/ -1 1) into -1 29.709 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.709 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 29.709 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 29.709 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 29.709 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 29.709 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 29.709 * [taylor]: Taking taylor expansion of -1 in phi1 29.709 * [backup-simplify]: Simplify -1 into -1 29.709 * [taylor]: Taking taylor expansion of theta in phi1 29.710 * [backup-simplify]: Simplify theta into theta 29.710 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 29.710 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.710 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 29.710 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 29.710 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 29.710 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.710 * [taylor]: Taking taylor expansion of -1 in phi1 29.710 * [backup-simplify]: Simplify -1 into -1 29.710 * [taylor]: Taking taylor expansion of phi1 in phi1 29.710 * [backup-simplify]: Simplify 0 into 0 29.710 * [backup-simplify]: Simplify 1 into 1 29.710 * [backup-simplify]: Simplify (/ -1 1) into -1 29.710 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.710 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 29.710 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 29.710 * [taylor]: Taking taylor expansion of -1 in phi1 29.710 * [backup-simplify]: Simplify -1 into -1 29.710 * [taylor]: Taking taylor expansion of delta in phi1 29.710 * [backup-simplify]: Simplify delta into delta 29.710 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.710 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.710 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.710 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 29.710 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 29.710 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.710 * [taylor]: Taking taylor expansion of -1 in phi1 29.710 * [backup-simplify]: Simplify -1 into -1 29.710 * [taylor]: Taking taylor expansion of phi1 in phi1 29.710 * [backup-simplify]: Simplify 0 into 0 29.710 * [backup-simplify]: Simplify 1 into 1 29.711 * [backup-simplify]: Simplify (/ -1 1) into -1 29.711 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.711 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 29.711 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 29.711 * [taylor]: Taking taylor expansion of -1 in phi1 29.711 * [backup-simplify]: Simplify -1 into -1 29.711 * [taylor]: Taking taylor expansion of delta in phi1 29.711 * [backup-simplify]: Simplify delta into delta 29.711 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.711 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.711 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.711 * [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 29.711 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 29.711 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 29.711 * [taylor]: Taking taylor expansion of -1 in delta 29.711 * [backup-simplify]: Simplify -1 into -1 29.711 * [taylor]: Taking taylor expansion of delta in delta 29.711 * [backup-simplify]: Simplify 0 into 0 29.711 * [backup-simplify]: Simplify 1 into 1 29.711 * [backup-simplify]: Simplify (/ -1 1) into -1 29.711 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.711 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 29.711 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 29.712 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.712 * [taylor]: Taking taylor expansion of -1 in delta 29.712 * [backup-simplify]: Simplify -1 into -1 29.712 * [taylor]: Taking taylor expansion of phi1 in delta 29.712 * [backup-simplify]: Simplify phi1 into phi1 29.712 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.712 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.712 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.712 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 29.712 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 29.712 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 29.712 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 29.712 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 29.712 * [taylor]: Taking taylor expansion of -1 in delta 29.712 * [backup-simplify]: Simplify -1 into -1 29.712 * [taylor]: Taking taylor expansion of theta in delta 29.712 * [backup-simplify]: Simplify theta into theta 29.712 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 29.712 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.712 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 29.712 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 29.712 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 29.712 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.712 * [taylor]: Taking taylor expansion of -1 in delta 29.712 * [backup-simplify]: Simplify -1 into -1 29.712 * [taylor]: Taking taylor expansion of phi1 in delta 29.712 * [backup-simplify]: Simplify phi1 into phi1 29.712 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.712 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.712 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.712 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 29.712 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 29.712 * [taylor]: Taking taylor expansion of -1 in delta 29.712 * [backup-simplify]: Simplify -1 into -1 29.712 * [taylor]: Taking taylor expansion of delta in delta 29.712 * [backup-simplify]: Simplify 0 into 0 29.712 * [backup-simplify]: Simplify 1 into 1 29.713 * [backup-simplify]: Simplify (/ -1 1) into -1 29.713 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.713 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 29.713 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 29.713 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.713 * [taylor]: Taking taylor expansion of -1 in delta 29.713 * [backup-simplify]: Simplify -1 into -1 29.713 * [taylor]: Taking taylor expansion of phi1 in delta 29.713 * [backup-simplify]: Simplify phi1 into phi1 29.713 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.713 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.713 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.713 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 29.713 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 29.713 * [taylor]: Taking taylor expansion of -1 in delta 29.713 * [backup-simplify]: Simplify -1 into -1 29.713 * [taylor]: Taking taylor expansion of delta in delta 29.713 * [backup-simplify]: Simplify 0 into 0 29.713 * [backup-simplify]: Simplify 1 into 1 29.714 * [backup-simplify]: Simplify (/ -1 1) into -1 29.714 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.714 * [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 29.714 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 29.714 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 29.714 * [taylor]: Taking taylor expansion of -1 in delta 29.714 * [backup-simplify]: Simplify -1 into -1 29.714 * [taylor]: Taking taylor expansion of delta in delta 29.714 * [backup-simplify]: Simplify 0 into 0 29.714 * [backup-simplify]: Simplify 1 into 1 29.714 * [backup-simplify]: Simplify (/ -1 1) into -1 29.715 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.715 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 29.715 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 29.715 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.715 * [taylor]: Taking taylor expansion of -1 in delta 29.715 * [backup-simplify]: Simplify -1 into -1 29.715 * [taylor]: Taking taylor expansion of phi1 in delta 29.715 * [backup-simplify]: Simplify phi1 into phi1 29.715 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.715 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.715 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.715 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 29.715 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 29.715 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 29.715 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 29.715 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 29.715 * [taylor]: Taking taylor expansion of -1 in delta 29.715 * [backup-simplify]: Simplify -1 into -1 29.715 * [taylor]: Taking taylor expansion of theta in delta 29.715 * [backup-simplify]: Simplify theta into theta 29.715 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 29.715 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.715 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 29.715 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 29.716 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 29.716 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.716 * [taylor]: Taking taylor expansion of -1 in delta 29.716 * [backup-simplify]: Simplify -1 into -1 29.716 * [taylor]: Taking taylor expansion of phi1 in delta 29.716 * [backup-simplify]: Simplify phi1 into phi1 29.716 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.716 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.716 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.716 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 29.716 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 29.716 * [taylor]: Taking taylor expansion of -1 in delta 29.716 * [backup-simplify]: Simplify -1 into -1 29.716 * [taylor]: Taking taylor expansion of delta in delta 29.716 * [backup-simplify]: Simplify 0 into 0 29.716 * [backup-simplify]: Simplify 1 into 1 29.716 * [backup-simplify]: Simplify (/ -1 1) into -1 29.717 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.717 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 29.717 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 29.717 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.717 * [taylor]: Taking taylor expansion of -1 in delta 29.717 * [backup-simplify]: Simplify -1 into -1 29.717 * [taylor]: Taking taylor expansion of phi1 in delta 29.717 * [backup-simplify]: Simplify phi1 into phi1 29.717 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.717 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.717 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.717 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 29.717 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 29.717 * [taylor]: Taking taylor expansion of -1 in delta 29.717 * [backup-simplify]: Simplify -1 into -1 29.717 * [taylor]: Taking taylor expansion of delta in delta 29.717 * [backup-simplify]: Simplify 0 into 0 29.717 * [backup-simplify]: Simplify 1 into 1 29.718 * [backup-simplify]: Simplify (/ -1 1) into -1 29.718 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.718 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 29.718 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 29.718 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 29.718 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 29.718 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 29.719 * [backup-simplify]: Simplify (- 0) into 0 29.719 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 29.719 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 29.719 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 29.719 * [backup-simplify]: Simplify (- 0) into 0 29.719 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 29.719 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 29.720 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 29.720 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 29.720 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 29.720 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 29.720 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 29.720 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) into (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 29.721 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 29.721 * [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))))))) 29.722 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 29.722 * [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 29.722 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 29.722 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 29.722 * [taylor]: Taking taylor expansion of -1 in phi1 29.722 * [backup-simplify]: Simplify -1 into -1 29.722 * [taylor]: Taking taylor expansion of delta in phi1 29.722 * [backup-simplify]: Simplify delta into delta 29.722 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.722 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.723 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.723 * [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 29.723 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in phi1 29.723 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 29.723 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 29.723 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.723 * [taylor]: Taking taylor expansion of -1 in phi1 29.723 * [backup-simplify]: Simplify -1 into -1 29.723 * [taylor]: Taking taylor expansion of phi1 in phi1 29.723 * [backup-simplify]: Simplify 0 into 0 29.723 * [backup-simplify]: Simplify 1 into 1 29.723 * [backup-simplify]: Simplify (/ -1 1) into -1 29.723 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.724 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 29.724 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 29.724 * [taylor]: Taking taylor expansion of -1 in phi1 29.724 * [backup-simplify]: Simplify -1 into -1 29.724 * [taylor]: Taking taylor expansion of delta in phi1 29.724 * [backup-simplify]: Simplify delta into delta 29.724 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.724 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.724 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.724 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) in phi1 29.724 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 29.724 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.724 * [taylor]: Taking taylor expansion of -1 in phi1 29.724 * [backup-simplify]: Simplify -1 into -1 29.724 * [taylor]: Taking taylor expansion of phi1 in phi1 29.724 * [backup-simplify]: Simplify 0 into 0 29.724 * [backup-simplify]: Simplify 1 into 1 29.725 * [backup-simplify]: Simplify (/ -1 1) into -1 29.725 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.725 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))) in phi1 29.725 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 29.725 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 29.725 * [taylor]: Taking taylor expansion of -1 in phi1 29.725 * [backup-simplify]: Simplify -1 into -1 29.725 * [taylor]: Taking taylor expansion of theta in phi1 29.725 * [backup-simplify]: Simplify theta into theta 29.725 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 29.725 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.725 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 29.725 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 phi1))) in phi1 29.725 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 29.725 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 29.725 * [taylor]: Taking taylor expansion of -1 in phi1 29.725 * [backup-simplify]: Simplify -1 into -1 29.725 * [taylor]: Taking taylor expansion of delta in phi1 29.725 * [backup-simplify]: Simplify delta into delta 29.725 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.725 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.725 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.725 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 29.725 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.726 * [taylor]: Taking taylor expansion of -1 in phi1 29.726 * [backup-simplify]: Simplify -1 into -1 29.726 * [taylor]: Taking taylor expansion of phi1 in phi1 29.726 * [backup-simplify]: Simplify 0 into 0 29.726 * [backup-simplify]: Simplify 1 into 1 29.726 * [backup-simplify]: Simplify (/ -1 1) into -1 29.727 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.727 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 29.727 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 29.727 * [backup-simplify]: Simplify (- 0) into 0 29.727 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 29.727 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 29.727 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 29.728 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 29.728 * [backup-simplify]: Simplify (- 0) into 0 29.728 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 29.728 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 29.728 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 29.728 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 29.729 * [backup-simplify]: Simplify (- 0) into 0 29.729 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 29.729 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 29.729 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 29.729 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 29.729 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 29.729 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 29.730 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) 29.730 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) 29.731 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 29.732 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 29.732 * [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 29.732 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 29.732 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 29.732 * [taylor]: Taking taylor expansion of -1 in theta 29.732 * [backup-simplify]: Simplify -1 into -1 29.732 * [taylor]: Taking taylor expansion of delta in theta 29.732 * [backup-simplify]: Simplify delta into delta 29.732 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.732 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.732 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.732 * [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 29.732 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in theta 29.732 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in theta 29.732 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 29.732 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.732 * [taylor]: Taking taylor expansion of -1 in theta 29.732 * [backup-simplify]: Simplify -1 into -1 29.732 * [taylor]: Taking taylor expansion of phi1 in theta 29.732 * [backup-simplify]: Simplify phi1 into phi1 29.732 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.732 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.732 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.733 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 29.733 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 29.733 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 29.733 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 29.733 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 29.733 * [taylor]: Taking taylor expansion of -1 in theta 29.733 * [backup-simplify]: Simplify -1 into -1 29.733 * [taylor]: Taking taylor expansion of delta in theta 29.733 * [backup-simplify]: Simplify delta into delta 29.733 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.733 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.733 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.733 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) in theta 29.733 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 29.733 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.733 * [taylor]: Taking taylor expansion of -1 in theta 29.733 * [backup-simplify]: Simplify -1 into -1 29.733 * [taylor]: Taking taylor expansion of phi1 in theta 29.733 * [backup-simplify]: Simplify phi1 into phi1 29.733 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.733 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.733 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.733 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))) in theta 29.733 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 29.733 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 29.734 * [taylor]: Taking taylor expansion of -1 in theta 29.734 * [backup-simplify]: Simplify -1 into -1 29.734 * [taylor]: Taking taylor expansion of theta in theta 29.734 * [backup-simplify]: Simplify 0 into 0 29.734 * [backup-simplify]: Simplify 1 into 1 29.738 * [backup-simplify]: Simplify (/ -1 1) into -1 29.739 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.739 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 phi1))) in theta 29.739 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 29.739 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 29.739 * [taylor]: Taking taylor expansion of -1 in theta 29.739 * [backup-simplify]: Simplify -1 into -1 29.739 * [taylor]: Taking taylor expansion of delta in theta 29.739 * [backup-simplify]: Simplify delta into delta 29.739 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.739 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.739 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.739 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 29.739 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.739 * [taylor]: Taking taylor expansion of -1 in theta 29.739 * [backup-simplify]: Simplify -1 into -1 29.739 * [taylor]: Taking taylor expansion of phi1 in theta 29.739 * [backup-simplify]: Simplify phi1 into phi1 29.739 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.739 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.739 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.740 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 29.740 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 29.740 * [backup-simplify]: Simplify (- 0) into 0 29.740 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 29.741 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 29.741 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 29.741 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 29.741 * [backup-simplify]: Simplify (- 0) into 0 29.741 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 29.741 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 29.742 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 29.742 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 29.742 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 29.742 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 29.742 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 29.742 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 29.742 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 29.742 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 29.743 * [backup-simplify]: Simplify (- 0) into 0 29.743 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 29.743 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 29.743 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 29.743 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) 29.744 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) 29.744 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 29.745 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 29.746 * [backup-simplify]: Simplify (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 29.746 * [backup-simplify]: Simplify (+ 0) into 0 29.747 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 29.747 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.748 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.748 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 29.749 * [backup-simplify]: Simplify (- 0) into 0 29.749 * [backup-simplify]: Simplify (+ 0 0) into 0 29.749 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 29.750 * [backup-simplify]: Simplify (+ 0) into 0 29.750 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 29.750 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 29.751 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.752 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 29.752 * [backup-simplify]: Simplify (- 0) into 0 29.752 * [backup-simplify]: Simplify (+ 0 0) into 0 29.753 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 29.753 * [backup-simplify]: Simplify (+ 0) into 0 29.754 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 29.754 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.754 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.755 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 29.755 * [backup-simplify]: Simplify (+ 0 0) into 0 29.755 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 29.756 * [backup-simplify]: Simplify (+ 0 0) into 0 29.756 * [backup-simplify]: Simplify (+ 0) into 0 29.757 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 29.757 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.758 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.758 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 29.759 * [backup-simplify]: Simplify (+ 0 0) into 0 29.759 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) into 0 29.759 * [backup-simplify]: Simplify (- 0) into 0 29.760 * [backup-simplify]: Simplify (+ 0 0) into 0 29.760 * [taylor]: Taking taylor expansion of 0 in phi1 29.760 * [backup-simplify]: Simplify 0 into 0 29.760 * [taylor]: Taking taylor expansion of 0 in theta 29.760 * [backup-simplify]: Simplify 0 into 0 29.760 * [backup-simplify]: Simplify 0 into 0 29.760 * [backup-simplify]: Simplify (+ 0) into 0 29.761 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 29.761 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.762 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.762 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 29.763 * [backup-simplify]: Simplify (- 0) into 0 29.763 * [backup-simplify]: Simplify (+ 0 0) into 0 29.763 * [backup-simplify]: Simplify (+ 0) into 0 29.764 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 29.764 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.765 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.765 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 29.766 * [backup-simplify]: Simplify (- 0) into 0 29.766 * [backup-simplify]: Simplify (+ 0 0) into 0 29.766 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 29.766 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 29.767 * [backup-simplify]: Simplify (+ 0) into 0 29.767 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 29.767 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.768 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.768 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 29.769 * [backup-simplify]: Simplify (+ 0 0) into 0 29.769 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 29.769 * [backup-simplify]: Simplify (+ 0) into 0 29.770 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 29.770 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 29.771 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.771 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 29.772 * [backup-simplify]: Simplify (- 0) into 0 29.772 * [backup-simplify]: Simplify (+ 0 0) into 0 29.772 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 29.772 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 29.773 * [backup-simplify]: Simplify (+ 0 0) into 0 29.773 * [backup-simplify]: Simplify (- 0) into 0 29.773 * [backup-simplify]: Simplify (+ 0 0) into 0 29.773 * [taylor]: Taking taylor expansion of 0 in theta 29.774 * [backup-simplify]: Simplify 0 into 0 29.774 * [backup-simplify]: Simplify 0 into 0 29.774 * [backup-simplify]: Simplify (+ 0) into 0 29.774 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 29.775 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.775 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.776 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 29.776 * [backup-simplify]: Simplify (- 0) into 0 29.776 * [backup-simplify]: Simplify (+ 0 0) into 0 29.777 * [backup-simplify]: Simplify (+ 0) into 0 29.777 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 29.777 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.778 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.779 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 29.779 * [backup-simplify]: Simplify (- 0) into 0 29.780 * [backup-simplify]: Simplify (+ 0 0) into 0 29.780 * [backup-simplify]: Simplify (+ 0) into 0 29.780 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 29.781 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.781 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.782 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 29.782 * [backup-simplify]: Simplify (+ 0 0) into 0 29.782 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 29.783 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 29.783 * [backup-simplify]: Simplify (+ 0) into 0 29.784 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 29.784 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.785 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.785 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 29.785 * [backup-simplify]: Simplify (- 0) into 0 29.786 * [backup-simplify]: Simplify (+ 0 0) into 0 29.786 * [backup-simplify]: Simplify (+ 0) into 0 29.787 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 29.788 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.788 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.789 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 29.789 * [backup-simplify]: Simplify (+ 0 0) into 0 29.789 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 29.790 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 29.790 * [backup-simplify]: Simplify (+ 0) into 0 29.790 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 29.791 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.791 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.792 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 29.792 * [backup-simplify]: Simplify (+ 0 0) into 0 29.792 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 29.793 * [backup-simplify]: Simplify (+ 0 0) into 0 29.793 * [backup-simplify]: Simplify (- 0) into 0 29.794 * [backup-simplify]: Simplify (+ 0 0) into 0 29.794 * [backup-simplify]: Simplify 0 into 0 29.794 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.795 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.795 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.796 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.797 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.798 * [backup-simplify]: Simplify (- 0) into 0 29.798 * [backup-simplify]: Simplify (+ 0 0) into 0 29.799 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 29.800 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.800 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.801 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 29.802 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.802 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.803 * [backup-simplify]: Simplify (- 0) into 0 29.803 * [backup-simplify]: Simplify (+ 0 0) into 0 29.803 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 29.804 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.805 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.805 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.806 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.807 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.807 * [backup-simplify]: Simplify (+ 0 0) into 0 29.807 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 29.808 * [backup-simplify]: Simplify (+ 0 0) into 0 29.809 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.809 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.810 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.810 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.811 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.811 * [backup-simplify]: Simplify (+ 0 0) into 0 29.812 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) into 0 29.812 * [backup-simplify]: Simplify (- 0) into 0 29.813 * [backup-simplify]: Simplify (+ 0 0) into 0 29.813 * [taylor]: Taking taylor expansion of 0 in phi1 29.813 * [backup-simplify]: Simplify 0 into 0 29.813 * [taylor]: Taking taylor expansion of 0 in theta 29.813 * [backup-simplify]: Simplify 0 into 0 29.813 * [backup-simplify]: Simplify 0 into 0 29.813 * [taylor]: Taking taylor expansion of 0 in theta 29.813 * [backup-simplify]: Simplify 0 into 0 29.813 * [backup-simplify]: Simplify 0 into 0 29.814 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.815 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.815 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.816 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.816 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.817 * [backup-simplify]: Simplify (- 0) into 0 29.817 * [backup-simplify]: Simplify (+ 0 0) into 0 29.818 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.819 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.819 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.820 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.820 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.820 * [backup-simplify]: Simplify (- 0) into 0 29.821 * [backup-simplify]: Simplify (+ 0 0) into 0 29.821 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 29.822 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 29.823 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.824 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.824 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.825 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.825 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.825 * [backup-simplify]: Simplify (+ 0 0) into 0 29.826 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 phi1))))) into 0 29.827 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.828 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.828 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 29.829 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.829 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.830 * [backup-simplify]: Simplify (- 0) into 0 29.830 * [backup-simplify]: Simplify (+ 0 0) into 0 29.830 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 29.831 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))))) into 0 29.832 * [backup-simplify]: Simplify (+ 0 0) into 0 29.832 * [backup-simplify]: Simplify (- 0) into 0 29.832 * [backup-simplify]: Simplify (+ 0 0) into 0 29.832 * [taylor]: Taking taylor expansion of 0 in theta 29.832 * [backup-simplify]: Simplify 0 into 0 29.832 * [backup-simplify]: Simplify 0 into 0 29.833 * [backup-simplify]: Simplify (- (cos (/ -1 (/ 1 (- delta)))) (+ (* (pow (sin (/ -1 (/ 1 (- phi1)))) 2) (cos (/ -1 (/ 1 (- delta))))) (* (sin (/ -1 (/ 1 (- phi1)))) (* (cos (/ -1 (/ 1 (- theta)))) (* (sin (/ -1 (/ 1 (- delta)))) (cos (/ -1 (/ 1 (- phi1))))))))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos theta) (* (sin delta) (cos phi1)))))) 29.833 * * * * [progress]: [ 2 / 4 ] generating series at (2 1 2 2) 29.834 * [backup-simplify]: Simplify (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) into (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 29.834 * [approximate]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in (phi1 theta delta) around 0 29.834 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 29.834 * [taylor]: Taking taylor expansion of (sin phi1) in delta 29.834 * [taylor]: Taking taylor expansion of phi1 in delta 29.834 * [backup-simplify]: Simplify phi1 into phi1 29.834 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.834 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.834 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 29.834 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 29.834 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 29.834 * [taylor]: Taking taylor expansion of (cos theta) in delta 29.834 * [taylor]: Taking taylor expansion of theta in delta 29.834 * [backup-simplify]: Simplify theta into theta 29.834 * [backup-simplify]: Simplify (cos theta) into (cos theta) 29.834 * [backup-simplify]: Simplify (sin theta) into (sin theta) 29.834 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 29.834 * [taylor]: Taking taylor expansion of (cos phi1) in delta 29.834 * [taylor]: Taking taylor expansion of phi1 in delta 29.834 * [backup-simplify]: Simplify phi1 into phi1 29.834 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.834 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.834 * [taylor]: Taking taylor expansion of (sin delta) in delta 29.835 * [taylor]: Taking taylor expansion of delta in delta 29.835 * [backup-simplify]: Simplify 0 into 0 29.835 * [backup-simplify]: Simplify 1 into 1 29.835 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 29.835 * [taylor]: Taking taylor expansion of (sin phi1) in delta 29.835 * [taylor]: Taking taylor expansion of phi1 in delta 29.835 * [backup-simplify]: Simplify phi1 into phi1 29.835 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.835 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.835 * [taylor]: Taking taylor expansion of (cos delta) in delta 29.835 * [taylor]: Taking taylor expansion of delta in delta 29.835 * [backup-simplify]: Simplify 0 into 0 29.835 * [backup-simplify]: Simplify 1 into 1 29.835 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 29.835 * [taylor]: Taking taylor expansion of (sin phi1) in theta 29.835 * [taylor]: Taking taylor expansion of phi1 in theta 29.835 * [backup-simplify]: Simplify phi1 into phi1 29.835 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.835 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.835 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 29.835 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 29.835 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 29.835 * [taylor]: Taking taylor expansion of (cos theta) in theta 29.835 * [taylor]: Taking taylor expansion of theta in theta 29.835 * [backup-simplify]: Simplify 0 into 0 29.835 * [backup-simplify]: Simplify 1 into 1 29.835 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 29.835 * [taylor]: Taking taylor expansion of (cos phi1) in theta 29.835 * [taylor]: Taking taylor expansion of phi1 in theta 29.835 * [backup-simplify]: Simplify phi1 into phi1 29.835 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.836 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.836 * [taylor]: Taking taylor expansion of (sin delta) in theta 29.836 * [taylor]: Taking taylor expansion of delta in theta 29.836 * [backup-simplify]: Simplify delta into delta 29.836 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.836 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.836 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 29.836 * [taylor]: Taking taylor expansion of (sin phi1) in theta 29.836 * [taylor]: Taking taylor expansion of phi1 in theta 29.836 * [backup-simplify]: Simplify phi1 into phi1 29.836 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.836 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.836 * [taylor]: Taking taylor expansion of (cos delta) in theta 29.836 * [taylor]: Taking taylor expansion of delta in theta 29.836 * [backup-simplify]: Simplify delta into delta 29.836 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.836 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.836 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 29.836 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 29.836 * [taylor]: Taking taylor expansion of phi1 in phi1 29.836 * [backup-simplify]: Simplify 0 into 0 29.836 * [backup-simplify]: Simplify 1 into 1 29.836 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 29.836 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 29.836 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 29.836 * [taylor]: Taking taylor expansion of (cos theta) in phi1 29.836 * [taylor]: Taking taylor expansion of theta in phi1 29.836 * [backup-simplify]: Simplify theta into theta 29.836 * [backup-simplify]: Simplify (cos theta) into (cos theta) 29.836 * [backup-simplify]: Simplify (sin theta) into (sin theta) 29.837 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 29.837 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 29.837 * [taylor]: Taking taylor expansion of phi1 in phi1 29.837 * [backup-simplify]: Simplify 0 into 0 29.837 * [backup-simplify]: Simplify 1 into 1 29.837 * [taylor]: Taking taylor expansion of (sin delta) in phi1 29.837 * [taylor]: Taking taylor expansion of delta in phi1 29.837 * [backup-simplify]: Simplify delta into delta 29.837 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.837 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.837 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 29.837 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 29.837 * [taylor]: Taking taylor expansion of phi1 in phi1 29.837 * [backup-simplify]: Simplify 0 into 0 29.837 * [backup-simplify]: Simplify 1 into 1 29.837 * [taylor]: Taking taylor expansion of (cos delta) in phi1 29.837 * [taylor]: Taking taylor expansion of delta in phi1 29.837 * [backup-simplify]: Simplify delta into delta 29.837 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.837 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.837 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 29.837 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 29.837 * [taylor]: Taking taylor expansion of phi1 in phi1 29.837 * [backup-simplify]: Simplify 0 into 0 29.837 * [backup-simplify]: Simplify 1 into 1 29.837 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 29.837 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 29.837 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 29.837 * [taylor]: Taking taylor expansion of (cos theta) in phi1 29.837 * [taylor]: Taking taylor expansion of theta in phi1 29.837 * [backup-simplify]: Simplify theta into theta 29.837 * [backup-simplify]: Simplify (cos theta) into (cos theta) 29.838 * [backup-simplify]: Simplify (sin theta) into (sin theta) 29.838 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 29.838 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 29.838 * [taylor]: Taking taylor expansion of phi1 in phi1 29.838 * [backup-simplify]: Simplify 0 into 0 29.838 * [backup-simplify]: Simplify 1 into 1 29.838 * [taylor]: Taking taylor expansion of (sin delta) in phi1 29.838 * [taylor]: Taking taylor expansion of delta in phi1 29.838 * [backup-simplify]: Simplify delta into delta 29.838 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.838 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.838 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 29.838 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 29.838 * [taylor]: Taking taylor expansion of phi1 in phi1 29.838 * [backup-simplify]: Simplify 0 into 0 29.838 * [backup-simplify]: Simplify 1 into 1 29.838 * [taylor]: Taking taylor expansion of (cos delta) in phi1 29.838 * [taylor]: Taking taylor expansion of delta in phi1 29.838 * [backup-simplify]: Simplify delta into delta 29.838 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.838 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.838 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 29.838 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 29.839 * [backup-simplify]: Simplify (- 0) into 0 29.839 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 29.839 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 29.839 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 29.839 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 29.839 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 29.839 * [backup-simplify]: Simplify (* (cos theta) (sin delta)) into (* (cos theta) (sin delta)) 29.839 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 29.839 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 29.840 * [backup-simplify]: Simplify (- 0) into 0 29.840 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 29.840 * [backup-simplify]: Simplify (* 0 (cos delta)) into 0 29.840 * [backup-simplify]: Simplify (+ (* (cos theta) (sin delta)) 0) into (* (cos theta) (sin delta)) 29.840 * [backup-simplify]: Simplify (* 0 (* (cos theta) (sin delta))) into 0 29.840 * [taylor]: Taking taylor expansion of 0 in theta 29.840 * [backup-simplify]: Simplify 0 into 0 29.840 * [taylor]: Taking taylor expansion of 0 in delta 29.840 * [backup-simplify]: Simplify 0 into 0 29.840 * [backup-simplify]: Simplify 0 into 0 29.841 * [backup-simplify]: Simplify (+ 0) into 0 29.841 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 29.842 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.842 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 29.843 * [backup-simplify]: Simplify (+ 0 0) into 0 29.843 * [backup-simplify]: Simplify (+ 0) into 0 29.844 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin delta))) into 0 29.844 * [backup-simplify]: Simplify (+ 0) into 0 29.845 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 29.845 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.845 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 29.846 * [backup-simplify]: Simplify (- 0) into 0 29.846 * [backup-simplify]: Simplify (+ 0 0) into 0 29.846 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 (sin delta))) into 0 29.846 * [backup-simplify]: Simplify (+ 0) into 0 29.846 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 29.847 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.847 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 29.848 * [backup-simplify]: Simplify (- 0) into 0 29.848 * [backup-simplify]: Simplify (+ 0 0) into 0 29.848 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 29.848 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos delta))) into (cos delta) 29.849 * [backup-simplify]: Simplify (+ 0 (cos delta)) into (cos delta) 29.849 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 29.849 * [backup-simplify]: Simplify (+ (* 0 (cos delta)) (* 1 (* (cos theta) (sin delta)))) into (* (cos theta) (sin delta)) 29.849 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in theta 29.849 * [taylor]: Taking taylor expansion of (cos theta) in theta 29.849 * [taylor]: Taking taylor expansion of theta in theta 29.849 * [backup-simplify]: Simplify 0 into 0 29.849 * [backup-simplify]: Simplify 1 into 1 29.849 * [taylor]: Taking taylor expansion of (sin delta) in theta 29.849 * [taylor]: Taking taylor expansion of delta in theta 29.849 * [backup-simplify]: Simplify delta into delta 29.849 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.849 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.849 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 29.849 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 29.849 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 29.849 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 29.849 * [taylor]: Taking taylor expansion of (sin delta) in delta 29.849 * [taylor]: Taking taylor expansion of delta in delta 29.849 * [backup-simplify]: Simplify 0 into 0 29.850 * [backup-simplify]: Simplify 1 into 1 29.850 * [backup-simplify]: Simplify 0 into 0 29.850 * [taylor]: Taking taylor expansion of 0 in delta 29.850 * [backup-simplify]: Simplify 0 into 0 29.850 * [backup-simplify]: Simplify 0 into 0 29.850 * [backup-simplify]: Simplify 0 into 0 29.850 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.851 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 29.851 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.851 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 29.852 * [backup-simplify]: Simplify (+ 0 0) into 0 29.852 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 29.853 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (sin delta)))) into (- (* 1/2 (sin delta))) 29.853 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.854 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 29.854 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.854 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 29.855 * [backup-simplify]: Simplify (- 0) into 0 29.855 * [backup-simplify]: Simplify (+ 0 0) into 0 29.855 * [backup-simplify]: Simplify (+ (* (cos theta) (- (* 1/2 (sin delta)))) (+ (* 0 0) (* 0 (sin delta)))) into (- (* 1/2 (* (cos theta) (sin delta)))) 29.856 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.856 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 1))) into 0 29.857 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.857 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 0))) into 0 29.857 * [backup-simplify]: Simplify (- 0) into 0 29.858 * [backup-simplify]: Simplify (+ 0 0) into 0 29.858 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.858 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (cos delta)))) into 0 29.859 * [backup-simplify]: Simplify (+ (- (* 1/2 (* (cos theta) (sin delta)))) 0) into (- (* 1/2 (* (cos theta) (sin delta)))) 29.859 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.859 * [backup-simplify]: Simplify (+ (* 0 (- (* 1/2 (* (cos theta) (sin delta))))) (+ (* 1 (cos delta)) (* 0 (* (cos theta) (sin delta))))) into (cos delta) 29.859 * [taylor]: Taking taylor expansion of (cos delta) in theta 29.859 * [taylor]: Taking taylor expansion of delta in theta 29.859 * [backup-simplify]: Simplify delta into delta 29.859 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.859 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.859 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 29.859 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 29.860 * [backup-simplify]: Simplify (- 0) into 0 29.860 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 29.860 * [taylor]: Taking taylor expansion of (cos delta) in delta 29.860 * [taylor]: Taking taylor expansion of delta in delta 29.860 * [backup-simplify]: Simplify 0 into 0 29.860 * [backup-simplify]: Simplify 1 into 1 29.860 * [backup-simplify]: Simplify 1 into 1 29.860 * [backup-simplify]: Simplify (+ 0) into 0 29.860 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 29.861 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.861 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 29.861 * [backup-simplify]: Simplify (+ 0 0) into 0 29.862 * [backup-simplify]: Simplify (+ 0) into 0 29.862 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin delta))) into 0 29.862 * [taylor]: Taking taylor expansion of 0 in delta 29.862 * [backup-simplify]: Simplify 0 into 0 29.862 * [backup-simplify]: Simplify 0 into 0 29.862 * [taylor]: Taking taylor expansion of 0 in delta 29.862 * [backup-simplify]: Simplify 0 into 0 29.862 * [backup-simplify]: Simplify 0 into 0 29.863 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 29.863 * [backup-simplify]: Simplify 1 into 1 29.863 * [backup-simplify]: Simplify 0 into 0 29.863 * [backup-simplify]: Simplify 0 into 0 29.863 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 29.864 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 29.865 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 29.866 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 29.866 * [backup-simplify]: Simplify (+ 0 0) into 0 29.867 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 1 1) 1) (/ (pow 0 1) 1)) 0) into 0 29.868 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* -1/2 0) (* 0 (sin delta))))) into 0 29.869 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 29.870 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 29.872 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 29.878 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 29.878 * [backup-simplify]: Simplify (- 0) into 0 29.879 * [backup-simplify]: Simplify (+ 0 0) into 0 29.879 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 (- (* 1/2 (sin delta)))) (+ (* 0 0) (* 0 (sin delta))))) into 0 29.880 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 29.881 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 29.883 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 29.883 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 29.884 * [backup-simplify]: Simplify (- 0) into 0 29.884 * [backup-simplify]: Simplify (+ 0 0) into 0 29.886 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into -1/6 29.887 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* -1/6 (cos delta))))) into (- (* 1/6 (cos delta))) 29.887 * [backup-simplify]: Simplify (+ 0 (- (* 1/6 (cos delta)))) into (- (* 1/6 (cos delta))) 29.889 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into -1/6 29.889 * [backup-simplify]: Simplify (+ (* 0 (- (* 1/6 (cos delta)))) (+ (* 1 (- (* 1/2 (* (cos theta) (sin delta))))) (+ (* 0 (cos delta)) (* -1/6 (* (cos theta) (sin delta)))))) into (- (* 2/3 (* (cos theta) (sin delta)))) 29.889 * [taylor]: Taking taylor expansion of (- (* 2/3 (* (cos theta) (sin delta)))) in theta 29.889 * [taylor]: Taking taylor expansion of (* 2/3 (* (cos theta) (sin delta))) in theta 29.889 * [taylor]: Taking taylor expansion of 2/3 in theta 29.890 * [backup-simplify]: Simplify 2/3 into 2/3 29.890 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in theta 29.890 * [taylor]: Taking taylor expansion of (cos theta) in theta 29.890 * [taylor]: Taking taylor expansion of theta in theta 29.890 * [backup-simplify]: Simplify 0 into 0 29.890 * [backup-simplify]: Simplify 1 into 1 29.890 * [taylor]: Taking taylor expansion of (sin delta) in theta 29.890 * [taylor]: Taking taylor expansion of delta in theta 29.890 * [backup-simplify]: Simplify delta into delta 29.890 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.890 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.890 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 29.890 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 29.890 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 29.890 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 29.890 * [backup-simplify]: Simplify (* 2/3 (sin delta)) into (* 2/3 (sin delta)) 29.890 * [backup-simplify]: Simplify (- (* 2/3 (sin delta))) into (- (* 2/3 (sin delta))) 29.890 * [taylor]: Taking taylor expansion of (- (* 2/3 (sin delta))) in delta 29.890 * [taylor]: Taking taylor expansion of (* 2/3 (sin delta)) in delta 29.890 * [taylor]: Taking taylor expansion of 2/3 in delta 29.890 * [backup-simplify]: Simplify 2/3 into 2/3 29.890 * [taylor]: Taking taylor expansion of (sin delta) in delta 29.890 * [taylor]: Taking taylor expansion of delta in delta 29.890 * [backup-simplify]: Simplify 0 into 0 29.891 * [backup-simplify]: Simplify 1 into 1 29.891 * [backup-simplify]: Simplify (* 2/3 0) into 0 29.891 * [backup-simplify]: Simplify (- 0) into 0 29.891 * [backup-simplify]: Simplify 0 into 0 29.892 * [backup-simplify]: Simplify (+ 0) into 0 29.892 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 29.893 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.894 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 29.894 * [backup-simplify]: Simplify (- 0) into 0 29.894 * [backup-simplify]: Simplify (+ 0 0) into 0 29.894 * [taylor]: Taking taylor expansion of 0 in delta 29.894 * [backup-simplify]: Simplify 0 into 0 29.894 * [backup-simplify]: Simplify 0 into 0 29.895 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.896 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 29.897 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.898 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 29.898 * [backup-simplify]: Simplify (+ 0 0) into 0 29.899 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 29.900 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (sin delta)))) into (- (* 1/2 (sin delta))) 29.900 * [taylor]: Taking taylor expansion of (- (* 1/2 (sin delta))) in delta 29.900 * [taylor]: Taking taylor expansion of (* 1/2 (sin delta)) in delta 29.900 * [taylor]: Taking taylor expansion of 1/2 in delta 29.900 * [backup-simplify]: Simplify 1/2 into 1/2 29.900 * [taylor]: Taking taylor expansion of (sin delta) in delta 29.900 * [taylor]: Taking taylor expansion of delta in delta 29.900 * [backup-simplify]: Simplify 0 into 0 29.900 * [backup-simplify]: Simplify 1 into 1 29.900 * [backup-simplify]: Simplify (* 1/2 0) into 0 29.901 * [backup-simplify]: Simplify (- 0) into 0 29.901 * [backup-simplify]: Simplify 0 into 0 29.901 * [taylor]: Taking taylor expansion of 0 in delta 29.901 * [backup-simplify]: Simplify 0 into 0 29.901 * [backup-simplify]: Simplify 0 into 0 29.901 * [backup-simplify]: Simplify (+ (* 1 (* delta (* 1 phi1))) (* 1 (pow (* 1 (* 1 phi1)) 2))) into (+ (* phi1 delta) (pow phi1 2)) 29.902 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) into (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) 29.902 * [approximate]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in (phi1 theta delta) around 0 29.902 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in delta 29.902 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 29.902 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 29.902 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 29.902 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 29.902 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 29.902 * [taylor]: Taking taylor expansion of theta in delta 29.902 * [backup-simplify]: Simplify theta into theta 29.902 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 29.902 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.902 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 29.902 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 29.902 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 29.902 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.902 * [taylor]: Taking taylor expansion of delta in delta 29.902 * [backup-simplify]: Simplify 0 into 0 29.902 * [backup-simplify]: Simplify 1 into 1 29.903 * [backup-simplify]: Simplify (/ 1 1) into 1 29.903 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.903 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 29.903 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.903 * [taylor]: Taking taylor expansion of phi1 in delta 29.903 * [backup-simplify]: Simplify phi1 into phi1 29.903 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.903 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.903 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.903 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 29.903 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 29.903 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.903 * [taylor]: Taking taylor expansion of phi1 in delta 29.903 * [backup-simplify]: Simplify phi1 into phi1 29.903 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.904 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.904 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.904 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 29.904 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.904 * [taylor]: Taking taylor expansion of delta in delta 29.904 * [backup-simplify]: Simplify 0 into 0 29.904 * [backup-simplify]: Simplify 1 into 1 29.904 * [backup-simplify]: Simplify (/ 1 1) into 1 29.904 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.904 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 29.904 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.904 * [taylor]: Taking taylor expansion of phi1 in delta 29.904 * [backup-simplify]: Simplify phi1 into phi1 29.904 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.904 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.904 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.905 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in theta 29.905 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 29.905 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 29.905 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 29.905 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 29.905 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 29.905 * [taylor]: Taking taylor expansion of theta in theta 29.905 * [backup-simplify]: Simplify 0 into 0 29.905 * [backup-simplify]: Simplify 1 into 1 29.905 * [backup-simplify]: Simplify (/ 1 1) into 1 29.905 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.905 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 29.905 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 29.905 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.905 * [taylor]: Taking taylor expansion of delta in theta 29.905 * [backup-simplify]: Simplify delta into delta 29.905 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.906 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.906 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.906 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 29.906 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.906 * [taylor]: Taking taylor expansion of phi1 in theta 29.906 * [backup-simplify]: Simplify phi1 into phi1 29.906 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.906 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.906 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.906 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 29.906 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 29.906 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.906 * [taylor]: Taking taylor expansion of phi1 in theta 29.906 * [backup-simplify]: Simplify phi1 into phi1 29.906 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.906 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.906 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.906 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 29.906 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.906 * [taylor]: Taking taylor expansion of delta in theta 29.906 * [backup-simplify]: Simplify delta into delta 29.906 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.906 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.907 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.907 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 29.907 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.907 * [taylor]: Taking taylor expansion of phi1 in theta 29.907 * [backup-simplify]: Simplify phi1 into phi1 29.907 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.907 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.907 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.907 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in phi1 29.907 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 29.907 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 29.907 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 29.907 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 29.907 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 29.907 * [taylor]: Taking taylor expansion of theta in phi1 29.907 * [backup-simplify]: Simplify theta into theta 29.907 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 29.907 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.907 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 29.907 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 29.907 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 29.907 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.907 * [taylor]: Taking taylor expansion of delta in phi1 29.907 * [backup-simplify]: Simplify delta into delta 29.908 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.908 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.908 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.908 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 29.908 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.908 * [taylor]: Taking taylor expansion of phi1 in phi1 29.908 * [backup-simplify]: Simplify 0 into 0 29.908 * [backup-simplify]: Simplify 1 into 1 29.908 * [backup-simplify]: Simplify (/ 1 1) into 1 29.908 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.908 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 29.908 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 29.908 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.908 * [taylor]: Taking taylor expansion of phi1 in phi1 29.908 * [backup-simplify]: Simplify 0 into 0 29.909 * [backup-simplify]: Simplify 1 into 1 29.909 * [backup-simplify]: Simplify (/ 1 1) into 1 29.909 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.909 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 29.909 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.909 * [taylor]: Taking taylor expansion of delta in phi1 29.909 * [backup-simplify]: Simplify delta into delta 29.909 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.909 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.909 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.909 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 29.909 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.909 * [taylor]: Taking taylor expansion of phi1 in phi1 29.909 * [backup-simplify]: Simplify 0 into 0 29.909 * [backup-simplify]: Simplify 1 into 1 29.910 * [backup-simplify]: Simplify (/ 1 1) into 1 29.910 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.910 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in phi1 29.910 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 29.910 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 29.910 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 29.910 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 29.910 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 29.910 * [taylor]: Taking taylor expansion of theta in phi1 29.910 * [backup-simplify]: Simplify theta into theta 29.910 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 29.910 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.910 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 29.910 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 29.910 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 29.910 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.910 * [taylor]: Taking taylor expansion of delta in phi1 29.910 * [backup-simplify]: Simplify delta into delta 29.911 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.911 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.911 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.911 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 29.911 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.911 * [taylor]: Taking taylor expansion of phi1 in phi1 29.911 * [backup-simplify]: Simplify 0 into 0 29.911 * [backup-simplify]: Simplify 1 into 1 29.911 * [backup-simplify]: Simplify (/ 1 1) into 1 29.911 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.911 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 29.911 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 29.911 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.911 * [taylor]: Taking taylor expansion of phi1 in phi1 29.911 * [backup-simplify]: Simplify 0 into 0 29.911 * [backup-simplify]: Simplify 1 into 1 29.912 * [backup-simplify]: Simplify (/ 1 1) into 1 29.912 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.912 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 29.912 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.912 * [taylor]: Taking taylor expansion of delta in phi1 29.912 * [backup-simplify]: Simplify delta into delta 29.912 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.912 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.912 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.912 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 29.912 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.912 * [taylor]: Taking taylor expansion of phi1 in phi1 29.912 * [backup-simplify]: Simplify 0 into 0 29.912 * [backup-simplify]: Simplify 1 into 1 29.913 * [backup-simplify]: Simplify (/ 1 1) into 1 29.913 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.913 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 29.913 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 29.913 * [backup-simplify]: Simplify (- 0) into 0 29.914 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 29.914 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 29.914 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 29.914 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 29.914 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (cos (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 delta))) 29.914 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 29.914 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 29.914 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 29.915 * [backup-simplify]: Simplify (- 0) into 0 29.915 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 29.915 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 29.915 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) into (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 29.916 * [backup-simplify]: Simplify (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) into (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) 29.916 * [taylor]: Taking taylor expansion of (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in theta 29.916 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in theta 29.916 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in theta 29.916 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 29.916 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.916 * [taylor]: Taking taylor expansion of phi1 in theta 29.916 * [backup-simplify]: Simplify phi1 into phi1 29.916 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.916 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.916 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.916 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in theta 29.916 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 29.916 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 29.916 * [taylor]: Taking taylor expansion of theta in theta 29.916 * [backup-simplify]: Simplify 0 into 0 29.916 * [backup-simplify]: Simplify 1 into 1 29.917 * [backup-simplify]: Simplify (/ 1 1) into 1 29.917 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.917 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 29.917 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.917 * [taylor]: Taking taylor expansion of delta in theta 29.917 * [backup-simplify]: Simplify delta into delta 29.917 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.917 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.917 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.917 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in theta 29.917 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 29.917 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.917 * [taylor]: Taking taylor expansion of delta in theta 29.917 * [backup-simplify]: Simplify delta into delta 29.917 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.918 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.918 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.918 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 29.918 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.918 * [taylor]: Taking taylor expansion of phi1 in theta 29.918 * [backup-simplify]: Simplify phi1 into phi1 29.918 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.918 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.918 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.918 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 29.918 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.918 * [taylor]: Taking taylor expansion of phi1 in theta 29.918 * [backup-simplify]: Simplify phi1 into phi1 29.918 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.918 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.918 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.918 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 29.918 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 29.919 * [backup-simplify]: Simplify (- 0) into 0 29.919 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 29.919 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 29.919 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 29.919 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 29.919 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 29.920 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 29.920 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 29.920 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 29.920 * [backup-simplify]: Simplify (- 0) into 0 29.920 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 29.920 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 29.921 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 29.921 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 29.921 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 29.921 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) into (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 29.921 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 29.921 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 29.921 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 29.922 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) 29.922 * [taylor]: Taking taylor expansion of (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) in delta 29.922 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in delta 29.922 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 29.922 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 29.922 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.922 * [taylor]: Taking taylor expansion of phi1 in delta 29.922 * [backup-simplify]: Simplify phi1 into phi1 29.922 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.922 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.922 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.922 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 29.922 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.922 * [taylor]: Taking taylor expansion of delta in delta 29.922 * [backup-simplify]: Simplify 0 into 0 29.922 * [backup-simplify]: Simplify 1 into 1 29.923 * [backup-simplify]: Simplify (/ 1 1) into 1 29.923 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.923 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 29.923 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 29.923 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.923 * [taylor]: Taking taylor expansion of delta in delta 29.923 * [backup-simplify]: Simplify 0 into 0 29.923 * [backup-simplify]: Simplify 1 into 1 29.923 * [backup-simplify]: Simplify (/ 1 1) into 1 29.923 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.924 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 29.924 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 29.924 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 29.924 * [taylor]: Taking taylor expansion of theta in delta 29.924 * [backup-simplify]: Simplify theta into theta 29.924 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 29.924 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.924 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 29.924 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 29.924 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.924 * [taylor]: Taking taylor expansion of phi1 in delta 29.924 * [backup-simplify]: Simplify phi1 into phi1 29.924 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.924 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.924 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.924 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 29.924 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.924 * [taylor]: Taking taylor expansion of phi1 in delta 29.924 * [backup-simplify]: Simplify phi1 into phi1 29.924 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.924 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.924 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.925 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 29.925 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 29.925 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 29.925 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 29.925 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 29.925 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 29.925 * [backup-simplify]: Simplify (- 0) into 0 29.925 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 29.926 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 29.926 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 29.926 * [backup-simplify]: Simplify (- 0) into 0 29.926 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 29.926 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 29.926 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 29.927 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 29.927 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 29.927 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 29.927 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 29.927 * [backup-simplify]: Simplify (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) into (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) 29.928 * [backup-simplify]: Simplify (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) into (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) 29.928 * [backup-simplify]: Simplify (+ 0) into 0 29.929 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 29.929 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.930 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.930 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 29.931 * [backup-simplify]: Simplify (+ 0 0) into 0 29.931 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 29.931 * [backup-simplify]: Simplify (+ 0) into 0 29.932 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 29.932 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 29.932 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.933 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 29.933 * [backup-simplify]: Simplify (- 0) into 0 29.933 * [backup-simplify]: Simplify (+ 0 0) into 0 29.934 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta))))) into 0 29.934 * [backup-simplify]: Simplify (+ 0) into 0 29.935 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 29.935 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.936 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.936 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 29.936 * [backup-simplify]: Simplify (- 0) into 0 29.937 * [backup-simplify]: Simplify (+ 0 0) into 0 29.937 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 29.937 * [backup-simplify]: Simplify (+ 0 0) into 0 29.938 * [backup-simplify]: Simplify (+ (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 29.938 * [taylor]: Taking taylor expansion of 0 in theta 29.938 * [backup-simplify]: Simplify 0 into 0 29.938 * [taylor]: Taking taylor expansion of 0 in delta 29.938 * [backup-simplify]: Simplify 0 into 0 29.938 * [backup-simplify]: Simplify 0 into 0 29.938 * [backup-simplify]: Simplify (+ 0) into 0 29.939 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 29.939 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.940 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.940 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 29.940 * [backup-simplify]: Simplify (+ 0 0) into 0 29.941 * [backup-simplify]: Simplify (+ 0) into 0 29.941 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 29.941 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.942 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.943 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 29.943 * [backup-simplify]: Simplify (+ 0 0) into 0 29.943 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 29.943 * [backup-simplify]: Simplify (+ 0) into 0 29.944 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 29.944 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.945 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.945 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 29.946 * [backup-simplify]: Simplify (- 0) into 0 29.946 * [backup-simplify]: Simplify (+ 0 0) into 0 29.946 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 29.947 * [backup-simplify]: Simplify (+ 0) into 0 29.947 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 29.947 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.948 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.948 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 29.949 * [backup-simplify]: Simplify (+ 0 0) into 0 29.949 * [backup-simplify]: Simplify (+ 0) into 0 29.950 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 29.950 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.951 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.951 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 29.951 * [backup-simplify]: Simplify (- 0) into 0 29.952 * [backup-simplify]: Simplify (+ 0 0) into 0 29.952 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 29.952 * [backup-simplify]: Simplify (+ 0 0) into 0 29.953 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 29.953 * [taylor]: Taking taylor expansion of 0 in delta 29.953 * [backup-simplify]: Simplify 0 into 0 29.953 * [backup-simplify]: Simplify 0 into 0 29.953 * [backup-simplify]: Simplify (+ 0) into 0 29.954 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 29.954 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.955 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.955 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 29.955 * [backup-simplify]: Simplify (+ 0 0) into 0 29.956 * [backup-simplify]: Simplify (+ 0) into 0 29.956 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 29.956 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.957 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.958 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 29.958 * [backup-simplify]: Simplify (+ 0 0) into 0 29.958 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 29.959 * [backup-simplify]: Simplify (+ 0) into 0 29.959 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 29.959 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.960 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.961 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 29.961 * [backup-simplify]: Simplify (- 0) into 0 29.961 * [backup-simplify]: Simplify (+ 0 0) into 0 29.962 * [backup-simplify]: Simplify (+ 0) into 0 29.962 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 29.962 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 29.963 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.964 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 29.964 * [backup-simplify]: Simplify (- 0) into 0 29.964 * [backup-simplify]: Simplify (+ 0 0) into 0 29.964 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 29.965 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 29.965 * [backup-simplify]: Simplify (+ 0 0) into 0 29.965 * [backup-simplify]: Simplify (+ (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 0) (* 0 (sin (/ 1 phi1)))) into 0 29.965 * [backup-simplify]: Simplify 0 into 0 29.966 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.966 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.966 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.967 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.967 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.967 * [backup-simplify]: Simplify (+ 0 0) into 0 29.968 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 29.968 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.969 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.969 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 29.969 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.970 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.970 * [backup-simplify]: Simplify (- 0) into 0 29.970 * [backup-simplify]: Simplify (+ 0 0) into 0 29.971 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta)))))) into 0 29.971 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.971 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.972 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.972 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.972 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.973 * [backup-simplify]: Simplify (- 0) into 0 29.973 * [backup-simplify]: Simplify (+ 0 0) into 0 29.973 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 29.973 * [backup-simplify]: Simplify (+ 0 0) into 0 29.974 * [backup-simplify]: Simplify (+ (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 29.974 * [taylor]: Taking taylor expansion of 0 in theta 29.974 * [backup-simplify]: Simplify 0 into 0 29.974 * [taylor]: Taking taylor expansion of 0 in delta 29.974 * [backup-simplify]: Simplify 0 into 0 29.974 * [backup-simplify]: Simplify 0 into 0 29.974 * [taylor]: Taking taylor expansion of 0 in delta 29.974 * [backup-simplify]: Simplify 0 into 0 29.974 * [backup-simplify]: Simplify 0 into 0 29.975 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.975 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.975 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.976 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.976 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.976 * [backup-simplify]: Simplify (+ 0 0) into 0 29.977 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.977 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.977 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.978 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.978 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.978 * [backup-simplify]: Simplify (+ 0 0) into 0 29.979 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 29.979 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.980 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.980 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.980 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.981 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.981 * [backup-simplify]: Simplify (- 0) into 0 29.981 * [backup-simplify]: Simplify (+ 0 0) into 0 29.981 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 29.982 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.982 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.983 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.983 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.984 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.984 * [backup-simplify]: Simplify (+ 0 0) into 0 29.984 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.985 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.985 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.985 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.986 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.986 * [backup-simplify]: Simplify (- 0) into 0 29.986 * [backup-simplify]: Simplify (+ 0 0) into 0 29.987 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 29.987 * [backup-simplify]: Simplify (+ 0 0) into 0 29.987 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 29.987 * [taylor]: Taking taylor expansion of 0 in delta 29.987 * [backup-simplify]: Simplify 0 into 0 29.987 * [backup-simplify]: Simplify 0 into 0 29.988 * [backup-simplify]: Simplify (* (+ (* (cos (/ 1 (/ 1 phi1))) (* (cos (/ 1 (/ 1 theta))) (sin (/ 1 (/ 1 delta))))) (* (cos (/ 1 (/ 1 delta))) (sin (/ 1 (/ 1 phi1))))) (sin (/ 1 (/ 1 phi1)))) into (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta))))) 29.988 * [backup-simplify]: Simplify (* (sin (/ 1 (- phi1))) (sin (asin (fma (cos (/ 1 (- theta))) (* (cos (/ 1 (- phi1))) (sin (/ 1 (- delta)))) (* (cos (/ 1 (- delta))) (sin (/ 1 (- phi1)))))))) into (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 29.988 * [approximate]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in (phi1 theta delta) around 0 29.988 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 29.988 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 29.988 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.988 * [taylor]: Taking taylor expansion of -1 in delta 29.988 * [backup-simplify]: Simplify -1 into -1 29.988 * [taylor]: Taking taylor expansion of phi1 in delta 29.988 * [backup-simplify]: Simplify phi1 into phi1 29.988 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.988 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.988 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.988 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 29.988 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 29.988 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 29.988 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 29.988 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 29.988 * [taylor]: Taking taylor expansion of -1 in delta 29.988 * [backup-simplify]: Simplify -1 into -1 29.988 * [taylor]: Taking taylor expansion of theta in delta 29.988 * [backup-simplify]: Simplify theta into theta 29.988 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 29.988 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.988 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 29.988 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 29.989 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 29.989 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.989 * [taylor]: Taking taylor expansion of -1 in delta 29.989 * [backup-simplify]: Simplify -1 into -1 29.989 * [taylor]: Taking taylor expansion of phi1 in delta 29.989 * [backup-simplify]: Simplify phi1 into phi1 29.989 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.989 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.989 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.989 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 29.989 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 29.989 * [taylor]: Taking taylor expansion of -1 in delta 29.989 * [backup-simplify]: Simplify -1 into -1 29.989 * [taylor]: Taking taylor expansion of delta in delta 29.989 * [backup-simplify]: Simplify 0 into 0 29.989 * [backup-simplify]: Simplify 1 into 1 29.989 * [backup-simplify]: Simplify (/ -1 1) into -1 29.989 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.989 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 29.989 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 29.989 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.989 * [taylor]: Taking taylor expansion of -1 in delta 29.989 * [backup-simplify]: Simplify -1 into -1 29.989 * [taylor]: Taking taylor expansion of phi1 in delta 29.989 * [backup-simplify]: Simplify phi1 into phi1 29.989 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.989 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.989 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.989 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 29.989 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 29.989 * [taylor]: Taking taylor expansion of -1 in delta 29.989 * [backup-simplify]: Simplify -1 into -1 29.989 * [taylor]: Taking taylor expansion of delta in delta 29.990 * [backup-simplify]: Simplify 0 into 0 29.990 * [backup-simplify]: Simplify 1 into 1 29.990 * [backup-simplify]: Simplify (/ -1 1) into -1 29.990 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.990 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 29.990 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 29.990 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.990 * [taylor]: Taking taylor expansion of -1 in theta 29.990 * [backup-simplify]: Simplify -1 into -1 29.990 * [taylor]: Taking taylor expansion of phi1 in theta 29.990 * [backup-simplify]: Simplify phi1 into phi1 29.990 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.990 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.990 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.990 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 29.990 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 29.990 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 29.990 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 29.990 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 29.990 * [taylor]: Taking taylor expansion of -1 in theta 29.990 * [backup-simplify]: Simplify -1 into -1 29.990 * [taylor]: Taking taylor expansion of theta in theta 29.990 * [backup-simplify]: Simplify 0 into 0 29.990 * [backup-simplify]: Simplify 1 into 1 29.991 * [backup-simplify]: Simplify (/ -1 1) into -1 29.991 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.991 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 29.991 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 29.991 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.991 * [taylor]: Taking taylor expansion of -1 in theta 29.991 * [backup-simplify]: Simplify -1 into -1 29.991 * [taylor]: Taking taylor expansion of phi1 in theta 29.991 * [backup-simplify]: Simplify phi1 into phi1 29.991 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.991 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.991 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.991 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 29.991 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 29.991 * [taylor]: Taking taylor expansion of -1 in theta 29.991 * [backup-simplify]: Simplify -1 into -1 29.991 * [taylor]: Taking taylor expansion of delta in theta 29.991 * [backup-simplify]: Simplify delta into delta 29.991 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.991 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.991 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.991 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 29.991 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 29.991 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.991 * [taylor]: Taking taylor expansion of -1 in theta 29.991 * [backup-simplify]: Simplify -1 into -1 29.991 * [taylor]: Taking taylor expansion of phi1 in theta 29.991 * [backup-simplify]: Simplify phi1 into phi1 29.991 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.991 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.991 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.991 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 29.991 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 29.991 * [taylor]: Taking taylor expansion of -1 in theta 29.991 * [backup-simplify]: Simplify -1 into -1 29.991 * [taylor]: Taking taylor expansion of delta in theta 29.991 * [backup-simplify]: Simplify delta into delta 29.991 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.991 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.991 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.991 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 29.991 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 29.992 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.992 * [taylor]: Taking taylor expansion of -1 in phi1 29.992 * [backup-simplify]: Simplify -1 into -1 29.992 * [taylor]: Taking taylor expansion of phi1 in phi1 29.992 * [backup-simplify]: Simplify 0 into 0 29.992 * [backup-simplify]: Simplify 1 into 1 29.992 * [backup-simplify]: Simplify (/ -1 1) into -1 29.992 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.992 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 29.992 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 29.992 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 29.992 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 29.992 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 29.992 * [taylor]: Taking taylor expansion of -1 in phi1 29.992 * [backup-simplify]: Simplify -1 into -1 29.992 * [taylor]: Taking taylor expansion of theta in phi1 29.992 * [backup-simplify]: Simplify theta into theta 29.992 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 29.992 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.992 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 29.992 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 29.992 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 29.992 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.992 * [taylor]: Taking taylor expansion of -1 in phi1 29.992 * [backup-simplify]: Simplify -1 into -1 29.992 * [taylor]: Taking taylor expansion of phi1 in phi1 29.992 * [backup-simplify]: Simplify 0 into 0 29.992 * [backup-simplify]: Simplify 1 into 1 29.993 * [backup-simplify]: Simplify (/ -1 1) into -1 29.993 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.993 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 29.993 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 29.993 * [taylor]: Taking taylor expansion of -1 in phi1 29.993 * [backup-simplify]: Simplify -1 into -1 29.993 * [taylor]: Taking taylor expansion of delta in phi1 29.993 * [backup-simplify]: Simplify delta into delta 29.993 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.993 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.993 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.993 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 29.993 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 29.993 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.993 * [taylor]: Taking taylor expansion of -1 in phi1 29.993 * [backup-simplify]: Simplify -1 into -1 29.993 * [taylor]: Taking taylor expansion of phi1 in phi1 29.993 * [backup-simplify]: Simplify 0 into 0 29.993 * [backup-simplify]: Simplify 1 into 1 29.993 * [backup-simplify]: Simplify (/ -1 1) into -1 29.993 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.993 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 29.993 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 29.993 * [taylor]: Taking taylor expansion of -1 in phi1 29.993 * [backup-simplify]: Simplify -1 into -1 29.993 * [taylor]: Taking taylor expansion of delta in phi1 29.993 * [backup-simplify]: Simplify delta into delta 29.993 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.993 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.994 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.994 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 29.994 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 29.994 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.994 * [taylor]: Taking taylor expansion of -1 in phi1 29.994 * [backup-simplify]: Simplify -1 into -1 29.994 * [taylor]: Taking taylor expansion of phi1 in phi1 29.994 * [backup-simplify]: Simplify 0 into 0 29.994 * [backup-simplify]: Simplify 1 into 1 29.994 * [backup-simplify]: Simplify (/ -1 1) into -1 29.994 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.994 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 29.994 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 29.994 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 29.994 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 29.994 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 29.994 * [taylor]: Taking taylor expansion of -1 in phi1 29.994 * [backup-simplify]: Simplify -1 into -1 29.994 * [taylor]: Taking taylor expansion of theta in phi1 29.994 * [backup-simplify]: Simplify theta into theta 29.994 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 29.994 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.994 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 29.994 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 29.994 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 29.994 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.994 * [taylor]: Taking taylor expansion of -1 in phi1 29.994 * [backup-simplify]: Simplify -1 into -1 29.994 * [taylor]: Taking taylor expansion of phi1 in phi1 29.994 * [backup-simplify]: Simplify 0 into 0 29.994 * [backup-simplify]: Simplify 1 into 1 29.995 * [backup-simplify]: Simplify (/ -1 1) into -1 29.995 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.995 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 29.995 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 29.995 * [taylor]: Taking taylor expansion of -1 in phi1 29.995 * [backup-simplify]: Simplify -1 into -1 29.995 * [taylor]: Taking taylor expansion of delta in phi1 29.995 * [backup-simplify]: Simplify delta into delta 29.995 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.995 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.995 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.995 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 29.995 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 29.995 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.995 * [taylor]: Taking taylor expansion of -1 in phi1 29.995 * [backup-simplify]: Simplify -1 into -1 29.995 * [taylor]: Taking taylor expansion of phi1 in phi1 29.995 * [backup-simplify]: Simplify 0 into 0 29.995 * [backup-simplify]: Simplify 1 into 1 29.995 * [backup-simplify]: Simplify (/ -1 1) into -1 29.995 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.995 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 29.995 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 29.995 * [taylor]: Taking taylor expansion of -1 in phi1 29.995 * [backup-simplify]: Simplify -1 into -1 29.996 * [taylor]: Taking taylor expansion of delta in phi1 29.996 * [backup-simplify]: Simplify delta into delta 29.996 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.996 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.996 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.996 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 29.996 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 29.996 * [backup-simplify]: Simplify (- 0) into 0 29.996 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 29.996 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 29.996 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 29.996 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 29.996 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 29.997 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 29.997 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 29.997 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 29.997 * [backup-simplify]: Simplify (- 0) into 0 29.997 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 29.997 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 29.998 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) into (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 29.998 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 29.998 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 29.998 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 29.998 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.998 * [taylor]: Taking taylor expansion of -1 in theta 29.998 * [backup-simplify]: Simplify -1 into -1 29.998 * [taylor]: Taking taylor expansion of phi1 in theta 29.998 * [backup-simplify]: Simplify phi1 into phi1 29.998 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.998 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.998 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.998 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 29.999 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) in theta 29.999 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 29.999 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.999 * [taylor]: Taking taylor expansion of -1 in theta 29.999 * [backup-simplify]: Simplify -1 into -1 29.999 * [taylor]: Taking taylor expansion of phi1 in theta 29.999 * [backup-simplify]: Simplify phi1 into phi1 29.999 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.999 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.999 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.999 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 theta))) in theta 29.999 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 29.999 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 29.999 * [taylor]: Taking taylor expansion of -1 in theta 29.999 * [backup-simplify]: Simplify -1 into -1 29.999 * [taylor]: Taking taylor expansion of delta in theta 29.999 * [backup-simplify]: Simplify delta into delta 29.999 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.999 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.999 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.999 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 29.999 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 29.999 * [taylor]: Taking taylor expansion of -1 in theta 29.999 * [backup-simplify]: Simplify -1 into -1 29.999 * [taylor]: Taking taylor expansion of theta in theta 29.999 * [backup-simplify]: Simplify 0 into 0 30.000 * [backup-simplify]: Simplify 1 into 1 30.000 * [backup-simplify]: Simplify (/ -1 1) into -1 30.000 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.000 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 30.000 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 30.000 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.000 * [taylor]: Taking taylor expansion of -1 in theta 30.000 * [backup-simplify]: Simplify -1 into -1 30.000 * [taylor]: Taking taylor expansion of phi1 in theta 30.000 * [backup-simplify]: Simplify phi1 into phi1 30.000 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.000 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.001 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.001 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 30.001 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 30.001 * [taylor]: Taking taylor expansion of -1 in theta 30.001 * [backup-simplify]: Simplify -1 into -1 30.001 * [taylor]: Taking taylor expansion of delta in theta 30.001 * [backup-simplify]: Simplify delta into delta 30.001 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.001 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.001 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.001 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 30.001 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 30.001 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 30.001 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 30.001 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 30.002 * [backup-simplify]: Simplify (- 0) into 0 30.002 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 30.002 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 30.002 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 30.002 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 30.002 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 theta))) into (* (cos (/ -1 theta)) (sin (/ -1 delta))) 30.002 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 30.003 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 30.003 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 30.003 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 30.003 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 30.003 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 30.003 * [backup-simplify]: Simplify (- 0) into 0 30.003 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 30.004 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 30.004 * [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))))) 30.004 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 30.004 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in delta 30.004 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 30.004 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.004 * [taylor]: Taking taylor expansion of -1 in delta 30.004 * [backup-simplify]: Simplify -1 into -1 30.004 * [taylor]: Taking taylor expansion of phi1 in delta 30.005 * [backup-simplify]: Simplify phi1 into phi1 30.005 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.005 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.005 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.005 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in delta 30.005 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 30.005 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 30.005 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.005 * [taylor]: Taking taylor expansion of -1 in delta 30.005 * [backup-simplify]: Simplify -1 into -1 30.005 * [taylor]: Taking taylor expansion of phi1 in delta 30.005 * [backup-simplify]: Simplify phi1 into phi1 30.005 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.005 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.005 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.005 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 30.005 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 30.005 * [taylor]: Taking taylor expansion of -1 in delta 30.005 * [backup-simplify]: Simplify -1 into -1 30.005 * [taylor]: Taking taylor expansion of delta in delta 30.005 * [backup-simplify]: Simplify 0 into 0 30.005 * [backup-simplify]: Simplify 1 into 1 30.006 * [backup-simplify]: Simplify (/ -1 1) into -1 30.006 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.006 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in delta 30.006 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 30.006 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.006 * [taylor]: Taking taylor expansion of -1 in delta 30.006 * [backup-simplify]: Simplify -1 into -1 30.006 * [taylor]: Taking taylor expansion of phi1 in delta 30.006 * [backup-simplify]: Simplify phi1 into phi1 30.006 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.006 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.006 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.006 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in delta 30.006 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 30.006 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 30.006 * [taylor]: Taking taylor expansion of -1 in delta 30.006 * [backup-simplify]: Simplify -1 into -1 30.006 * [taylor]: Taking taylor expansion of theta in delta 30.006 * [backup-simplify]: Simplify theta into theta 30.006 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 30.007 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.007 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.007 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 30.007 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 30.007 * [taylor]: Taking taylor expansion of -1 in delta 30.007 * [backup-simplify]: Simplify -1 into -1 30.007 * [taylor]: Taking taylor expansion of delta in delta 30.007 * [backup-simplify]: Simplify 0 into 0 30.007 * [backup-simplify]: Simplify 1 into 1 30.007 * [backup-simplify]: Simplify (/ -1 1) into -1 30.007 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.007 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 30.007 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 30.008 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 30.008 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 30.008 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 30.008 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 30.008 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 30.008 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 30.008 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 30.009 * [backup-simplify]: Simplify (- 0) into 0 30.009 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 30.009 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 30.009 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 30.010 * [backup-simplify]: Simplify (- 0) into 0 30.010 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 30.010 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (cos (/ -1 theta))) 30.010 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 30.010 * [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)))) 30.011 * [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))))) 30.011 * [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))))) 30.012 * [backup-simplify]: Simplify (+ 0) into 0 30.016 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 30.017 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 30.018 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.018 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 30.019 * [backup-simplify]: Simplify (+ 0 0) into 0 30.019 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 30.019 * [backup-simplify]: Simplify (+ 0) into 0 30.020 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 30.020 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 30.020 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.021 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 30.021 * [backup-simplify]: Simplify (- 0) into 0 30.022 * [backup-simplify]: Simplify (+ 0 0) into 0 30.022 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 30.022 * [backup-simplify]: Simplify (+ 0) into 0 30.023 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 30.023 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 30.024 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.024 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 30.025 * [backup-simplify]: Simplify (- 0) into 0 30.025 * [backup-simplify]: Simplify (+ 0 0) into 0 30.025 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 30.025 * [backup-simplify]: Simplify (+ 0 0) into 0 30.025 * [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 30.025 * [taylor]: Taking taylor expansion of 0 in theta 30.025 * [backup-simplify]: Simplify 0 into 0 30.025 * [taylor]: Taking taylor expansion of 0 in delta 30.025 * [backup-simplify]: Simplify 0 into 0 30.026 * [backup-simplify]: Simplify 0 into 0 30.026 * [backup-simplify]: Simplify (+ 0) into 0 30.026 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 30.026 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 30.027 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.027 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 30.027 * [backup-simplify]: Simplify (+ 0 0) into 0 30.027 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 theta)))) into 0 30.027 * [backup-simplify]: Simplify (+ 0) into 0 30.028 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 30.028 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.028 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.029 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 30.029 * [backup-simplify]: Simplify (- 0) into 0 30.029 * [backup-simplify]: Simplify (+ 0 0) into 0 30.029 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into 0 30.029 * [backup-simplify]: Simplify (+ 0) into 0 30.030 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 30.030 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 30.030 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.031 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 30.031 * [backup-simplify]: Simplify (- 0) into 0 30.031 * [backup-simplify]: Simplify (+ 0 0) into 0 30.031 * [backup-simplify]: Simplify (+ 0) into 0 30.032 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 30.032 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.032 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.032 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 30.033 * [backup-simplify]: Simplify (+ 0 0) into 0 30.033 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 30.033 * [backup-simplify]: Simplify (+ 0 0) into 0 30.033 * [backup-simplify]: Simplify (+ 0) into 0 30.034 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 30.034 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.034 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.034 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 30.035 * [backup-simplify]: Simplify (+ 0 0) into 0 30.035 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 30.035 * [taylor]: Taking taylor expansion of 0 in delta 30.035 * [backup-simplify]: Simplify 0 into 0 30.035 * [backup-simplify]: Simplify 0 into 0 30.035 * [backup-simplify]: Simplify (+ 0) into 0 30.035 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 30.036 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.036 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.036 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 30.037 * [backup-simplify]: Simplify (+ 0 0) into 0 30.037 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 30.037 * [backup-simplify]: Simplify (+ 0) into 0 30.037 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 30.037 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 30.038 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.038 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 30.038 * [backup-simplify]: Simplify (- 0) into 0 30.038 * [backup-simplify]: Simplify (+ 0 0) into 0 30.039 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 30.039 * [backup-simplify]: Simplify (+ 0) into 0 30.039 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 30.039 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.040 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.040 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 30.040 * [backup-simplify]: Simplify (- 0) into 0 30.040 * [backup-simplify]: Simplify (+ 0 0) into 0 30.041 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into 0 30.041 * [backup-simplify]: Simplify (+ 0 0) into 0 30.041 * [backup-simplify]: Simplify (+ 0) into 0 30.041 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 30.041 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.042 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.042 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 30.042 * [backup-simplify]: Simplify (+ 0 0) into 0 30.043 * [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 30.043 * [backup-simplify]: Simplify 0 into 0 30.043 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.044 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.044 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.044 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.045 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.045 * [backup-simplify]: Simplify (+ 0 0) into 0 30.045 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 30.046 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.046 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.046 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 30.047 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.047 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.047 * [backup-simplify]: Simplify (- 0) into 0 30.047 * [backup-simplify]: Simplify (+ 0 0) into 0 30.048 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 30.048 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.049 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.049 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.049 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.050 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.050 * [backup-simplify]: Simplify (- 0) into 0 30.050 * [backup-simplify]: Simplify (+ 0 0) into 0 30.050 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 30.051 * [backup-simplify]: Simplify (+ 0 0) into 0 30.051 * [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 30.051 * [taylor]: Taking taylor expansion of 0 in theta 30.051 * [backup-simplify]: Simplify 0 into 0 30.051 * [taylor]: Taking taylor expansion of 0 in delta 30.051 * [backup-simplify]: Simplify 0 into 0 30.051 * [backup-simplify]: Simplify 0 into 0 30.051 * [taylor]: Taking taylor expansion of 0 in delta 30.051 * [backup-simplify]: Simplify 0 into 0 30.051 * [backup-simplify]: Simplify 0 into 0 30.052 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.052 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.052 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.053 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.053 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.053 * [backup-simplify]: Simplify (+ 0 0) into 0 30.054 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 30.054 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.055 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.055 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.055 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.056 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.056 * [backup-simplify]: Simplify (- 0) into 0 30.056 * [backup-simplify]: Simplify (+ 0 0) into 0 30.056 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 30.057 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.058 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.058 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.059 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.060 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.060 * [backup-simplify]: Simplify (- 0) into 0 30.060 * [backup-simplify]: Simplify (+ 0 0) into 0 30.061 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.062 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.062 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.063 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.063 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.064 * [backup-simplify]: Simplify (+ 0 0) into 0 30.064 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 30.065 * [backup-simplify]: Simplify (+ 0 0) into 0 30.066 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.066 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.067 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.067 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.068 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.068 * [backup-simplify]: Simplify (+ 0 0) into 0 30.069 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))))) into 0 30.069 * [taylor]: Taking taylor expansion of 0 in delta 30.069 * [backup-simplify]: Simplify 0 into 0 30.069 * [backup-simplify]: Simplify 0 into 0 30.070 * [backup-simplify]: Simplify (* (sin (/ -1 (/ 1 (- phi1)))) (+ (* (cos (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- delta)))) (cos (/ -1 (/ 1 (- theta)))))) (* (sin (/ -1 (/ 1 (- phi1)))) (cos (/ -1 (/ 1 (- delta))))))) into (* (sin phi1) (+ (* (cos phi1) (* (sin delta) (cos theta))) (* (sin phi1) (cos delta)))) 30.070 * * * * [progress]: [ 3 / 4 ] generating series at (2 1 2 2 2 1) 30.070 * [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)))) 30.070 * [approximate]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in (theta phi1 delta) around 0 30.070 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 30.071 * [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)))) 30.071 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 30.071 * [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)))) 30.071 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 30.071 * [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)))) 30.071 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 30.072 * [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)))) 30.072 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 30.072 * [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)))) 30.072 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 30.072 * [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)))) 30.072 * [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)))) 30.072 * [taylor]: Taking taylor expansion of 0 in phi1 30.072 * [backup-simplify]: Simplify 0 into 0 30.073 * [taylor]: Taking taylor expansion of 0 in delta 30.073 * [backup-simplify]: Simplify 0 into 0 30.073 * [backup-simplify]: Simplify 0 into 0 30.073 * [taylor]: Taking taylor expansion of 0 in delta 30.073 * [backup-simplify]: Simplify 0 into 0 30.073 * [backup-simplify]: Simplify 0 into 0 30.073 * [backup-simplify]: Simplify 0 into 0 30.073 * [taylor]: Taking taylor expansion of 0 in phi1 30.073 * [backup-simplify]: Simplify 0 into 0 30.073 * [taylor]: Taking taylor expansion of 0 in delta 30.073 * [backup-simplify]: Simplify 0 into 0 30.073 * [backup-simplify]: Simplify 0 into 0 30.073 * [taylor]: Taking taylor expansion of 0 in delta 30.073 * [backup-simplify]: Simplify 0 into 0 30.073 * [backup-simplify]: Simplify 0 into 0 30.073 * [taylor]: Taking taylor expansion of 0 in delta 30.073 * [backup-simplify]: Simplify 0 into 0 30.073 * [backup-simplify]: Simplify 0 into 0 30.073 * [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)))) 30.074 * [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))))) 30.074 * [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 30.074 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in delta 30.074 * [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))))) 30.074 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in phi1 30.074 * [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))))) 30.074 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in theta 30.075 * [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))))) 30.075 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in theta 30.075 * [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))))) 30.075 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in phi1 30.075 * [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))))) 30.075 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in delta 30.076 * [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))))) 30.076 * [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))))) 30.076 * [taylor]: Taking taylor expansion of 0 in phi1 30.076 * [backup-simplify]: Simplify 0 into 0 30.076 * [taylor]: Taking taylor expansion of 0 in delta 30.076 * [backup-simplify]: Simplify 0 into 0 30.076 * [backup-simplify]: Simplify 0 into 0 30.076 * [taylor]: Taking taylor expansion of 0 in delta 30.076 * [backup-simplify]: Simplify 0 into 0 30.076 * [backup-simplify]: Simplify 0 into 0 30.076 * [backup-simplify]: Simplify 0 into 0 30.076 * [taylor]: Taking taylor expansion of 0 in phi1 30.076 * [backup-simplify]: Simplify 0 into 0 30.076 * [taylor]: Taking taylor expansion of 0 in delta 30.077 * [backup-simplify]: Simplify 0 into 0 30.077 * [backup-simplify]: Simplify 0 into 0 30.077 * [taylor]: Taking taylor expansion of 0 in delta 30.077 * [backup-simplify]: Simplify 0 into 0 30.077 * [backup-simplify]: Simplify 0 into 0 30.077 * [taylor]: Taking taylor expansion of 0 in delta 30.077 * [backup-simplify]: Simplify 0 into 0 30.077 * [backup-simplify]: Simplify 0 into 0 30.077 * [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)))) 30.078 * [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))))) 30.078 * [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 30.078 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 30.078 * [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))))) 30.078 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 30.078 * [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))))) 30.078 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 30.079 * [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))))) 30.079 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 30.079 * [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))))) 30.079 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 30.080 * [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))))) 30.080 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 30.080 * [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))))) 30.080 * [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))))) 30.080 * [taylor]: Taking taylor expansion of 0 in phi1 30.081 * [backup-simplify]: Simplify 0 into 0 30.081 * [taylor]: Taking taylor expansion of 0 in delta 30.081 * [backup-simplify]: Simplify 0 into 0 30.081 * [backup-simplify]: Simplify 0 into 0 30.081 * [taylor]: Taking taylor expansion of 0 in delta 30.081 * [backup-simplify]: Simplify 0 into 0 30.081 * [backup-simplify]: Simplify 0 into 0 30.081 * [backup-simplify]: Simplify 0 into 0 30.081 * [taylor]: Taking taylor expansion of 0 in phi1 30.081 * [backup-simplify]: Simplify 0 into 0 30.081 * [taylor]: Taking taylor expansion of 0 in delta 30.081 * [backup-simplify]: Simplify 0 into 0 30.081 * [backup-simplify]: Simplify 0 into 0 30.081 * [taylor]: Taking taylor expansion of 0 in delta 30.081 * [backup-simplify]: Simplify 0 into 0 30.081 * [backup-simplify]: Simplify 0 into 0 30.081 * [taylor]: Taking taylor expansion of 0 in delta 30.081 * [backup-simplify]: Simplify 0 into 0 30.081 * [backup-simplify]: Simplify 0 into 0 30.081 * [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)))) 30.082 * * * * [progress]: [ 4 / 4 ] generating series at (2 1 2 2 2 1 1) 30.082 * [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))) 30.082 * [approximate]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in (theta phi1 delta) around 0 30.082 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 30.082 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 30.082 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 30.082 * [taylor]: Taking taylor expansion of (cos theta) in delta 30.082 * [taylor]: Taking taylor expansion of theta in delta 30.082 * [backup-simplify]: Simplify theta into theta 30.082 * [backup-simplify]: Simplify (cos theta) into (cos theta) 30.082 * [backup-simplify]: Simplify (sin theta) into (sin theta) 30.082 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 30.082 * [taylor]: Taking taylor expansion of (cos phi1) in delta 30.082 * [taylor]: Taking taylor expansion of phi1 in delta 30.082 * [backup-simplify]: Simplify phi1 into phi1 30.082 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.082 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.082 * [taylor]: Taking taylor expansion of (sin delta) in delta 30.082 * [taylor]: Taking taylor expansion of delta in delta 30.082 * [backup-simplify]: Simplify 0 into 0 30.082 * [backup-simplify]: Simplify 1 into 1 30.082 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 30.082 * [taylor]: Taking taylor expansion of (sin phi1) in delta 30.082 * [taylor]: Taking taylor expansion of phi1 in delta 30.083 * [backup-simplify]: Simplify phi1 into phi1 30.083 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.083 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.083 * [taylor]: Taking taylor expansion of (cos delta) in delta 30.083 * [taylor]: Taking taylor expansion of delta in delta 30.083 * [backup-simplify]: Simplify 0 into 0 30.083 * [backup-simplify]: Simplify 1 into 1 30.083 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 30.083 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 30.083 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 30.083 * [taylor]: Taking taylor expansion of (cos theta) in phi1 30.083 * [taylor]: Taking taylor expansion of theta in phi1 30.083 * [backup-simplify]: Simplify theta into theta 30.083 * [backup-simplify]: Simplify (cos theta) into (cos theta) 30.083 * [backup-simplify]: Simplify (sin theta) into (sin theta) 30.083 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 30.083 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 30.083 * [taylor]: Taking taylor expansion of phi1 in phi1 30.083 * [backup-simplify]: Simplify 0 into 0 30.083 * [backup-simplify]: Simplify 1 into 1 30.083 * [taylor]: Taking taylor expansion of (sin delta) in phi1 30.083 * [taylor]: Taking taylor expansion of delta in phi1 30.083 * [backup-simplify]: Simplify delta into delta 30.083 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.083 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.083 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 30.083 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 30.083 * [taylor]: Taking taylor expansion of phi1 in phi1 30.083 * [backup-simplify]: Simplify 0 into 0 30.083 * [backup-simplify]: Simplify 1 into 1 30.083 * [taylor]: Taking taylor expansion of (cos delta) in phi1 30.083 * [taylor]: Taking taylor expansion of delta in phi1 30.083 * [backup-simplify]: Simplify delta into delta 30.083 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.084 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.084 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 30.084 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 30.084 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 30.084 * [taylor]: Taking taylor expansion of (cos theta) in theta 30.084 * [taylor]: Taking taylor expansion of theta in theta 30.084 * [backup-simplify]: Simplify 0 into 0 30.084 * [backup-simplify]: Simplify 1 into 1 30.084 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 30.084 * [taylor]: Taking taylor expansion of (cos phi1) in theta 30.084 * [taylor]: Taking taylor expansion of phi1 in theta 30.084 * [backup-simplify]: Simplify phi1 into phi1 30.084 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.084 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.084 * [taylor]: Taking taylor expansion of (sin delta) in theta 30.084 * [taylor]: Taking taylor expansion of delta in theta 30.084 * [backup-simplify]: Simplify delta into delta 30.084 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.084 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.084 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 30.084 * [taylor]: Taking taylor expansion of (sin phi1) in theta 30.084 * [taylor]: Taking taylor expansion of phi1 in theta 30.084 * [backup-simplify]: Simplify phi1 into phi1 30.084 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.084 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.084 * [taylor]: Taking taylor expansion of (cos delta) in theta 30.084 * [taylor]: Taking taylor expansion of delta in theta 30.084 * [backup-simplify]: Simplify delta into delta 30.084 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.084 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.084 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 30.084 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 30.084 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 30.084 * [taylor]: Taking taylor expansion of (cos theta) in theta 30.085 * [taylor]: Taking taylor expansion of theta in theta 30.085 * [backup-simplify]: Simplify 0 into 0 30.085 * [backup-simplify]: Simplify 1 into 1 30.085 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 30.085 * [taylor]: Taking taylor expansion of (cos phi1) in theta 30.085 * [taylor]: Taking taylor expansion of phi1 in theta 30.085 * [backup-simplify]: Simplify phi1 into phi1 30.085 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.085 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.085 * [taylor]: Taking taylor expansion of (sin delta) in theta 30.085 * [taylor]: Taking taylor expansion of delta in theta 30.085 * [backup-simplify]: Simplify delta into delta 30.085 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.085 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.085 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 30.085 * [taylor]: Taking taylor expansion of (sin phi1) in theta 30.085 * [taylor]: Taking taylor expansion of phi1 in theta 30.085 * [backup-simplify]: Simplify phi1 into phi1 30.085 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.085 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.085 * [taylor]: Taking taylor expansion of (cos delta) in theta 30.085 * [taylor]: Taking taylor expansion of delta in theta 30.085 * [backup-simplify]: Simplify delta into delta 30.085 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.085 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.085 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 30.085 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 30.086 * [backup-simplify]: Simplify (- 0) into 0 30.086 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 30.086 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 30.086 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 30.086 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 30.086 * [backup-simplify]: Simplify (* (cos phi1) (sin delta)) into (* (cos phi1) (sin delta)) 30.086 * [backup-simplify]: Simplify (* 1 (* (cos phi1) (sin delta))) into (* (cos phi1) (sin delta)) 30.086 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 30.086 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 30.086 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 30.086 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 30.086 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 30.086 * [backup-simplify]: Simplify (- 0) into 0 30.086 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 30.086 * [backup-simplify]: Simplify (* (sin phi1) (cos delta)) into (* (sin phi1) (cos delta)) 30.086 * [backup-simplify]: Simplify (+ (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) into (+ (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) 30.086 * [taylor]: Taking taylor expansion of (+ (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 30.087 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 30.087 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 30.087 * [taylor]: Taking taylor expansion of phi1 in phi1 30.087 * [backup-simplify]: Simplify 0 into 0 30.087 * [backup-simplify]: Simplify 1 into 1 30.087 * [taylor]: Taking taylor expansion of (sin delta) in phi1 30.087 * [taylor]: Taking taylor expansion of delta in phi1 30.087 * [backup-simplify]: Simplify delta into delta 30.087 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.087 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.087 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 30.087 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 30.087 * [taylor]: Taking taylor expansion of phi1 in phi1 30.087 * [backup-simplify]: Simplify 0 into 0 30.087 * [backup-simplify]: Simplify 1 into 1 30.087 * [taylor]: Taking taylor expansion of (cos delta) in phi1 30.087 * [taylor]: Taking taylor expansion of delta in phi1 30.087 * [backup-simplify]: Simplify delta into delta 30.087 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.087 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.087 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 30.087 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 30.087 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 30.087 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 30.087 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 30.087 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 30.087 * [backup-simplify]: Simplify (- 0) into 0 30.087 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 30.087 * [backup-simplify]: Simplify (* 0 (cos delta)) into 0 30.087 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 30.087 * [taylor]: Taking taylor expansion of (sin delta) in delta 30.088 * [taylor]: Taking taylor expansion of delta in delta 30.088 * [backup-simplify]: Simplify 0 into 0 30.088 * [backup-simplify]: Simplify 1 into 1 30.088 * [backup-simplify]: Simplify 0 into 0 30.088 * [backup-simplify]: Simplify (+ 0) into 0 30.088 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 30.089 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.089 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 30.089 * [backup-simplify]: Simplify (+ 0 0) into 0 30.089 * [backup-simplify]: Simplify (+ 0) into 0 30.090 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 30.090 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.090 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 30.091 * [backup-simplify]: Simplify (- 0) into 0 30.091 * [backup-simplify]: Simplify (+ 0 0) into 0 30.091 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 (sin delta))) into 0 30.091 * [backup-simplify]: Simplify (+ 0) into 0 30.091 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (cos phi1) (sin delta)))) into 0 30.092 * [backup-simplify]: Simplify (+ 0) into 0 30.092 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 30.092 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.093 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 30.093 * [backup-simplify]: Simplify (- 0) into 0 30.093 * [backup-simplify]: Simplify (+ 0 0) into 0 30.093 * [backup-simplify]: Simplify (+ 0) into 0 30.094 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 30.094 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.094 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 30.095 * [backup-simplify]: Simplify (+ 0 0) into 0 30.095 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 (cos delta))) into 0 30.095 * [backup-simplify]: Simplify (+ 0 0) into 0 30.095 * [taylor]: Taking taylor expansion of 0 in phi1 30.095 * [backup-simplify]: Simplify 0 into 0 30.095 * [taylor]: Taking taylor expansion of 0 in delta 30.095 * [backup-simplify]: Simplify 0 into 0 30.095 * [backup-simplify]: Simplify 0 into 0 30.095 * [backup-simplify]: Simplify (+ 0) into 0 30.096 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 30.096 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.096 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 30.097 * [backup-simplify]: Simplify (+ 0 0) into 0 30.097 * [backup-simplify]: Simplify (+ 0) into 0 30.097 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin delta))) into 0 30.097 * [backup-simplify]: Simplify (+ 0) into 0 30.098 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 30.098 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.098 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 30.099 * [backup-simplify]: Simplify (- 0) into 0 30.099 * [backup-simplify]: Simplify (+ 0 0) into 0 30.099 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 30.100 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos delta))) into (cos delta) 30.100 * [backup-simplify]: Simplify (+ 0 (cos delta)) into (cos delta) 30.100 * [taylor]: Taking taylor expansion of (cos delta) in delta 30.100 * [taylor]: Taking taylor expansion of delta in delta 30.100 * [backup-simplify]: Simplify 0 into 0 30.100 * [backup-simplify]: Simplify 1 into 1 30.100 * [backup-simplify]: Simplify 1 into 1 30.100 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 30.100 * [backup-simplify]: Simplify 1 into 1 30.101 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.101 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 30.102 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.102 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 30.102 * [backup-simplify]: Simplify (+ 0 0) into 0 30.103 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.103 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 30.103 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.104 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 30.104 * [backup-simplify]: Simplify (- 0) into 0 30.104 * [backup-simplify]: Simplify (+ 0 0) into 0 30.105 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 (sin delta)))) into 0 30.105 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 30.106 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (* (cos phi1) (sin delta))))) into (- (* 1/2 (* (cos phi1) (sin delta)))) 30.106 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.107 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 1))) into 0 30.107 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.107 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 0))) into 0 30.108 * [backup-simplify]: Simplify (- 0) into 0 30.108 * [backup-simplify]: Simplify (+ 0 0) into 0 30.108 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.109 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 30.109 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.110 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 30.110 * [backup-simplify]: Simplify (+ 0 0) into 0 30.110 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 (cos delta)))) into 0 30.110 * [backup-simplify]: Simplify (+ (- (* 1/2 (* (cos phi1) (sin delta)))) 0) into (- (* 1/2 (* (cos phi1) (sin delta)))) 30.110 * [taylor]: Taking taylor expansion of (- (* 1/2 (* (cos phi1) (sin delta)))) in phi1 30.110 * [taylor]: Taking taylor expansion of (* 1/2 (* (cos phi1) (sin delta))) in phi1 30.110 * [taylor]: Taking taylor expansion of 1/2 in phi1 30.110 * [backup-simplify]: Simplify 1/2 into 1/2 30.110 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 30.110 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 30.110 * [taylor]: Taking taylor expansion of phi1 in phi1 30.111 * [backup-simplify]: Simplify 0 into 0 30.111 * [backup-simplify]: Simplify 1 into 1 30.111 * [taylor]: Taking taylor expansion of (sin delta) in phi1 30.111 * [taylor]: Taking taylor expansion of delta in phi1 30.111 * [backup-simplify]: Simplify delta into delta 30.111 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.111 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.111 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 30.111 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 30.111 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 30.111 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 30.111 * [backup-simplify]: Simplify (* 1/2 (sin delta)) into (* 1/2 (sin delta)) 30.111 * [backup-simplify]: Simplify (- (* 1/2 (sin delta))) into (- (* 1/2 (sin delta))) 30.111 * [taylor]: Taking taylor expansion of (- (* 1/2 (sin delta))) in delta 30.111 * [taylor]: Taking taylor expansion of (* 1/2 (sin delta)) in delta 30.111 * [taylor]: Taking taylor expansion of 1/2 in delta 30.111 * [backup-simplify]: Simplify 1/2 into 1/2 30.111 * [taylor]: Taking taylor expansion of (sin delta) in delta 30.111 * [taylor]: Taking taylor expansion of delta in delta 30.111 * [backup-simplify]: Simplify 0 into 0 30.111 * [backup-simplify]: Simplify 1 into 1 30.111 * [backup-simplify]: Simplify (* 1/2 0) into 0 30.112 * [backup-simplify]: Simplify (- 0) into 0 30.112 * [backup-simplify]: Simplify 0 into 0 30.112 * [taylor]: Taking taylor expansion of 0 in delta 30.112 * [backup-simplify]: Simplify 0 into 0 30.112 * [backup-simplify]: Simplify 0 into 0 30.112 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.113 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 30.113 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.114 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 30.114 * [backup-simplify]: Simplify (+ 0 0) into 0 30.114 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 30.115 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (sin delta)))) into (- (* 1/2 (sin delta))) 30.115 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.116 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 1))) into 0 30.116 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.117 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 0))) into 0 30.117 * [backup-simplify]: Simplify (- 0) into 0 30.118 * [backup-simplify]: Simplify (+ 0 0) into 0 30.119 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.120 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (cos delta)))) into 0 30.120 * [backup-simplify]: Simplify (+ (- (* 1/2 (sin delta))) 0) into (- (* 1/2 (sin delta))) 30.120 * [taylor]: Taking taylor expansion of (- (* 1/2 (sin delta))) in delta 30.120 * [taylor]: Taking taylor expansion of (* 1/2 (sin delta)) in delta 30.120 * [taylor]: Taking taylor expansion of 1/2 in delta 30.120 * [backup-simplify]: Simplify 1/2 into 1/2 30.120 * [taylor]: Taking taylor expansion of (sin delta) in delta 30.120 * [taylor]: Taking taylor expansion of delta in delta 30.120 * [backup-simplify]: Simplify 0 into 0 30.120 * [backup-simplify]: Simplify 1 into 1 30.120 * [backup-simplify]: Simplify (* 1/2 0) into 0 30.121 * [backup-simplify]: Simplify (- 0) into 0 30.121 * [backup-simplify]: Simplify 0 into 0 30.121 * [backup-simplify]: Simplify 0 into 0 30.121 * [backup-simplify]: Simplify (+ 0) into 0 30.121 * [backup-simplify]: Simplify 0 into 0 30.122 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.122 * [backup-simplify]: Simplify 0 into 0 30.127 * [backup-simplify]: Simplify (+ (* 1 (* delta (* 1 1))) (* 1 (* 1 (* phi1 1)))) into (+ phi1 delta) 30.127 * [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)))) 30.127 * [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 30.127 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 30.128 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 30.128 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 30.128 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 30.128 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 30.128 * [taylor]: Taking taylor expansion of theta in delta 30.128 * [backup-simplify]: Simplify theta into theta 30.128 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 30.128 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.128 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 30.128 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 30.128 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 30.128 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.128 * [taylor]: Taking taylor expansion of delta in delta 30.128 * [backup-simplify]: Simplify 0 into 0 30.128 * [backup-simplify]: Simplify 1 into 1 30.129 * [backup-simplify]: Simplify (/ 1 1) into 1 30.129 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.129 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 30.129 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.129 * [taylor]: Taking taylor expansion of phi1 in delta 30.129 * [backup-simplify]: Simplify phi1 into phi1 30.129 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.129 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.129 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.129 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 30.129 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 30.129 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.129 * [taylor]: Taking taylor expansion of phi1 in delta 30.129 * [backup-simplify]: Simplify phi1 into phi1 30.129 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.129 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.129 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.129 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 30.129 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.129 * [taylor]: Taking taylor expansion of delta in delta 30.129 * [backup-simplify]: Simplify 0 into 0 30.129 * [backup-simplify]: Simplify 1 into 1 30.129 * [backup-simplify]: Simplify (/ 1 1) into 1 30.130 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.130 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 30.130 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 30.130 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 30.130 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 30.130 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 30.130 * [taylor]: Taking taylor expansion of theta in phi1 30.130 * [backup-simplify]: Simplify theta into theta 30.130 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 30.130 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.130 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 30.130 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 30.130 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 30.130 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.130 * [taylor]: Taking taylor expansion of delta in phi1 30.130 * [backup-simplify]: Simplify delta into delta 30.130 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.130 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.130 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.130 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 30.130 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.130 * [taylor]: Taking taylor expansion of phi1 in phi1 30.130 * [backup-simplify]: Simplify 0 into 0 30.130 * [backup-simplify]: Simplify 1 into 1 30.130 * [backup-simplify]: Simplify (/ 1 1) into 1 30.130 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.130 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 30.130 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 30.130 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.130 * [taylor]: Taking taylor expansion of phi1 in phi1 30.130 * [backup-simplify]: Simplify 0 into 0 30.130 * [backup-simplify]: Simplify 1 into 1 30.131 * [backup-simplify]: Simplify (/ 1 1) into 1 30.131 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.131 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 30.131 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.131 * [taylor]: Taking taylor expansion of delta in phi1 30.131 * [backup-simplify]: Simplify delta into delta 30.131 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.131 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.131 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.131 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 30.131 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 30.131 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 30.131 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 30.131 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 30.131 * [taylor]: Taking taylor expansion of theta in theta 30.131 * [backup-simplify]: Simplify 0 into 0 30.131 * [backup-simplify]: Simplify 1 into 1 30.131 * [backup-simplify]: Simplify (/ 1 1) into 1 30.131 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.131 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 30.131 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 30.131 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.131 * [taylor]: Taking taylor expansion of delta in theta 30.131 * [backup-simplify]: Simplify delta into delta 30.132 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.132 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.132 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.132 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 30.132 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.132 * [taylor]: Taking taylor expansion of phi1 in theta 30.132 * [backup-simplify]: Simplify phi1 into phi1 30.132 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.132 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.132 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.132 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 30.132 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 30.132 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.132 * [taylor]: Taking taylor expansion of phi1 in theta 30.132 * [backup-simplify]: Simplify phi1 into phi1 30.132 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.132 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.132 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.132 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 30.132 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.132 * [taylor]: Taking taylor expansion of delta in theta 30.132 * [backup-simplify]: Simplify delta into delta 30.132 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.132 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.132 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.132 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 30.132 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 30.132 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 30.132 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 30.132 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 30.132 * [taylor]: Taking taylor expansion of theta in theta 30.132 * [backup-simplify]: Simplify 0 into 0 30.132 * [backup-simplify]: Simplify 1 into 1 30.133 * [backup-simplify]: Simplify (/ 1 1) into 1 30.133 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.133 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 30.133 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 30.133 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.133 * [taylor]: Taking taylor expansion of delta in theta 30.133 * [backup-simplify]: Simplify delta into delta 30.133 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.133 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.133 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.133 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 30.133 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.133 * [taylor]: Taking taylor expansion of phi1 in theta 30.133 * [backup-simplify]: Simplify phi1 into phi1 30.133 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.133 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.133 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.133 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 30.133 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 30.133 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.133 * [taylor]: Taking taylor expansion of phi1 in theta 30.133 * [backup-simplify]: Simplify phi1 into phi1 30.133 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.133 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.133 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.133 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 30.133 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.133 * [taylor]: Taking taylor expansion of delta in theta 30.133 * [backup-simplify]: Simplify delta into delta 30.133 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.133 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.133 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.133 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 30.134 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 30.134 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 30.134 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 30.134 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 30.134 * [backup-simplify]: Simplify (- 0) into 0 30.134 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 30.134 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (cos (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 delta))) 30.134 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 30.134 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 30.134 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 30.134 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 30.134 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 30.134 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 30.135 * [backup-simplify]: Simplify (- 0) into 0 30.135 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 30.135 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 30.135 * [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))))) 30.135 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in phi1 30.135 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in phi1 30.135 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 30.135 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.135 * [taylor]: Taking taylor expansion of delta in phi1 30.135 * [backup-simplify]: Simplify delta into delta 30.135 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.135 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.135 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.135 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 30.135 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.135 * [taylor]: Taking taylor expansion of phi1 in phi1 30.135 * [backup-simplify]: Simplify 0 into 0 30.135 * [backup-simplify]: Simplify 1 into 1 30.136 * [backup-simplify]: Simplify (/ 1 1) into 1 30.136 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.136 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in phi1 30.136 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 30.136 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.136 * [taylor]: Taking taylor expansion of phi1 in phi1 30.136 * [backup-simplify]: Simplify 0 into 0 30.136 * [backup-simplify]: Simplify 1 into 1 30.136 * [backup-simplify]: Simplify (/ 1 1) into 1 30.136 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.136 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in phi1 30.136 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 30.136 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 30.136 * [taylor]: Taking taylor expansion of theta in phi1 30.136 * [backup-simplify]: Simplify theta into theta 30.136 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 30.136 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.136 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 30.136 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 30.136 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.136 * [taylor]: Taking taylor expansion of delta in phi1 30.136 * [backup-simplify]: Simplify delta into delta 30.136 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.136 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.136 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.136 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 30.137 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 30.137 * [backup-simplify]: Simplify (- 0) into 0 30.137 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 30.137 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 30.137 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 30.137 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 30.137 * [backup-simplify]: Simplify (- 0) into 0 30.137 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 30.137 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 30.137 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 30.137 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 30.138 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 30.138 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 30.138 * [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))))) 30.138 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in delta 30.138 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 30.138 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 30.138 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.138 * [taylor]: Taking taylor expansion of phi1 in delta 30.138 * [backup-simplify]: Simplify phi1 into phi1 30.138 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.138 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.138 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.138 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 30.138 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.138 * [taylor]: Taking taylor expansion of delta in delta 30.138 * [backup-simplify]: Simplify 0 into 0 30.138 * [backup-simplify]: Simplify 1 into 1 30.138 * [backup-simplify]: Simplify (/ 1 1) into 1 30.138 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.138 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 30.139 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 30.139 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.139 * [taylor]: Taking taylor expansion of delta in delta 30.139 * [backup-simplify]: Simplify 0 into 0 30.139 * [backup-simplify]: Simplify 1 into 1 30.139 * [backup-simplify]: Simplify (/ 1 1) into 1 30.139 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.139 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 30.139 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 30.139 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 30.139 * [taylor]: Taking taylor expansion of theta in delta 30.139 * [backup-simplify]: Simplify theta into theta 30.139 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 30.139 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.139 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 30.139 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 30.139 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.139 * [taylor]: Taking taylor expansion of phi1 in delta 30.139 * [backup-simplify]: Simplify phi1 into phi1 30.139 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.139 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.139 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.139 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 30.139 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 30.139 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 30.139 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 30.140 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 30.140 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 30.140 * [backup-simplify]: Simplify (- 0) into 0 30.140 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 30.140 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 30.140 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 30.140 * [backup-simplify]: Simplify (- 0) into 0 30.140 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 30.140 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 30.140 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 30.141 * [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)))) 30.141 * [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))))) 30.141 * [backup-simplify]: Simplify (+ 0) into 0 30.141 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 30.142 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.142 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.142 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 30.143 * [backup-simplify]: Simplify (- 0) into 0 30.143 * [backup-simplify]: Simplify (+ 0 0) into 0 30.143 * [backup-simplify]: Simplify (+ 0) into 0 30.143 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 30.143 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.144 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.144 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 30.144 * [backup-simplify]: Simplify (+ 0 0) into 0 30.144 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 30.145 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta))))) into 0 30.145 * [backup-simplify]: Simplify (+ 0) into 0 30.145 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 30.145 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.146 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.146 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 30.146 * [backup-simplify]: Simplify (- 0) into 0 30.146 * [backup-simplify]: Simplify (+ 0 0) into 0 30.147 * [backup-simplify]: Simplify (+ 0) into 0 30.147 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 30.147 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.148 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.148 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 30.148 * [backup-simplify]: Simplify (+ 0 0) into 0 30.148 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 30.148 * [backup-simplify]: Simplify (+ 0 0) into 0 30.148 * [taylor]: Taking taylor expansion of 0 in phi1 30.148 * [backup-simplify]: Simplify 0 into 0 30.148 * [taylor]: Taking taylor expansion of 0 in delta 30.148 * [backup-simplify]: Simplify 0 into 0 30.148 * [backup-simplify]: Simplify 0 into 0 30.149 * [backup-simplify]: Simplify (+ 0) into 0 30.149 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 30.149 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.150 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.150 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 30.150 * [backup-simplify]: Simplify (- 0) into 0 30.150 * [backup-simplify]: Simplify (+ 0 0) into 0 30.150 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 30.151 * [backup-simplify]: Simplify (+ 0) into 0 30.151 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 30.151 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.152 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.152 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 30.152 * [backup-simplify]: Simplify (+ 0 0) into 0 30.152 * [backup-simplify]: Simplify (+ 0) into 0 30.153 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 30.153 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 30.153 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.154 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 30.154 * [backup-simplify]: Simplify (- 0) into 0 30.154 * [backup-simplify]: Simplify (+ 0 0) into 0 30.154 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 30.154 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 30.155 * [backup-simplify]: Simplify (+ 0 0) into 0 30.155 * [taylor]: Taking taylor expansion of 0 in delta 30.155 * [backup-simplify]: Simplify 0 into 0 30.155 * [backup-simplify]: Simplify 0 into 0 30.155 * [backup-simplify]: Simplify (+ 0) into 0 30.155 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 30.155 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.156 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.156 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 30.156 * [backup-simplify]: Simplify (+ 0 0) into 0 30.156 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 30.157 * [backup-simplify]: Simplify (+ 0) into 0 30.157 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 30.157 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.157 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.158 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 30.158 * [backup-simplify]: Simplify (- 0) into 0 30.158 * [backup-simplify]: Simplify (+ 0 0) into 0 30.159 * [backup-simplify]: Simplify (+ 0) into 0 30.159 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 30.159 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 30.159 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.160 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 30.160 * [backup-simplify]: Simplify (- 0) into 0 30.160 * [backup-simplify]: Simplify (+ 0 0) into 0 30.160 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 30.160 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 30.161 * [backup-simplify]: Simplify (+ 0 0) into 0 30.161 * [backup-simplify]: Simplify 0 into 0 30.162 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.162 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.163 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.163 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.164 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.164 * [backup-simplify]: Simplify (- 0) into 0 30.165 * [backup-simplify]: Simplify (+ 0 0) into 0 30.166 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.166 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.167 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.167 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.168 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.168 * [backup-simplify]: Simplify (+ 0 0) into 0 30.169 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 30.169 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta)))))) into 0 30.170 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.171 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.171 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.172 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.173 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.173 * [backup-simplify]: Simplify (- 0) into 0 30.173 * [backup-simplify]: Simplify (+ 0 0) into 0 30.174 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.175 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.175 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.176 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.177 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.177 * [backup-simplify]: Simplify (+ 0 0) into 0 30.177 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 30.178 * [backup-simplify]: Simplify (+ 0 0) into 0 30.178 * [taylor]: Taking taylor expansion of 0 in phi1 30.178 * [backup-simplify]: Simplify 0 into 0 30.178 * [taylor]: Taking taylor expansion of 0 in delta 30.178 * [backup-simplify]: Simplify 0 into 0 30.178 * [backup-simplify]: Simplify 0 into 0 30.178 * [taylor]: Taking taylor expansion of 0 in delta 30.178 * [backup-simplify]: Simplify 0 into 0 30.178 * [backup-simplify]: Simplify 0 into 0 30.179 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.180 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.180 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.181 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.182 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.182 * [backup-simplify]: Simplify (- 0) into 0 30.182 * [backup-simplify]: Simplify (+ 0 0) into 0 30.183 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 30.184 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.184 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.185 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.185 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.186 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.186 * [backup-simplify]: Simplify (+ 0 0) into 0 30.187 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.188 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.188 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 30.189 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.189 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.190 * [backup-simplify]: Simplify (- 0) into 0 30.190 * [backup-simplify]: Simplify (+ 0 0) into 0 30.191 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 30.191 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 30.192 * [backup-simplify]: Simplify (+ 0 0) into 0 30.192 * [taylor]: Taking taylor expansion of 0 in delta 30.192 * [backup-simplify]: Simplify 0 into 0 30.192 * [backup-simplify]: Simplify 0 into 0 30.192 * [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)))) 30.193 * [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)))) 30.193 * [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 30.193 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 30.193 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.193 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 30.193 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 30.193 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 30.193 * [taylor]: Taking taylor expansion of -1 in delta 30.193 * [backup-simplify]: Simplify -1 into -1 30.193 * [taylor]: Taking taylor expansion of theta in delta 30.193 * [backup-simplify]: Simplify theta into theta 30.193 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 30.193 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.193 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.193 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 30.193 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 30.193 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.193 * [taylor]: Taking taylor expansion of -1 in delta 30.193 * [backup-simplify]: Simplify -1 into -1 30.193 * [taylor]: Taking taylor expansion of phi1 in delta 30.193 * [backup-simplify]: Simplify phi1 into phi1 30.193 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.193 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.194 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.194 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 30.194 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 30.194 * [taylor]: Taking taylor expansion of -1 in delta 30.194 * [backup-simplify]: Simplify -1 into -1 30.194 * [taylor]: Taking taylor expansion of delta in delta 30.194 * [backup-simplify]: Simplify 0 into 0 30.194 * [backup-simplify]: Simplify 1 into 1 30.194 * [backup-simplify]: Simplify (/ -1 1) into -1 30.194 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.194 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 30.194 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 30.194 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.194 * [taylor]: Taking taylor expansion of -1 in delta 30.194 * [backup-simplify]: Simplify -1 into -1 30.194 * [taylor]: Taking taylor expansion of phi1 in delta 30.194 * [backup-simplify]: Simplify phi1 into phi1 30.195 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.195 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.195 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.195 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 30.195 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 30.195 * [taylor]: Taking taylor expansion of -1 in delta 30.195 * [backup-simplify]: Simplify -1 into -1 30.195 * [taylor]: Taking taylor expansion of delta in delta 30.195 * [backup-simplify]: Simplify 0 into 0 30.195 * [backup-simplify]: Simplify 1 into 1 30.195 * [backup-simplify]: Simplify (/ -1 1) into -1 30.195 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.195 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 30.195 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.196 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 30.196 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 30.196 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 30.196 * [taylor]: Taking taylor expansion of -1 in phi1 30.196 * [backup-simplify]: Simplify -1 into -1 30.196 * [taylor]: Taking taylor expansion of theta in phi1 30.196 * [backup-simplify]: Simplify theta into theta 30.196 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 30.196 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.196 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.196 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 30.196 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 30.196 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 30.196 * [taylor]: Taking taylor expansion of -1 in phi1 30.196 * [backup-simplify]: Simplify -1 into -1 30.196 * [taylor]: Taking taylor expansion of phi1 in phi1 30.196 * [backup-simplify]: Simplify 0 into 0 30.196 * [backup-simplify]: Simplify 1 into 1 30.197 * [backup-simplify]: Simplify (/ -1 1) into -1 30.197 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.197 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 30.197 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 30.197 * [taylor]: Taking taylor expansion of -1 in phi1 30.197 * [backup-simplify]: Simplify -1 into -1 30.197 * [taylor]: Taking taylor expansion of delta in phi1 30.197 * [backup-simplify]: Simplify delta into delta 30.197 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.197 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.197 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.197 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 30.197 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 30.197 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 30.197 * [taylor]: Taking taylor expansion of -1 in phi1 30.197 * [backup-simplify]: Simplify -1 into -1 30.197 * [taylor]: Taking taylor expansion of phi1 in phi1 30.197 * [backup-simplify]: Simplify 0 into 0 30.197 * [backup-simplify]: Simplify 1 into 1 30.198 * [backup-simplify]: Simplify (/ -1 1) into -1 30.198 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.198 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 30.198 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 30.198 * [taylor]: Taking taylor expansion of -1 in phi1 30.198 * [backup-simplify]: Simplify -1 into -1 30.198 * [taylor]: Taking taylor expansion of delta in phi1 30.198 * [backup-simplify]: Simplify delta into delta 30.198 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.198 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.198 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.198 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 30.198 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.198 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 30.198 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 30.198 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 30.198 * [taylor]: Taking taylor expansion of -1 in theta 30.198 * [backup-simplify]: Simplify -1 into -1 30.198 * [taylor]: Taking taylor expansion of theta in theta 30.198 * [backup-simplify]: Simplify 0 into 0 30.198 * [backup-simplify]: Simplify 1 into 1 30.199 * [backup-simplify]: Simplify (/ -1 1) into -1 30.199 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.199 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 30.199 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 30.199 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.199 * [taylor]: Taking taylor expansion of -1 in theta 30.199 * [backup-simplify]: Simplify -1 into -1 30.199 * [taylor]: Taking taylor expansion of phi1 in theta 30.199 * [backup-simplify]: Simplify phi1 into phi1 30.199 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.199 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.199 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.199 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 30.199 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 30.199 * [taylor]: Taking taylor expansion of -1 in theta 30.199 * [backup-simplify]: Simplify -1 into -1 30.199 * [taylor]: Taking taylor expansion of delta in theta 30.199 * [backup-simplify]: Simplify delta into delta 30.199 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.199 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.200 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.200 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 30.200 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 30.200 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.200 * [taylor]: Taking taylor expansion of -1 in theta 30.200 * [backup-simplify]: Simplify -1 into -1 30.200 * [taylor]: Taking taylor expansion of phi1 in theta 30.200 * [backup-simplify]: Simplify phi1 into phi1 30.200 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.200 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.200 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.200 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 30.200 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 30.200 * [taylor]: Taking taylor expansion of -1 in theta 30.200 * [backup-simplify]: Simplify -1 into -1 30.200 * [taylor]: Taking taylor expansion of delta in theta 30.200 * [backup-simplify]: Simplify delta into delta 30.200 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.200 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.200 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.200 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 30.200 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.200 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 30.200 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 30.200 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 30.200 * [taylor]: Taking taylor expansion of -1 in theta 30.200 * [backup-simplify]: Simplify -1 into -1 30.200 * [taylor]: Taking taylor expansion of theta in theta 30.200 * [backup-simplify]: Simplify 0 into 0 30.200 * [backup-simplify]: Simplify 1 into 1 30.201 * [backup-simplify]: Simplify (/ -1 1) into -1 30.201 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.201 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 30.201 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 30.201 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.201 * [taylor]: Taking taylor expansion of -1 in theta 30.201 * [backup-simplify]: Simplify -1 into -1 30.201 * [taylor]: Taking taylor expansion of phi1 in theta 30.201 * [backup-simplify]: Simplify phi1 into phi1 30.201 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.201 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.201 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.202 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 30.202 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 30.202 * [taylor]: Taking taylor expansion of -1 in theta 30.202 * [backup-simplify]: Simplify -1 into -1 30.202 * [taylor]: Taking taylor expansion of delta in theta 30.202 * [backup-simplify]: Simplify delta into delta 30.202 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.202 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.202 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.202 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 30.202 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 30.202 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.202 * [taylor]: Taking taylor expansion of -1 in theta 30.202 * [backup-simplify]: Simplify -1 into -1 30.202 * [taylor]: Taking taylor expansion of phi1 in theta 30.202 * [backup-simplify]: Simplify phi1 into phi1 30.202 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.202 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.202 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.202 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 30.202 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 30.202 * [taylor]: Taking taylor expansion of -1 in theta 30.202 * [backup-simplify]: Simplify -1 into -1 30.202 * [taylor]: Taking taylor expansion of delta in theta 30.202 * [backup-simplify]: Simplify delta into delta 30.202 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.202 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.203 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.203 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 30.203 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 30.203 * [backup-simplify]: Simplify (- 0) into 0 30.204 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 30.204 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 30.204 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 30.204 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 30.204 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 30.204 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 30.204 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 30.204 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 30.204 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 30.204 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 30.204 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 30.205 * [backup-simplify]: Simplify (- 0) into 0 30.205 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 30.205 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 30.205 * [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)))) 30.205 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 30.206 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) in phi1 30.206 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 30.206 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 30.206 * [taylor]: Taking taylor expansion of -1 in phi1 30.206 * [backup-simplify]: Simplify -1 into -1 30.206 * [taylor]: Taking taylor expansion of phi1 in phi1 30.206 * [backup-simplify]: Simplify 0 into 0 30.206 * [backup-simplify]: Simplify 1 into 1 30.206 * [backup-simplify]: Simplify (/ -1 1) into -1 30.206 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.206 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 theta))) in phi1 30.206 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 30.206 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 30.206 * [taylor]: Taking taylor expansion of -1 in phi1 30.206 * [backup-simplify]: Simplify -1 into -1 30.206 * [taylor]: Taking taylor expansion of delta in phi1 30.206 * [backup-simplify]: Simplify delta into delta 30.206 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.207 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.207 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.207 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 30.207 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 30.207 * [taylor]: Taking taylor expansion of -1 in phi1 30.207 * [backup-simplify]: Simplify -1 into -1 30.207 * [taylor]: Taking taylor expansion of theta in phi1 30.207 * [backup-simplify]: Simplify theta into theta 30.207 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 30.207 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.207 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.207 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 30.207 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 30.207 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 30.207 * [taylor]: Taking taylor expansion of -1 in phi1 30.207 * [backup-simplify]: Simplify -1 into -1 30.207 * [taylor]: Taking taylor expansion of phi1 in phi1 30.207 * [backup-simplify]: Simplify 0 into 0 30.207 * [backup-simplify]: Simplify 1 into 1 30.208 * [backup-simplify]: Simplify (/ -1 1) into -1 30.208 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.208 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 30.208 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 30.208 * [taylor]: Taking taylor expansion of -1 in phi1 30.208 * [backup-simplify]: Simplify -1 into -1 30.208 * [taylor]: Taking taylor expansion of delta in phi1 30.208 * [backup-simplify]: Simplify delta into delta 30.208 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.208 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.208 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.208 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 30.208 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 30.208 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 30.208 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 30.208 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 30.209 * [backup-simplify]: Simplify (- 0) into 0 30.209 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 30.209 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 theta))) into (* (cos (/ -1 theta)) (sin (/ -1 delta))) 30.209 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 30.209 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 30.209 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 30.210 * [backup-simplify]: Simplify (- 0) into 0 30.210 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 30.210 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 30.210 * [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))))) 30.210 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in delta 30.210 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 30.210 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 30.210 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.210 * [taylor]: Taking taylor expansion of -1 in delta 30.210 * [backup-simplify]: Simplify -1 into -1 30.210 * [taylor]: Taking taylor expansion of phi1 in delta 30.210 * [backup-simplify]: Simplify phi1 into phi1 30.210 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.211 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.211 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.211 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 30.211 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 30.211 * [taylor]: Taking taylor expansion of -1 in delta 30.211 * [backup-simplify]: Simplify -1 into -1 30.211 * [taylor]: Taking taylor expansion of delta in delta 30.211 * [backup-simplify]: Simplify 0 into 0 30.211 * [backup-simplify]: Simplify 1 into 1 30.211 * [backup-simplify]: Simplify (/ -1 1) into -1 30.211 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.211 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in delta 30.211 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 30.211 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.211 * [taylor]: Taking taylor expansion of -1 in delta 30.211 * [backup-simplify]: Simplify -1 into -1 30.211 * [taylor]: Taking taylor expansion of phi1 in delta 30.211 * [backup-simplify]: Simplify phi1 into phi1 30.212 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.212 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.212 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.212 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in delta 30.212 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 30.212 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 30.212 * [taylor]: Taking taylor expansion of -1 in delta 30.212 * [backup-simplify]: Simplify -1 into -1 30.212 * [taylor]: Taking taylor expansion of theta in delta 30.212 * [backup-simplify]: Simplify theta into theta 30.212 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 30.212 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.212 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.212 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 30.212 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 30.212 * [taylor]: Taking taylor expansion of -1 in delta 30.212 * [backup-simplify]: Simplify -1 into -1 30.212 * [taylor]: Taking taylor expansion of delta in delta 30.212 * [backup-simplify]: Simplify 0 into 0 30.212 * [backup-simplify]: Simplify 1 into 1 30.213 * [backup-simplify]: Simplify (/ -1 1) into -1 30.213 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.213 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 30.213 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 30.213 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 30.213 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 30.213 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 30.213 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 30.214 * [backup-simplify]: Simplify (- 0) into 0 30.214 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 30.214 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 30.214 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 30.214 * [backup-simplify]: Simplify (- 0) into 0 30.214 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 30.214 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (cos (/ -1 theta))) 30.215 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 30.215 * [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)))) 30.215 * [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)))) 30.216 * [backup-simplify]: Simplify (+ 0) into 0 30.216 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 30.216 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 30.217 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.217 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 30.218 * [backup-simplify]: Simplify (+ 0 0) into 0 30.218 * [backup-simplify]: Simplify (+ 0) into 0 30.219 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 30.219 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.220 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.221 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 30.221 * [backup-simplify]: Simplify (- 0) into 0 30.221 * [backup-simplify]: Simplify (+ 0 0) into 0 30.222 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 30.222 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 30.222 * [backup-simplify]: Simplify (+ 0) into 0 30.223 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 30.223 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 30.224 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.224 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 30.225 * [backup-simplify]: Simplify (- 0) into 0 30.225 * [backup-simplify]: Simplify (+ 0 0) into 0 30.225 * [backup-simplify]: Simplify (+ 0) into 0 30.226 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 30.226 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.227 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.227 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 30.228 * [backup-simplify]: Simplify (+ 0 0) into 0 30.228 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 30.228 * [backup-simplify]: Simplify (+ 0 0) into 0 30.228 * [taylor]: Taking taylor expansion of 0 in phi1 30.228 * [backup-simplify]: Simplify 0 into 0 30.228 * [taylor]: Taking taylor expansion of 0 in delta 30.228 * [backup-simplify]: Simplify 0 into 0 30.229 * [backup-simplify]: Simplify 0 into 0 30.229 * [backup-simplify]: Simplify (+ 0) into 0 30.229 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 30.230 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 30.231 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.231 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 30.232 * [backup-simplify]: Simplify (- 0) into 0 30.232 * [backup-simplify]: Simplify (+ 0 0) into 0 30.233 * [backup-simplify]: Simplify (+ 0) into 0 30.233 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 30.233 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 30.234 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.235 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 30.235 * [backup-simplify]: Simplify (+ 0 0) into 0 30.235 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 theta)))) into 0 30.236 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into 0 30.236 * [backup-simplify]: Simplify (+ 0) into 0 30.237 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 30.237 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 30.238 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.238 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 30.238 * [backup-simplify]: Simplify (- 0) into 0 30.239 * [backup-simplify]: Simplify (+ 0 0) into 0 30.239 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 30.240 * [backup-simplify]: Simplify (+ 0 0) into 0 30.240 * [taylor]: Taking taylor expansion of 0 in delta 30.240 * [backup-simplify]: Simplify 0 into 0 30.240 * [backup-simplify]: Simplify 0 into 0 30.240 * [backup-simplify]: Simplify (+ 0) into 0 30.241 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 30.241 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.242 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.242 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 30.242 * [backup-simplify]: Simplify (+ 0 0) into 0 30.243 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 30.243 * [backup-simplify]: Simplify (+ 0) into 0 30.243 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 30.244 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 30.244 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.245 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 30.245 * [backup-simplify]: Simplify (- 0) into 0 30.246 * [backup-simplify]: Simplify (+ 0 0) into 0 30.246 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 30.246 * [backup-simplify]: Simplify (+ 0) into 0 30.247 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 30.247 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.248 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.248 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 30.248 * [backup-simplify]: Simplify (- 0) into 0 30.249 * [backup-simplify]: Simplify (+ 0 0) into 0 30.249 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into 0 30.249 * [backup-simplify]: Simplify (+ 0 0) into 0 30.250 * [backup-simplify]: Simplify 0 into 0 30.250 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.251 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.251 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.252 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.253 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.253 * [backup-simplify]: Simplify (+ 0 0) into 0 30.254 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.254 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.255 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.255 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.256 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.256 * [backup-simplify]: Simplify (- 0) into 0 30.257 * [backup-simplify]: Simplify (+ 0 0) into 0 30.257 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 30.258 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 30.259 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.260 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.260 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.261 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.264 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.265 * [backup-simplify]: Simplify (- 0) into 0 30.265 * [backup-simplify]: Simplify (+ 0 0) into 0 30.266 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.266 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.266 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.267 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.267 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.267 * [backup-simplify]: Simplify (+ 0 0) into 0 30.267 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 30.268 * [backup-simplify]: Simplify (+ 0 0) into 0 30.268 * [taylor]: Taking taylor expansion of 0 in phi1 30.268 * [backup-simplify]: Simplify 0 into 0 30.268 * [taylor]: Taking taylor expansion of 0 in delta 30.268 * [backup-simplify]: Simplify 0 into 0 30.268 * [backup-simplify]: Simplify 0 into 0 30.268 * [taylor]: Taking taylor expansion of 0 in delta 30.268 * [backup-simplify]: Simplify 0 into 0 30.268 * [backup-simplify]: Simplify 0 into 0 30.268 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.269 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.269 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 30.269 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.270 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.270 * [backup-simplify]: Simplify (- 0) into 0 30.270 * [backup-simplify]: Simplify (+ 0 0) into 0 30.271 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.271 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.271 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.272 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.272 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.272 * [backup-simplify]: Simplify (+ 0 0) into 0 30.273 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 30.273 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 30.273 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.274 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.274 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.274 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.275 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.275 * [backup-simplify]: Simplify (- 0) into 0 30.275 * [backup-simplify]: Simplify (+ 0 0) into 0 30.276 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 30.276 * [backup-simplify]: Simplify (+ 0 0) into 0 30.276 * [taylor]: Taking taylor expansion of 0 in delta 30.276 * [backup-simplify]: Simplify 0 into 0 30.276 * [backup-simplify]: Simplify 0 into 0 30.276 * [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))) 30.276 * * * [progress]: simplifying candidates 30.276 * * * * [progress]: [ 1 / 77 ] simplifiying candidate # 30.277 * [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)))) 30.277 * * [simplify]: iters left: 6 (18 enodes) 30.280 * * [simplify]: iters left: 5 (65 enodes) 30.290 * * [simplify]: iters left: 4 (84 enodes) 30.306 * * [simplify]: iters left: 3 (104 enodes) 30.334 * * [simplify]: iters left: 2 (111 enodes) 30.364 * * [simplify]: iters left: 1 (137 enodes) 30.409 * * [simplify]: Extracting #0: cost 1 inf + 0 30.409 * * [simplify]: Extracting #1: cost 11 inf + 0 30.409 * * [simplify]: Extracting #2: cost 26 inf + 0 30.410 * * [simplify]: Extracting #3: cost 26 inf + 165 30.410 * * [simplify]: Extracting #4: cost 34 inf + 389 30.410 * * [simplify]: Extracting #5: cost 36 inf + 2245 30.411 * * [simplify]: Extracting #6: cost 25 inf + 5855 30.415 * * [simplify]: Extracting #7: cost 5 inf + 14523 30.419 * * [simplify]: Extracting #8: cost 0 inf + 17473 30.424 * [simplify]: Simplified to (- (cos delta) (* (sin (asin (fma (* (cos phi1) (sin delta)) (cos theta) (* (cos delta) (sin phi1))))) (sin phi1))) 30.424 * [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)) 30.425 * [simplify]: Simplifying (fma (- (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin phi1) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1))) 30.425 * * [simplify]: iters left: 6 (16 enodes) 30.432 * * [simplify]: iters left: 5 (55 enodes) 30.448 * * [simplify]: iters left: 4 (70 enodes) 30.458 * * [simplify]: iters left: 3 (95 enodes) 30.471 * * [simplify]: iters left: 2 (101 enodes) 30.483 * * [simplify]: Extracting #0: cost 1 inf + 0 30.483 * * [simplify]: Extracting #1: cost 0 inf + 1 30.483 * [simplify]: Simplified to 0 30.483 * [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)) 30.483 * * * * [progress]: [ 2 / 77 ] simplifiying candidate # 30.483 * [simplify]: Simplifying (fma (sqrt (cos delta)) (sqrt (cos delta)) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))) 30.483 * * [simplify]: iters left: 6 (17 enodes) 30.489 * * [simplify]: iters left: 5 (62 enodes) 30.509 * * [simplify]: iters left: 4 (77 enodes) 30.530 * * [simplify]: iters left: 3 (95 enodes) 30.555 * * [simplify]: iters left: 2 (101 enodes) 30.578 * * [simplify]: Extracting #0: cost 1 inf + 0 30.578 * * [simplify]: Extracting #1: cost 6 inf + 0 30.578 * * [simplify]: Extracting #2: cost 15 inf + 0 30.579 * * [simplify]: Extracting #3: cost 20 inf + 1 30.579 * * [simplify]: Extracting #4: cost 20 inf + 63 30.579 * * [simplify]: Extracting #5: cost 25 inf + 387 30.579 * * [simplify]: Extracting #6: cost 28 inf + 1096 30.580 * * [simplify]: Extracting #7: cost 21 inf + 2069 30.581 * * [simplify]: Extracting #8: cost 9 inf + 5808 30.584 * * [simplify]: Extracting #9: cost 1 inf + 11072 30.588 * * [simplify]: Extracting #10: cost 0 inf + 11715 30.591 * [simplify]: Simplified to (- (cos delta) (* (sin phi1) (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))))) 30.591 * [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)) 30.592 * [simplify]: Simplifying (fma (- (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin phi1) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1))) 30.592 * * [simplify]: iters left: 6 (16 enodes) 30.598 * * [simplify]: iters left: 5 (55 enodes) 30.609 * * [simplify]: iters left: 4 (70 enodes) 30.620 * * [simplify]: iters left: 3 (95 enodes) 30.634 * * [simplify]: iters left: 2 (101 enodes) 30.645 * * [simplify]: Extracting #0: cost 1 inf + 0 30.645 * * [simplify]: Extracting #1: cost 0 inf + 1 30.645 * [simplify]: Simplified to 0 30.646 * [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)) 30.646 * * * * [progress]: [ 3 / 77 ] simplifiying candidate # 30.646 * [simplify]: Simplifying (fma 1 (cos delta) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))) 30.646 * * [simplify]: iters left: 6 (17 enodes) 30.650 * * [simplify]: iters left: 5 (64 enodes) 30.660 * * [simplify]: iters left: 4 (82 enodes) 30.673 * * [simplify]: iters left: 3 (105 enodes) 30.688 * * [simplify]: iters left: 2 (106 enodes) 30.704 * * [simplify]: iters left: 1 (128 enodes) 30.721 * * [simplify]: Extracting #0: cost 1 inf + 0 30.721 * * [simplify]: Extracting #1: cost 10 inf + 0 30.721 * * [simplify]: Extracting #2: cost 20 inf + 1 30.722 * * [simplify]: Extracting #3: cost 19 inf + 4 30.722 * * [simplify]: Extracting #4: cost 25 inf + 187 30.722 * * [simplify]: Extracting #5: cost 27 inf + 896 30.722 * * [simplify]: Extracting #6: cost 18 inf + 1789 30.723 * * [simplify]: Extracting #7: cost 11 inf + 4223 30.725 * * [simplify]: Extracting #8: cost 2 inf + 9745 30.727 * * [simplify]: Extracting #9: cost 0 inf + 11111 30.729 * [simplify]: Simplified to (- (cos delta) (* (sin phi1) (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (cos delta) (sin phi1))))))) 30.729 * [simplify]: Simplified (2 1 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (+ (- (cos delta) (* (sin phi1) (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (cos delta) (sin phi1))))))) (fma (- (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin phi1) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1))))) lambda1)) 30.729 * [simplify]: Simplifying (fma (- (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin phi1) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1))) 30.730 * * [simplify]: iters left: 6 (16 enodes) 30.733 * * [simplify]: iters left: 5 (55 enodes) 30.740 * * [simplify]: iters left: 4 (70 enodes) 30.751 * * [simplify]: iters left: 3 (95 enodes) 30.763 * * [simplify]: iters left: 2 (101 enodes) 30.776 * * [simplify]: Extracting #0: cost 1 inf + 0 30.776 * * [simplify]: Extracting #1: cost 0 inf + 1 30.776 * [simplify]: Simplified to 0 30.776 * [simplify]: Simplified (2 1 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (+ (fma 1 (cos delta) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))) 0)) lambda1)) 30.776 * * * * [progress]: [ 4 / 77 ] simplifiying candidate # 30.776 * * * * [progress]: [ 5 / 77 ] simplifiying candidate # 30.777 * * * * [progress]: [ 6 / 77 ] simplifiying candidate # 30.777 * [simplify]: Simplifying (* (cbrt (cos delta)) (cbrt (cos delta))) 30.777 * * [simplify]: iters left: 4 (4 enodes) 30.778 * * [simplify]: iters left: 3 (12 enodes) 30.779 * * [simplify]: Extracting #0: cost 1 inf + 0 30.779 * * [simplify]: Extracting #1: cost 3 inf + 0 30.779 * * [simplify]: Extracting #2: cost 5 inf + 0 30.779 * * [simplify]: Extracting #3: cost 7 inf + 0 30.779 * * [simplify]: Extracting #4: cost 6 inf + 1 30.779 * * [simplify]: Extracting #5: cost 0 inf + 767 30.779 * [simplify]: Simplified to (* (cbrt (cos delta)) (cbrt (cos delta))) 30.779 * [simplify]: Simplified (2 1 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (fma (* (cbrt (cos delta)) (cbrt (cos delta))) (cbrt (cos delta)) (- (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))))) lambda1)) 30.780 * * * * [progress]: [ 7 / 77 ] simplifiying candidate # 30.780 * [simplify]: Simplifying (sqrt (cos delta)) 30.780 * * [simplify]: iters left: 2 (3 enodes) 30.780 * * [simplify]: iters left: 1 (9 enodes) 30.782 * * [simplify]: Extracting #0: cost 1 inf + 0 30.782 * * [simplify]: Extracting #1: cost 3 inf + 0 30.782 * * [simplify]: Extracting #2: cost 5 inf + 0 30.782 * * [simplify]: Extracting #3: cost 4 inf + 1 30.782 * * [simplify]: Extracting #4: cost 0 inf + 325 30.782 * [simplify]: Simplified to (sqrt (cos delta)) 30.782 * [simplify]: Simplified (2 1 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (fma (sqrt (cos delta)) (sqrt (cos delta)) (- (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))))) lambda1)) 30.782 * * * * [progress]: [ 8 / 77 ] simplifiying candidate # 30.782 * * * * [progress]: [ 9 / 77 ] simplifiying candidate # 30.782 * [simplify]: Simplifying (/ (exp (cos delta)) (exp (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) 30.782 * * [simplify]: iters left: 6 (17 enodes) 30.786 * * [simplify]: iters left: 5 (60 enodes) 30.794 * * [simplify]: iters left: 4 (80 enodes) 30.816 * * [simplify]: iters left: 3 (119 enodes) 30.841 * * [simplify]: iters left: 2 (169 enodes) 30.876 * * [simplify]: iters left: 1 (274 enodes) 30.960 * * [simplify]: Extracting #0: cost 1 inf + 0 30.960 * * [simplify]: Extracting #1: cost 48 inf + 0 30.960 * * [simplify]: Extracting #2: cost 128 inf + 1 30.960 * * [simplify]: Extracting #3: cost 179 inf + 3 30.961 * * [simplify]: Extracting #4: cost 178 inf + 684 30.962 * * [simplify]: Extracting #5: cost 177 inf + 1869 30.963 * * [simplify]: Extracting #6: cost 174 inf + 3513 30.965 * * [simplify]: Extracting #7: cost 150 inf + 14771 30.976 * * [simplify]: Extracting #8: cost 85 inf + 67888 31.013 * * [simplify]: Extracting #9: cost 3 inf + 153557 31.035 * * [simplify]: Extracting #10: cost 0 inf + 155583 31.063 * [simplify]: Simplified to (exp (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) 31.063 * [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)) 31.064 * * * * [progress]: [ 10 / 77 ] simplifiying candidate # 31.064 * * * * [progress]: [ 11 / 77 ] simplifiying candidate # 31.065 * * * * [progress]: [ 12 / 77 ] simplifiying candidate # 31.065 * * * * [progress]: [ 13 / 77 ] simplifiying candidate # 31.065 * * * * [progress]: [ 14 / 77 ] simplifiying candidate # 31.065 * * * * [progress]: [ 15 / 77 ] simplifiying candidate # 31.065 * * * * [progress]: [ 16 / 77 ] simplifiying candidate # 31.065 * * * * [progress]: [ 17 / 77 ] simplifiying candidate # 31.065 * * * * [progress]: [ 18 / 77 ] simplifiying candidate # 31.065 * * * * [progress]: [ 19 / 77 ] simplifiying candidate # 31.065 * * * * [progress]: [ 20 / 77 ] simplifiying candidate # 31.065 * * * * [progress]: [ 21 / 77 ] simplifiying candidate #real (real->posit16 (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 31.065 * * * * [progress]: [ 22 / 77 ] simplifiying candidate # 31.065 * * * * [progress]: [ 23 / 77 ] simplifiying candidate # 31.065 * * * * [progress]: [ 24 / 77 ] simplifiying candidate # 31.066 * [simplify]: Simplifying (- (cos (- phi1 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (cos (+ phi1 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) 31.066 * * [simplify]: iters left: 6 (17 enodes) 31.073 * * [simplify]: iters left: 5 (60 enodes) 31.082 * * [simplify]: iters left: 4 (74 enodes) 31.092 * * [simplify]: iters left: 3 (87 enodes) 31.103 * * [simplify]: Extracting #0: cost 1 inf + 0 31.103 * * [simplify]: Extracting #1: cost 5 inf + 0 31.103 * * [simplify]: Extracting #2: cost 10 inf + 0 31.103 * * [simplify]: Extracting #3: cost 15 inf + 0 31.103 * * [simplify]: Extracting #4: cost 17 inf + 1 31.103 * * [simplify]: Extracting #5: cost 28 inf + 1 31.103 * * [simplify]: Extracting #6: cost 38 inf + 123 31.103 * * [simplify]: Extracting #7: cost 32 inf + 369 31.104 * * [simplify]: Extracting #8: cost 20 inf + 2010 31.104 * * [simplify]: Extracting #9: cost 13 inf + 5080 31.107 * * [simplify]: Extracting #10: cost 3 inf + 11290 31.110 * * [simplify]: Extracting #11: cost 0 inf + 13399 31.114 * [simplify]: Simplified to (- (cos (- phi1 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (cos (+ phi1 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) 31.114 * [simplify]: Simplified (2 1 2 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (/ (- (cos (- phi1 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (cos (+ phi1 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) 2))) lambda1)) 31.115 * * * * [progress]: [ 25 / 77 ] simplifiying candidate # 31.115 * [simplify]: Simplifying (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) 31.117 * * [simplify]: iters left: 6 (14 enodes) 31.122 * * [simplify]: iters left: 5 (47 enodes) 31.135 * * [simplify]: iters left: 4 (55 enodes) 31.151 * * [simplify]: iters left: 3 (68 enodes) 31.167 * * [simplify]: Extracting #0: cost 1 inf + 0 31.167 * * [simplify]: Extracting #1: cost 4 inf + 0 31.167 * * [simplify]: Extracting #2: cost 8 inf + 0 31.167 * * [simplify]: Extracting #3: cost 9 inf + 1 31.167 * * [simplify]: Extracting #4: cost 17 inf + 123 31.168 * * [simplify]: Extracting #5: cost 27 inf + 184 31.168 * * [simplify]: Extracting #6: cost 21 inf + 531 31.168 * * [simplify]: Extracting #7: cost 12 inf + 1888 31.170 * * [simplify]: Extracting #8: cost 2 inf + 5643 31.172 * * [simplify]: Extracting #9: cost 0 inf + 6889 31.173 * [simplify]: Simplified to (* (sin phi1) (sin (asin (fma (cos theta) (* (sin delta) (cos phi1)) (* (cos delta) (sin phi1)))))) 31.174 * [simplify]: Simplified (2 1 2 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (pow (* (sin phi1) (sin (asin (fma (cos theta) (* (sin delta) (cos phi1)) (* (cos delta) (sin phi1)))))) 1))) lambda1)) 31.174 * * * * [progress]: [ 26 / 77 ] simplifiying candidate # 31.174 * * * * [progress]: [ 27 / 77 ] simplifiying candidate # 31.174 * [simplify]: Simplifying (+ (log (sin phi1)) (log (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) 31.174 * * [simplify]: iters left: 6 (16 enodes) 31.181 * * [simplify]: iters left: 5 (53 enodes) 31.196 * * [simplify]: iters left: 4 (61 enodes) 31.213 * * [simplify]: iters left: 3 (74 enodes) 31.226 * * [simplify]: Extracting #0: cost 1 inf + 0 31.226 * * [simplify]: Extracting #1: cost 4 inf + 0 31.226 * * [simplify]: Extracting #2: cost 8 inf + 0 31.226 * * [simplify]: Extracting #3: cost 12 inf + 0 31.226 * * [simplify]: Extracting #4: cost 13 inf + 1 31.226 * * [simplify]: Extracting #5: cost 21 inf + 123 31.226 * * [simplify]: Extracting #6: cost 29 inf + 446 31.227 * * [simplify]: Extracting #7: cost 17 inf + 1563 31.227 * * [simplify]: Extracting #8: cost 5 inf + 5262 31.228 * * [simplify]: Extracting #9: cost 0 inf + 8777 31.229 * [simplify]: Simplified to (+ (log (sin (asin (fma (sin phi1) (cos delta) (* (* (sin delta) (cos theta)) (cos phi1)))))) (log (sin phi1))) 31.229 * [simplify]: Simplified (2 1 2 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (exp (+ (log (sin (asin (fma (sin phi1) (cos delta) (* (* (sin delta) (cos theta)) (cos phi1)))))) (log (sin phi1)))))) lambda1)) 31.230 * * * * [progress]: [ 28 / 77 ] simplifiying candidate # 31.230 * * * * [progress]: [ 29 / 77 ] simplifiying candidate # 31.230 * * * * [progress]: [ 30 / 77 ] simplifiying candidate # 31.230 * [simplify]: Simplifying (* (* (* (sin phi1) (sin phi1)) (sin phi1)) (* (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) 31.230 * * [simplify]: iters left: 6 (18 enodes) 31.234 * * [simplify]: iters left: 5 (65 enodes) 31.244 * * [simplify]: iters left: 4 (102 enodes) 31.282 * * [simplify]: iters left: 3 (170 enodes) 31.317 * * [simplify]: iters left: 2 (256 enodes) 31.398 * * [simplify]: iters left: 1 (416 enodes) 31.553 * * [simplify]: Extracting #0: cost 1 inf + 0 31.553 * * [simplify]: Extracting #1: cost 50 inf + 0 31.554 * * [simplify]: Extracting #2: cost 154 inf + 1 31.554 * * [simplify]: Extracting #3: cost 157 inf + 851 31.555 * * [simplify]: Extracting #4: cost 158 inf + 3289 31.556 * * [simplify]: Extracting #5: cost 165 inf + 4397 31.559 * * [simplify]: Extracting #6: cost 129 inf + 23954 31.581 * * [simplify]: Extracting #7: cost 17 inf + 129774 31.625 * * [simplify]: Extracting #8: cost 0 inf + 145896 31.657 * [simplify]: Simplified to (* (* (* (sin phi1) (sin (asin (fma (* (cos phi1) (sin delta)) (cos theta) (* (cos delta) (sin phi1)))))) (* (sin phi1) (sin (asin (fma (* (cos phi1) (sin delta)) (cos theta) (* (cos delta) (sin phi1))))))) (* (sin phi1) (sin (asin (fma (* (cos phi1) (sin delta)) (cos theta) (* (cos delta) (sin phi1))))))) 31.657 * [simplify]: Simplified (2 1 2 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (cbrt (* (* (* (sin phi1) (sin (asin (fma (* (cos phi1) (sin delta)) (cos theta) (* (cos delta) (sin phi1)))))) (* (sin phi1) (sin (asin (fma (* (cos phi1) (sin delta)) (cos theta) (* (cos delta) (sin phi1))))))) (* (sin phi1) (sin (asin (fma (* (cos phi1) (sin delta)) (cos theta) (* (cos delta) (sin phi1)))))))))) lambda1)) 31.657 * * * * [progress]: [ 31 / 77 ] simplifiying candidate # 31.657 * * * * [progress]: [ 32 / 77 ] simplifiying candidate # 31.657 * * * * [progress]: [ 33 / 77 ] simplifiying candidate # 31.657 * * * * [progress]: [ 34 / 77 ] simplifiying candidate # 31.657 * * * * [progress]: [ 35 / 77 ] simplifiying candidate # 31.657 * [simplify]: Simplifying (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) 31.657 * * [simplify]: iters left: 6 (16 enodes) 31.661 * * [simplify]: iters left: 5 (53 enodes) 31.672 * * [simplify]: iters left: 4 (61 enodes) 31.689 * * [simplify]: iters left: 3 (74 enodes) 31.708 * * [simplify]: Extracting #0: cost 1 inf + 0 31.708 * * [simplify]: Extracting #1: cost 4 inf + 0 31.708 * * [simplify]: Extracting #2: cost 8 inf + 0 31.708 * * [simplify]: Extracting #3: cost 12 inf + 0 31.708 * * [simplify]: Extracting #4: cost 13 inf + 1 31.708 * * [simplify]: Extracting #5: cost 21 inf + 123 31.708 * * [simplify]: Extracting #6: cost 29 inf + 386 31.709 * * [simplify]: Extracting #7: cost 17 inf + 1503 31.710 * * [simplify]: Extracting #8: cost 5 inf + 5202 31.712 * * [simplify]: Extracting #9: cost 0 inf + 8537 31.714 * [simplify]: Simplified to (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (sin phi1) (cos delta) (* (* (sin delta) (cos theta)) (cos phi1))))))) 31.715 * [simplify]: Simplified (2 1 2 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (sin phi1) (cos delta) (* (* (sin delta) (cos theta)) (cos phi1))))))) (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1)) 31.715 * [simplify]: Simplifying (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) 31.716 * * [simplify]: iters left: 6 (16 enodes) 31.722 * * [simplify]: iters left: 5 (53 enodes) 31.736 * * [simplify]: iters left: 4 (61 enodes) 31.749 * * [simplify]: iters left: 3 (74 enodes) 31.759 * * [simplify]: Extracting #0: cost 1 inf + 0 31.759 * * [simplify]: Extracting #1: cost 4 inf + 0 31.759 * * [simplify]: Extracting #2: cost 8 inf + 0 31.759 * * [simplify]: Extracting #3: cost 12 inf + 0 31.759 * * [simplify]: Extracting #4: cost 13 inf + 1 31.759 * * [simplify]: Extracting #5: cost 21 inf + 123 31.759 * * [simplify]: Extracting #6: cost 29 inf + 386 31.759 * * [simplify]: Extracting #7: cost 17 inf + 1503 31.760 * * [simplify]: Extracting #8: cost 5 inf + 5202 31.761 * * [simplify]: Extracting #9: cost 0 inf + 8537 31.762 * [simplify]: Simplified to (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (sin phi1) (cos delta) (* (* (sin delta) (cos theta)) (cos phi1))))))) 31.762 * [simplify]: Simplified (2 1 2 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (sin phi1) (cos delta) (* (* (sin delta) (cos theta)) (cos phi1)))))))))) lambda1)) 31.762 * * * * [progress]: [ 36 / 77 ] simplifiying candidate # 31.762 * [simplify]: Simplifying (cbrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) 31.763 * * [simplify]: iters left: 6 (14 enodes) 31.765 * * [simplify]: iters left: 5 (46 enodes) 31.771 * * [simplify]: iters left: 4 (54 enodes) 31.787 * * [simplify]: iters left: 3 (67 enodes) 31.796 * * [simplify]: Extracting #0: cost 1 inf + 0 31.796 * * [simplify]: Extracting #1: cost 3 inf + 0 31.796 * * [simplify]: Extracting #2: cost 5 inf + 0 31.796 * * [simplify]: Extracting #3: cost 7 inf + 0 31.796 * * [simplify]: Extracting #4: cost 18 inf + 0 31.796 * * [simplify]: Extracting #5: cost 31 inf + 0 31.796 * * [simplify]: Extracting #6: cost 21 inf + 430 31.797 * * [simplify]: Extracting #7: cost 9 inf + 2273 31.797 * * [simplify]: Extracting #8: cost 2 inf + 5683 31.798 * * [simplify]: Extracting #9: cost 0 inf + 6969 31.799 * [simplify]: Simplified to (cbrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) 31.799 * [simplify]: Simplified (2 1 2 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (* (sin phi1) (* (cbrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (cbrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) (cbrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))))) lambda1)) 31.799 * * * * [progress]: [ 37 / 77 ] simplifiying candidate # 31.800 * [simplify]: Simplifying (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) 31.800 * * [simplify]: iters left: 6 (14 enodes) 31.802 * * [simplify]: iters left: 5 (46 enodes) 31.809 * * [simplify]: iters left: 4 (54 enodes) 31.816 * * [simplify]: iters left: 3 (67 enodes) 31.825 * * [simplify]: Extracting #0: cost 1 inf + 0 31.826 * * [simplify]: Extracting #1: cost 3 inf + 0 31.826 * * [simplify]: Extracting #2: cost 5 inf + 0 31.826 * * [simplify]: Extracting #3: cost 7 inf + 0 31.826 * * [simplify]: Extracting #4: cost 18 inf + 0 31.826 * * [simplify]: Extracting #5: cost 31 inf + 0 31.826 * * [simplify]: Extracting #6: cost 21 inf + 430 31.827 * * [simplify]: Extracting #7: cost 9 inf + 2273 31.829 * * [simplify]: Extracting #8: cost 2 inf + 5643 31.831 * * [simplify]: Extracting #9: cost 0 inf + 6889 31.833 * [simplify]: Simplified to (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) 31.833 * [simplify]: Simplified (2 1 2 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (* (sin phi1) (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))))) lambda1)) 31.833 * * * * [progress]: [ 38 / 77 ] simplifiying candidate # 31.833 * [simplify]: Simplifying (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) 31.833 * * [simplify]: iters left: 6 (13 enodes) 31.840 * * [simplify]: iters left: 5 (43 enodes) 31.852 * * [simplify]: iters left: 4 (51 enodes) 31.862 * * [simplify]: iters left: 3 (64 enodes) 31.870 * * [simplify]: Extracting #0: cost 1 inf + 0 31.870 * * [simplify]: Extracting #1: cost 3 inf + 0 31.870 * * [simplify]: Extracting #2: cost 5 inf + 0 31.870 * * [simplify]: Extracting #3: cost 16 inf + 0 31.870 * * [simplify]: Extracting #4: cost 29 inf + 0 31.870 * * [simplify]: Extracting #5: cost 17 inf + 1158 31.870 * * [simplify]: Extracting #6: cost 10 inf + 1888 31.871 * * [simplify]: Extracting #7: cost 3 inf + 4019 31.872 * * [simplify]: Extracting #8: cost 0 inf + 5603 31.873 * [simplify]: Simplified to (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) 31.873 * [simplify]: Simplified (2 1 2 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (* (sin phi1) 1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 31.873 * * * * [progress]: [ 39 / 77 ] simplifiying candidate # 31.873 * [simplify]: Simplifying (* (cbrt (sin phi1)) (cbrt (sin phi1))) 31.873 * * [simplify]: iters left: 4 (4 enodes) 31.874 * * [simplify]: iters left: 3 (12 enodes) 31.876 * * [simplify]: Extracting #0: cost 1 inf + 0 31.876 * * [simplify]: Extracting #1: cost 3 inf + 0 31.876 * * [simplify]: Extracting #2: cost 5 inf + 0 31.876 * * [simplify]: Extracting #3: cost 7 inf + 0 31.876 * * [simplify]: Extracting #4: cost 6 inf + 1 31.876 * * [simplify]: Extracting #5: cost 0 inf + 767 31.876 * [simplify]: Simplified to (* (cbrt (sin phi1)) (cbrt (sin phi1))) 31.876 * [simplify]: Simplified (2 1 2 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (* (cbrt (sin phi1)) (cbrt (sin phi1))) (* (cbrt (sin phi1)) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))))) lambda1)) 31.876 * * * * [progress]: [ 40 / 77 ] simplifiying candidate # 31.876 * [simplify]: Simplifying (sqrt (sin phi1)) 31.876 * * [simplify]: iters left: 2 (3 enodes) 31.877 * * [simplify]: iters left: 1 (9 enodes) 31.879 * * [simplify]: Extracting #0: cost 1 inf + 0 31.879 * * [simplify]: Extracting #1: cost 3 inf + 0 31.879 * * [simplify]: Extracting #2: cost 5 inf + 0 31.879 * * [simplify]: Extracting #3: cost 4 inf + 1 31.879 * * [simplify]: Extracting #4: cost 0 inf + 325 31.879 * [simplify]: Simplified to (sqrt (sin phi1)) 31.879 * [simplify]: Simplified (2 1 2 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sqrt (sin phi1)) (* (sqrt (sin phi1)) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))))) lambda1)) 31.879 * * * * [progress]: [ 41 / 77 ] simplifiying candidate # 31.879 * * * * [progress]: [ 42 / 77 ] simplifiying candidate #real (real->posit16 (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 31.879 * * * * [progress]: [ 43 / 77 ] simplifiying candidate # 31.879 * * * * [progress]: [ 44 / 77 ] simplifiying candidate # 31.879 * * * * [progress]: [ 45 / 77 ] simplifiying candidate # 31.879 * * * * [progress]: [ 46 / 77 ] simplifiying candidate # 31.880 * * * * [progress]: [ 47 / 77 ] simplifiying candidate # 31.880 * * * * [progress]: [ 48 / 77 ] simplifiying candidate # 31.880 * * * * [progress]: [ 49 / 77 ] simplifiying candidate # 31.880 * * * * [progress]: [ 50 / 77 ] simplifiying candidate # 31.880 * * * * [progress]: [ 51 / 77 ] simplifiying candidate # 31.880 * * * * [progress]: [ 52 / 77 ] simplifiying candidate # 31.880 * * * * [progress]: [ 53 / 77 ] simplifiying candidate # 31.880 * * * * [progress]: [ 54 / 77 ] simplifiying candidate #real (real->posit16 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 31.880 * * * * [progress]: [ 55 / 77 ] simplifiying candidate # 31.880 * * * * [progress]: [ 56 / 77 ] simplifiying candidate # 31.880 * * * * [progress]: [ 57 / 77 ] simplifiying candidate # 31.880 * * * * [progress]: [ 58 / 77 ] simplifiying candidate # 31.880 * * * * [progress]: [ 59 / 77 ] simplifiying candidate # 31.880 * * * * [progress]: [ 60 / 77 ] simplifiying candidate # 31.880 * * * * [progress]: [ 61 / 77 ] simplifiying candidate # 31.880 * * * * [progress]: [ 62 / 77 ] simplifiying candidate # 31.880 * * * * [progress]: [ 63 / 77 ] simplifiying candidate # 31.880 * * * * [progress]: [ 64 / 77 ] simplifiying candidate # 31.880 * * * * [progress]: [ 65 / 77 ] simplifiying candidate #real (real->posit16 (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 31.880 * * * * [progress]: [ 66 / 77 ] simplifiying candidate # 31.881 * [simplify]: Simplifying (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) 31.881 * * [simplify]: iters left: 6 (10 enodes) 31.887 * * [simplify]: iters left: 5 (44 enodes) 31.902 * * [simplify]: iters left: 4 (66 enodes) 31.914 * * [simplify]: iters left: 3 (115 enodes) 31.940 * * [simplify]: iters left: 2 (226 enodes) 32.002 * * [simplify]: iters left: 1 (314 enodes) 32.080 * * [simplify]: Extracting #0: cost 1 inf + 0 32.080 * * [simplify]: Extracting #1: cost 29 inf + 0 32.080 * * [simplify]: Extracting #2: cost 43 inf + 390 32.081 * * [simplify]: Extracting #3: cost 15 inf + 2617 32.083 * * [simplify]: Extracting #4: cost 2 inf + 4019 32.085 * * [simplify]: Extracting #5: cost 0 inf + 4155 32.087 * [simplify]: Simplified to (- 1 (* (fma delta 1/2 phi1) delta)) 32.087 * [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)) 32.087 * * * * [progress]: [ 67 / 77 ] simplifiying candidate # 32.087 * [simplify]: Simplifying (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (sin phi1) (* (cos theta) (cos phi1)))))) 32.087 * * [simplify]: iters left: 6 (16 enodes) 32.091 * * [simplify]: iters left: 5 (67 enodes) 32.113 * * [simplify]: iters left: 4 (124 enodes) 32.163 * * [simplify]: iters left: 3 (263 enodes) 32.277 * * [simplify]: Extracting #0: cost 1 inf + 0 32.277 * * [simplify]: Extracting #1: cost 44 inf + 0 32.277 * * [simplify]: Extracting #2: cost 133 inf + 0 32.278 * * [simplify]: Extracting #3: cost 129 inf + 1057 32.283 * * [simplify]: Extracting #4: cost 38 inf + 23638 32.296 * * [simplify]: Extracting #5: cost 2 inf + 34441 32.304 * * [simplify]: Extracting #6: cost 0 inf + 34985 32.313 * [simplify]: Simplified to (- (cos delta) (* (sin phi1) (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta))))) 32.313 * [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)) 32.313 * * * * [progress]: [ 68 / 77 ] simplifiying candidate # 32.313 * [simplify]: Simplifying (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos theta) (* (sin delta) (cos phi1)))))) 32.313 * * [simplify]: iters left: 6 (16 enodes) 32.318 * * [simplify]: iters left: 5 (67 enodes) 32.340 * * [simplify]: iters left: 4 (124 enodes) 32.366 * * [simplify]: iters left: 3 (263 enodes) 32.467 * * [simplify]: Extracting #0: cost 1 inf + 0 32.468 * * [simplify]: Extracting #1: cost 44 inf + 0 32.469 * * [simplify]: Extracting #2: cost 140 inf + 0 32.470 * * [simplify]: Extracting #3: cost 134 inf + 1137 32.477 * * [simplify]: Extracting #4: cost 39 inf + 24533 32.494 * * [simplify]: Extracting #5: cost 0 inf + 36983 32.511 * * [simplify]: Extracting #6: cost 0 inf + 36903 32.528 * [simplify]: Simplified to (- (cos delta) (* (sin phi1) (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta))))) 32.528 * [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)) 32.529 * * * * [progress]: [ 69 / 77 ] simplifiying candidate # 32.529 * [simplify]: Simplifying (+ (* phi1 delta) (pow phi1 2)) 32.529 * * [simplify]: iters left: 4 (6 enodes) 32.533 * * [simplify]: iters left: 3 (26 enodes) 32.542 * * [simplify]: iters left: 2 (37 enodes) 32.552 * * [simplify]: iters left: 1 (44 enodes) 32.564 * * [simplify]: Extracting #0: cost 1 inf + 0 32.564 * * [simplify]: Extracting #1: cost 7 inf + 0 32.564 * * [simplify]: Extracting #2: cost 9 inf + 2 32.564 * * [simplify]: Extracting #3: cost 2 inf + 308 32.564 * * [simplify]: Extracting #4: cost 0 inf + 432 32.564 * * [simplify]: Extracting #5: cost 0 inf + 417 32.565 * [simplify]: Simplified to (* (+ delta phi1) phi1) 32.565 * [simplify]: Simplified (2 1 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (+ delta phi1) phi1))) lambda1)) 32.565 * * * * [progress]: [ 70 / 77 ] simplifiying candidate # 32.565 * [simplify]: Simplifying (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta))))) 32.565 * * [simplify]: iters left: 6 (13 enodes) 32.571 * * [simplify]: iters left: 5 (53 enodes) 32.592 * * [simplify]: iters left: 4 (90 enodes) 32.621 * * [simplify]: iters left: 3 (146 enodes) 32.661 * * [simplify]: iters left: 2 (161 enodes) 32.679 * * [simplify]: Extracting #0: cost 1 inf + 0 32.679 * * [simplify]: Extracting #1: cost 18 inf + 0 32.679 * * [simplify]: Extracting #2: cost 40 inf + 0 32.680 * * [simplify]: Extracting #3: cost 38 inf + 307 32.680 * * [simplify]: Extracting #4: cost 20 inf + 2595 32.682 * * [simplify]: Extracting #5: cost 2 inf + 7503 32.683 * * [simplify]: Extracting #6: cost 0 inf + 8143 32.685 * [simplify]: Simplified to (* (fma (* (cos theta) (cos phi1)) (sin delta) (* (cos delta) (sin phi1))) (sin phi1)) 32.685 * [simplify]: Simplified (2 1 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (fma (* (cos theta) (cos phi1)) (sin delta) (* (cos delta) (sin phi1))) (sin phi1)))) lambda1)) 32.685 * * * * [progress]: [ 71 / 77 ] simplifiying candidate # 32.686 * [simplify]: Simplifying (* (sin phi1) (+ (* (cos phi1) (* (sin delta) (cos theta))) (* (sin phi1) (cos delta)))) 32.686 * * [simplify]: iters left: 6 (13 enodes) 32.688 * * [simplify]: iters left: 5 (53 enodes) 32.699 * * [simplify]: iters left: 4 (90 enodes) 32.714 * * [simplify]: iters left: 3 (144 enodes) 32.738 * * [simplify]: iters left: 2 (159 enodes) 32.766 * * [simplify]: Extracting #0: cost 1 inf + 0 32.766 * * [simplify]: Extracting #1: cost 18 inf + 0 32.766 * * [simplify]: Extracting #2: cost 41 inf + 0 32.766 * * [simplify]: Extracting #3: cost 39 inf + 186 32.767 * * [simplify]: Extracting #4: cost 8 inf + 6304 32.769 * * [simplify]: Extracting #5: cost 1 inf + 7780 32.771 * * [simplify]: Extracting #6: cost 0 inf + 8143 32.772 * [simplify]: Simplified to (* (fma (* (cos theta) (sin delta)) (cos phi1) (* (sin phi1) (cos delta))) (sin phi1)) 32.772 * [simplify]: Simplified (2 1 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (fma (* (cos theta) (sin delta)) (cos phi1) (* (sin phi1) (cos delta))) (sin phi1)))) lambda1)) 32.772 * * * * [progress]: [ 72 / 77 ] simplifiying candidate # 32.773 * [simplify]: Simplifying (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 32.773 * * [simplify]: iters left: 5 (12 enodes) 32.775 * * [simplify]: iters left: 4 (40 enodes) 32.782 * * [simplify]: iters left: 3 (48 enodes) 32.794 * * [simplify]: iters left: 2 (61 enodes) 32.809 * * [simplify]: Extracting #0: cost 1 inf + 0 32.809 * * [simplify]: Extracting #1: cost 3 inf + 0 32.809 * * [simplify]: Extracting #2: cost 14 inf + 0 32.809 * * [simplify]: Extracting #3: cost 27 inf + 0 32.810 * * [simplify]: Extracting #4: cost 16 inf + 592 32.811 * * [simplify]: Extracting #5: cost 1 inf + 4134 32.812 * * [simplify]: Extracting #6: cost 0 inf + 4397 32.813 * [simplify]: Simplified to (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 32.813 * [simplify]: Simplified (2 1 2 2 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))))))) lambda1)) 32.814 * * * * [progress]: [ 73 / 77 ] simplifiying candidate # 32.814 * [simplify]: Simplifying (asin (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta)))) 32.814 * * [simplify]: iters left: 5 (12 enodes) 32.819 * * [simplify]: iters left: 4 (40 enodes) 32.830 * * [simplify]: iters left: 3 (48 enodes) 32.841 * * [simplify]: iters left: 2 (61 enodes) 32.849 * * [simplify]: Extracting #0: cost 1 inf + 0 32.849 * * [simplify]: Extracting #1: cost 3 inf + 0 32.849 * * [simplify]: Extracting #2: cost 14 inf + 0 32.849 * * [simplify]: Extracting #3: cost 27 inf + 0 32.849 * * [simplify]: Extracting #4: cost 19 inf + 308 32.849 * * [simplify]: Extracting #5: cost 6 inf + 2010 32.850 * * [simplify]: Extracting #6: cost 0 inf + 4397 32.851 * [simplify]: Simplified to (asin (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta)))) 32.851 * [simplify]: Simplified (2 1 2 2 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta)))))))) lambda1)) 32.851 * * * * [progress]: [ 74 / 77 ] simplifiying candidate # 32.851 * [simplify]: Simplifying (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 32.851 * * [simplify]: iters left: 5 (12 enodes) 32.853 * * [simplify]: iters left: 4 (40 enodes) 32.859 * * [simplify]: iters left: 3 (48 enodes) 32.865 * * [simplify]: iters left: 2 (61 enodes) 32.873 * * [simplify]: Extracting #0: cost 1 inf + 0 32.873 * * [simplify]: Extracting #1: cost 3 inf + 0 32.873 * * [simplify]: Extracting #2: cost 14 inf + 0 32.873 * * [simplify]: Extracting #3: cost 27 inf + 0 32.873 * * [simplify]: Extracting #4: cost 16 inf + 592 32.874 * * [simplify]: Extracting #5: cost 1 inf + 4134 32.876 * * [simplify]: Extracting #6: cost 0 inf + 4397 32.877 * [simplify]: Simplified to (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 32.877 * [simplify]: Simplified (2 1 2 2 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))))))) lambda1)) 32.878 * * * * [progress]: [ 75 / 77 ] simplifiying candidate # 32.878 * [simplify]: Simplifying (+ phi1 delta) 32.878 * * [simplify]: iters left: 2 (3 enodes) 32.879 * * [simplify]: iters left: 1 (10 enodes) 32.882 * * [simplify]: Extracting #0: cost 1 inf + 0 32.882 * * [simplify]: Extracting #1: cost 4 inf + 0 32.883 * * [simplify]: Extracting #2: cost 2 inf + 2 32.883 * * [simplify]: Extracting #3: cost 0 inf + 86 32.883 * [simplify]: Simplified to (+ delta phi1) 32.883 * [simplify]: Simplified (2 1 2 2 2 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (+ delta phi1)))))) lambda1)) 32.883 * * * * [progress]: [ 76 / 77 ] simplifiying candidate # 32.884 * [simplify]: Simplifying (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta)))) 32.884 * * [simplify]: iters left: 6 (12 enodes) 32.889 * * [simplify]: iters left: 5 (43 enodes) 32.902 * * [simplify]: iters left: 4 (55 enodes) 32.910 * * [simplify]: iters left: 3 (61 enodes) 32.918 * * [simplify]: Extracting #0: cost 1 inf + 0 32.918 * * [simplify]: Extracting #1: cost 10 inf + 0 32.918 * * [simplify]: Extracting #2: cost 22 inf + 0 32.918 * * [simplify]: Extracting #3: cost 20 inf + 185 32.918 * * [simplify]: Extracting #4: cost 12 inf + 916 32.918 * * [simplify]: Extracting #5: cost 0 inf + 3311 32.919 * [simplify]: Simplified to (fma (sin phi1) (cos delta) (* (* (cos theta) (sin delta)) (cos phi1))) 32.919 * [simplify]: Simplified (2 1 2 2 2 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (fma (sin phi1) (cos delta) (* (* (cos theta) (sin delta)) (cos phi1)))))))) lambda1)) 32.919 * * * * [progress]: [ 77 / 77 ] simplifiying candidate # 32.919 * [simplify]: Simplifying (+ (* (cos phi1) (* (sin delta) (cos theta))) (* (sin phi1) (cos delta))) 32.919 * * [simplify]: iters left: 6 (12 enodes) 32.922 * * [simplify]: iters left: 5 (43 enodes) 32.928 * * [simplify]: iters left: 4 (55 enodes) 32.938 * * [simplify]: iters left: 3 (60 enodes) 32.946 * * [simplify]: Extracting #0: cost 1 inf + 0 32.946 * * [simplify]: Extracting #1: cost 10 inf + 0 32.946 * * [simplify]: Extracting #2: cost 23 inf + 0 32.947 * * [simplify]: Extracting #3: cost 19 inf + 186 32.947 * * [simplify]: Extracting #4: cost 9 inf + 1200 32.947 * * [simplify]: Extracting #5: cost 1 inf + 3048 32.948 * * [simplify]: Extracting #6: cost 0 inf + 3311 32.948 * [simplify]: Simplified to (fma (sin phi1) (cos delta) (* (cos theta) (* (sin delta) (cos phi1)))) 32.948 * [simplify]: Simplified (2 1 2 2 2 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (fma (sin phi1) (cos delta) (* (cos theta) (* (sin delta) (cos phi1))))))))) lambda1)) 32.949 * * * [progress]: adding candidates to table 34.912 * [progress]: [Phase 3 of 3] Extracting. 34.919 * [simplify]: Simplifying (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1) 34.919 * * [simplify]: iters left: 6 (21 enodes) 34.920 * * [simplify]: iters left: 5 (27 enodes) 34.921 * * [simplify]: Extracting #0: cost 1 inf + 0 34.921 * * [simplify]: Extracting #1: cost 3 inf + 0 34.921 * * [simplify]: Extracting #2: cost 4 inf + 1 34.921 * * [simplify]: Extracting #3: cost 8 inf + 1 34.921 * * [simplify]: Extracting #4: cost 13 inf + 1 34.921 * * [simplify]: Extracting #5: cost 15 inf + 2 34.921 * * [simplify]: Extracting #6: cost 9 inf + 309 34.922 * * [simplify]: Extracting #7: cost 10 inf + 734 34.922 * * [simplify]: Extracting #8: cost 6 inf + 1557 34.922 * * [simplify]: Extracting #9: cost 4 inf + 2703 34.922 * * [simplify]: Extracting #10: cost 3 inf + 3346 34.923 * * [simplify]: Extracting #11: cost 0 inf + 5996 34.923 * [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)))))))))