0.002 * [progress]: [Phase 1 of 3] Setting up. 0.002 * * * [progress]: [1/2] Preparing points 27.969 * * * [progress]: [2/2] Setting up program. 27.975 * [progress]: [Phase 2 of 3] Improving. 27.975 * * * * [progress]: [ 1 / 1 ] simplifiying candidate # 27.976 * [simplify]: Simplifying (+ lambda1 (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))))) 27.976 * * [simplify]: iters left: 6 (22 enodes) 27.981 * * [simplify]: iters left: 5 (80 enodes) 27.992 * * [simplify]: iters left: 4 (107 enodes) 28.011 * * [simplify]: iters left: 3 (125 enodes) 28.038 * * [simplify]: Extracting #0: cost 1 inf + 0 28.038 * * [simplify]: Extracting #1: cost 4 inf + 0 28.038 * * [simplify]: Extracting #2: cost 6 inf + 1 28.038 * * [simplify]: Extracting #3: cost 21 inf + 1 28.038 * * [simplify]: Extracting #4: cost 38 inf + 1 28.039 * * [simplify]: Extracting #5: cost 28 inf + 734 28.039 * * [simplify]: Extracting #6: cost 24 inf + 1889 28.040 * * [simplify]: Extracting #7: cost 25 inf + 2537 28.041 * * [simplify]: Extracting #8: cost 18 inf + 4766 28.043 * * [simplify]: Extracting #9: cost 12 inf + 7142 28.046 * * [simplify]: Extracting #10: cost 3 inf + 13414 28.050 * * [simplify]: Extracting #11: cost 0 inf + 16385 28.054 * * [simplify]: Extracting #12: cost 0 inf + 16340 28.058 * [simplify]: Simplified to (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1) 28.058 * [simplify]: Simplified (2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 28.079 * * [progress]: iteration 1 / 4 28.079 * * * [progress]: picking best candidate 28.085 * * * * [pick]: Picked # 28.085 * * * [progress]: localizing error 28.153 * * * [progress]: generating rewritten candidates 28.153 * * * * [progress]: [ 1 / 4 ] rewriting at (2 1 2) 28.176 * * * * [progress]: [ 2 / 4 ] rewriting at (2 1 2 2) 28.199 * * * * [progress]: [ 3 / 4 ] rewriting at (2 1 2 2 2 1) 28.201 * * * * [progress]: [ 4 / 4 ] rewriting at (2 1 1) 28.233 * * * [progress]: generating series expansions 28.233 * * * * [progress]: [ 1 / 4 ] generating series at (2 1 2) 28.233 * [backup-simplify]: Simplify (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) into (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) 28.233 * [approximate]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in (delta phi1 theta) around 0 28.233 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in theta 28.233 * [taylor]: Taking taylor expansion of (cos delta) in theta 28.233 * [taylor]: Taking taylor expansion of delta in theta 28.233 * [backup-simplify]: Simplify delta into delta 28.233 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.233 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.233 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 28.233 * [taylor]: Taking taylor expansion of (sin phi1) in theta 28.233 * [taylor]: Taking taylor expansion of phi1 in theta 28.233 * [backup-simplify]: Simplify phi1 into phi1 28.233 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.233 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.233 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 28.234 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 28.234 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 28.234 * [taylor]: Taking taylor expansion of (cos theta) in theta 28.234 * [taylor]: Taking taylor expansion of theta in theta 28.234 * [backup-simplify]: Simplify 0 into 0 28.234 * [backup-simplify]: Simplify 1 into 1 28.234 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 28.234 * [taylor]: Taking taylor expansion of (cos phi1) in theta 28.234 * [taylor]: Taking taylor expansion of phi1 in theta 28.234 * [backup-simplify]: Simplify phi1 into phi1 28.234 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.234 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.234 * [taylor]: Taking taylor expansion of (sin delta) in theta 28.234 * [taylor]: Taking taylor expansion of delta in theta 28.234 * [backup-simplify]: Simplify delta into delta 28.234 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.234 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.234 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 28.234 * [taylor]: Taking taylor expansion of (sin phi1) in theta 28.234 * [taylor]: Taking taylor expansion of phi1 in theta 28.234 * [backup-simplify]: Simplify phi1 into phi1 28.234 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.234 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.234 * [taylor]: Taking taylor expansion of (cos delta) in theta 28.234 * [taylor]: Taking taylor expansion of delta in theta 28.234 * [backup-simplify]: Simplify delta into delta 28.234 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.234 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.234 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in phi1 28.234 * [taylor]: Taking taylor expansion of (cos delta) in phi1 28.234 * [taylor]: Taking taylor expansion of delta in phi1 28.234 * [backup-simplify]: Simplify delta into delta 28.234 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.234 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.234 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 28.234 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.234 * [taylor]: Taking taylor expansion of phi1 in phi1 28.234 * [backup-simplify]: Simplify 0 into 0 28.234 * [backup-simplify]: Simplify 1 into 1 28.234 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 28.234 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 28.234 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 28.234 * [taylor]: Taking taylor expansion of (cos theta) in phi1 28.234 * [taylor]: Taking taylor expansion of theta in phi1 28.234 * [backup-simplify]: Simplify theta into theta 28.234 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.234 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.234 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 28.234 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 28.234 * [taylor]: Taking taylor expansion of phi1 in phi1 28.234 * [backup-simplify]: Simplify 0 into 0 28.234 * [backup-simplify]: Simplify 1 into 1 28.234 * [taylor]: Taking taylor expansion of (sin delta) in phi1 28.234 * [taylor]: Taking taylor expansion of delta in phi1 28.235 * [backup-simplify]: Simplify delta into delta 28.235 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.235 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.235 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 28.235 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.235 * [taylor]: Taking taylor expansion of phi1 in phi1 28.235 * [backup-simplify]: Simplify 0 into 0 28.235 * [backup-simplify]: Simplify 1 into 1 28.235 * [taylor]: Taking taylor expansion of (cos delta) in phi1 28.235 * [taylor]: Taking taylor expansion of delta in phi1 28.235 * [backup-simplify]: Simplify delta into delta 28.235 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.235 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.235 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in delta 28.235 * [taylor]: Taking taylor expansion of (cos delta) in delta 28.235 * [taylor]: Taking taylor expansion of delta in delta 28.235 * [backup-simplify]: Simplify 0 into 0 28.235 * [backup-simplify]: Simplify 1 into 1 28.235 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 28.235 * [taylor]: Taking taylor expansion of (sin phi1) in delta 28.235 * [taylor]: Taking taylor expansion of phi1 in delta 28.235 * [backup-simplify]: Simplify phi1 into phi1 28.235 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.235 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.235 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 28.235 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 28.235 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 28.235 * [taylor]: Taking taylor expansion of (cos theta) in delta 28.235 * [taylor]: Taking taylor expansion of theta in delta 28.235 * [backup-simplify]: Simplify theta into theta 28.235 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.235 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.235 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 28.235 * [taylor]: Taking taylor expansion of (cos phi1) in delta 28.235 * [taylor]: Taking taylor expansion of phi1 in delta 28.235 * [backup-simplify]: Simplify phi1 into phi1 28.235 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.235 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.235 * [taylor]: Taking taylor expansion of (sin delta) in delta 28.235 * [taylor]: Taking taylor expansion of delta in delta 28.235 * [backup-simplify]: Simplify 0 into 0 28.235 * [backup-simplify]: Simplify 1 into 1 28.235 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 28.235 * [taylor]: Taking taylor expansion of (sin phi1) in delta 28.235 * [taylor]: Taking taylor expansion of phi1 in delta 28.235 * [backup-simplify]: Simplify phi1 into phi1 28.235 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.235 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.235 * [taylor]: Taking taylor expansion of (cos delta) in delta 28.235 * [taylor]: Taking taylor expansion of delta in delta 28.235 * [backup-simplify]: Simplify 0 into 0 28.235 * [backup-simplify]: Simplify 1 into 1 28.235 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in delta 28.235 * [taylor]: Taking taylor expansion of (cos delta) in delta 28.235 * [taylor]: Taking taylor expansion of delta in delta 28.235 * [backup-simplify]: Simplify 0 into 0 28.236 * [backup-simplify]: Simplify 1 into 1 28.236 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 28.236 * [taylor]: Taking taylor expansion of (sin phi1) in delta 28.236 * [taylor]: Taking taylor expansion of phi1 in delta 28.236 * [backup-simplify]: Simplify phi1 into phi1 28.236 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.236 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.236 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 28.236 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 28.236 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 28.236 * [taylor]: Taking taylor expansion of (cos theta) in delta 28.236 * [taylor]: Taking taylor expansion of theta in delta 28.236 * [backup-simplify]: Simplify theta into theta 28.236 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.236 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.236 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 28.236 * [taylor]: Taking taylor expansion of (cos phi1) in delta 28.236 * [taylor]: Taking taylor expansion of phi1 in delta 28.236 * [backup-simplify]: Simplify phi1 into phi1 28.236 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.236 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.236 * [taylor]: Taking taylor expansion of (sin delta) in delta 28.236 * [taylor]: Taking taylor expansion of delta in delta 28.236 * [backup-simplify]: Simplify 0 into 0 28.236 * [backup-simplify]: Simplify 1 into 1 28.236 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 28.236 * [taylor]: Taking taylor expansion of (sin phi1) in delta 28.236 * [taylor]: Taking taylor expansion of phi1 in delta 28.236 * [backup-simplify]: Simplify phi1 into phi1 28.236 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.236 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.236 * [taylor]: Taking taylor expansion of (cos delta) in delta 28.236 * [taylor]: Taking taylor expansion of delta in delta 28.236 * [backup-simplify]: Simplify 0 into 0 28.236 * [backup-simplify]: Simplify 1 into 1 28.236 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 28.237 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 28.237 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 28.237 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 28.237 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 28.237 * [backup-simplify]: Simplify (- 0) into 0 28.237 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 28.238 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 28.238 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 28.238 * [backup-simplify]: Simplify (- 0) into 0 28.238 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 28.238 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 28.238 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 28.238 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 28.238 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 28.238 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 28.238 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 28.238 * [backup-simplify]: Simplify (+ 0 (sin phi1)) into (sin phi1) 28.238 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 28.239 * [backup-simplify]: Simplify (- (pow (sin phi1) 2)) into (- (pow (sin phi1) 2)) 28.239 * [backup-simplify]: Simplify (+ 1 (- (pow (sin phi1) 2))) into (- 1 (pow (sin phi1) 2)) 28.239 * [taylor]: Taking taylor expansion of (- 1 (pow (sin phi1) 2)) in phi1 28.239 * [taylor]: Taking taylor expansion of 1 in phi1 28.239 * [backup-simplify]: Simplify 1 into 1 28.239 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 28.239 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.239 * [taylor]: Taking taylor expansion of phi1 in phi1 28.239 * [backup-simplify]: Simplify 0 into 0 28.239 * [backup-simplify]: Simplify 1 into 1 28.240 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.240 * [backup-simplify]: Simplify (+ 1 0) into 1 28.240 * [taylor]: Taking taylor expansion of 1 in theta 28.240 * [backup-simplify]: Simplify 1 into 1 28.240 * [backup-simplify]: Simplify 1 into 1 28.241 * [backup-simplify]: Simplify (+ 0) into 0 28.241 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.241 * [backup-simplify]: Simplify (+ 0) into 0 28.242 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 28.242 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.242 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 28.243 * [backup-simplify]: Simplify (- 0) into 0 28.243 * [backup-simplify]: Simplify (+ 0 0) into 0 28.243 * [backup-simplify]: Simplify (+ (* (cos phi1) 1) (* 0 0)) into (cos phi1) 28.243 * [backup-simplify]: Simplify (+ 0) into 0 28.244 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 28.244 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.244 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 28.245 * [backup-simplify]: Simplify (- 0) into 0 28.245 * [backup-simplify]: Simplify (+ 0 0) into 0 28.245 * [backup-simplify]: Simplify (+ (* (cos theta) (cos phi1)) (* 0 0)) into (* (cos theta) (cos phi1)) 28.245 * [backup-simplify]: Simplify (+ 0) into 0 28.246 * [backup-simplify]: Simplify (+ 0) into 0 28.246 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 28.246 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.247 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 28.247 * [backup-simplify]: Simplify (+ 0 0) into 0 28.247 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 28.247 * [backup-simplify]: Simplify (+ (* (cos theta) (cos phi1)) 0) into (* (cos theta) (cos phi1)) 28.248 * [backup-simplify]: Simplify (+ 0) into 0 28.248 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 28.249 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.249 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 28.250 * [backup-simplify]: Simplify (+ 0 0) into 0 28.250 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos theta) (cos phi1))) (* 0 (sin phi1))) into (* (sin phi1) (* (cos theta) (cos phi1))) 28.250 * [backup-simplify]: Simplify (- (* (sin phi1) (* (cos theta) (cos phi1)))) into (- (* (sin phi1) (* (cos theta) (cos phi1)))) 28.250 * [backup-simplify]: Simplify (+ 0 (- (* (sin phi1) (* (cos theta) (cos phi1))))) into (- (* (sin phi1) (* (cos theta) (cos phi1)))) 28.250 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (* (cos theta) (cos phi1)))) in phi1 28.250 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos theta) (cos phi1))) in phi1 28.250 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.250 * [taylor]: Taking taylor expansion of phi1 in phi1 28.250 * [backup-simplify]: Simplify 0 into 0 28.250 * [backup-simplify]: Simplify 1 into 1 28.250 * [taylor]: Taking taylor expansion of (* (cos theta) (cos phi1)) in phi1 28.251 * [taylor]: Taking taylor expansion of (cos theta) in phi1 28.251 * [taylor]: Taking taylor expansion of theta in phi1 28.251 * [backup-simplify]: Simplify theta into theta 28.251 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.251 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.251 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 28.251 * [taylor]: Taking taylor expansion of phi1 in phi1 28.251 * [backup-simplify]: Simplify 0 into 0 28.251 * [backup-simplify]: Simplify 1 into 1 28.251 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 28.251 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 28.251 * [backup-simplify]: Simplify (- 0) into 0 28.251 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 28.251 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 28.252 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 28.252 * [backup-simplify]: Simplify (- 0) into 0 28.252 * [taylor]: Taking taylor expansion of 0 in theta 28.252 * [backup-simplify]: Simplify 0 into 0 28.252 * [backup-simplify]: Simplify 0 into 0 28.252 * [backup-simplify]: Simplify (+ 0 0) into 0 28.252 * [taylor]: Taking taylor expansion of 0 in theta 28.252 * [backup-simplify]: Simplify 0 into 0 28.253 * [backup-simplify]: Simplify 0 into 0 28.253 * [backup-simplify]: Simplify 0 into 0 28.254 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 28.254 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.255 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.256 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 28.257 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.257 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 28.258 * [backup-simplify]: Simplify (- 0) into 0 28.258 * [backup-simplify]: Simplify (+ 0 0) into 0 28.259 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 1) (* 0 0))) into 0 28.260 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.260 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 28.261 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.262 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 28.262 * [backup-simplify]: Simplify (- 0) into 0 28.262 * [backup-simplify]: Simplify (+ 0 0) into 0 28.263 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 (cos phi1)) (* 0 0))) into 0 28.264 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 28.265 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.265 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 28.266 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.267 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 28.271 * [backup-simplify]: Simplify (+ 0 0) into 0 28.272 * [backup-simplify]: Simplify (+ (* (sin phi1) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (sin phi1))) 28.272 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (sin phi1)))) into (- (* 1/2 (sin phi1))) 28.273 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.274 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 28.275 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.275 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 28.276 * [backup-simplify]: Simplify (+ 0 0) into 0 28.276 * [backup-simplify]: Simplify (+ (* (sin phi1) (- (* 1/2 (sin phi1)))) (+ (* 0 (* (cos theta) (cos phi1))) (* 0 (sin phi1)))) into (- (* 1/2 (pow (sin phi1) 2))) 28.276 * [backup-simplify]: Simplify (- (- (* 1/2 (pow (sin phi1) 2)))) into (* 1/2 (pow (sin phi1) 2)) 28.276 * [backup-simplify]: Simplify (+ -1/2 (* 1/2 (pow (sin phi1) 2))) into (- (* 1/2 (pow (sin phi1) 2)) 1/2) 28.277 * [taylor]: Taking taylor expansion of (- (* 1/2 (pow (sin phi1) 2)) 1/2) in phi1 28.277 * [taylor]: Taking taylor expansion of (* 1/2 (pow (sin phi1) 2)) in phi1 28.277 * [taylor]: Taking taylor expansion of 1/2 in phi1 28.277 * [backup-simplify]: Simplify 1/2 into 1/2 28.277 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 28.277 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.277 * [taylor]: Taking taylor expansion of phi1 in phi1 28.277 * [backup-simplify]: Simplify 0 into 0 28.277 * [backup-simplify]: Simplify 1 into 1 28.278 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.278 * [taylor]: Taking taylor expansion of 1/2 in phi1 28.278 * [backup-simplify]: Simplify 1/2 into 1/2 28.278 * [backup-simplify]: Simplify (- 1/2) into -1/2 28.279 * [backup-simplify]: Simplify (+ 0 -1/2) into -1/2 28.279 * [taylor]: Taking taylor expansion of -1/2 in theta 28.279 * [backup-simplify]: Simplify -1/2 into -1/2 28.279 * [backup-simplify]: Simplify -1/2 into -1/2 28.279 * [backup-simplify]: Simplify (+ 0) into 0 28.280 * [backup-simplify]: Simplify (+ 0) into 0 28.280 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 28.281 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.281 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 28.282 * [backup-simplify]: Simplify (- 0) into 0 28.282 * [backup-simplify]: Simplify (+ 0 0) into 0 28.283 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 28.284 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.284 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos theta))) into (cos theta) 28.284 * [backup-simplify]: Simplify (- (cos theta)) into (- (cos theta)) 28.284 * [taylor]: Taking taylor expansion of (- (cos theta)) in theta 28.284 * [taylor]: Taking taylor expansion of (cos theta) in theta 28.284 * [taylor]: Taking taylor expansion of theta in theta 28.284 * [backup-simplify]: Simplify 0 into 0 28.284 * [backup-simplify]: Simplify 1 into 1 28.285 * [backup-simplify]: Simplify (- 1) into -1 28.285 * [backup-simplify]: Simplify -1 into -1 28.285 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* phi1 delta))) (+ (* -1/2 (pow (* 1 (* 1 delta)) 2)) 1)) into (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) 28.286 * [backup-simplify]: Simplify (- (cos (/ 1 delta)) (* (sin (/ 1 phi1)) (sin (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))))) into (- (cos (/ 1 delta)) (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) 28.286 * [approximate]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) in (delta phi1 theta) around 0 28.286 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) in theta 28.286 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 28.286 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.286 * [taylor]: Taking taylor expansion of delta in theta 28.286 * [backup-simplify]: Simplify delta into delta 28.286 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.286 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.286 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.286 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in theta 28.286 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 28.286 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 28.286 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 28.286 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 28.286 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 28.286 * [taylor]: Taking taylor expansion of theta in theta 28.286 * [backup-simplify]: Simplify 0 into 0 28.287 * [backup-simplify]: Simplify 1 into 1 28.287 * [backup-simplify]: Simplify (/ 1 1) into 1 28.287 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.287 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 28.287 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 28.287 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.287 * [taylor]: Taking taylor expansion of delta in theta 28.287 * [backup-simplify]: Simplify delta into delta 28.287 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.287 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.287 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.288 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 28.288 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.288 * [taylor]: Taking taylor expansion of phi1 in theta 28.288 * [backup-simplify]: Simplify phi1 into phi1 28.288 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.288 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.288 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.288 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 28.288 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 28.288 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.288 * [taylor]: Taking taylor expansion of phi1 in theta 28.288 * [backup-simplify]: Simplify phi1 into phi1 28.288 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.288 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.289 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.289 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 28.289 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.289 * [taylor]: Taking taylor expansion of delta in theta 28.289 * [backup-simplify]: Simplify delta into delta 28.289 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.289 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.289 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.289 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 28.289 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.289 * [taylor]: Taking taylor expansion of phi1 in theta 28.289 * [backup-simplify]: Simplify phi1 into phi1 28.289 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.289 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.289 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.289 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) in phi1 28.289 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 28.289 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.289 * [taylor]: Taking taylor expansion of delta in phi1 28.289 * [backup-simplify]: Simplify delta into delta 28.289 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.289 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.290 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.290 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in phi1 28.290 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 28.290 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 28.290 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 28.290 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 28.290 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 28.290 * [taylor]: Taking taylor expansion of theta in phi1 28.290 * [backup-simplify]: Simplify theta into theta 28.290 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.290 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.290 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.290 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 28.290 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 28.290 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.290 * [taylor]: Taking taylor expansion of delta in phi1 28.290 * [backup-simplify]: Simplify delta into delta 28.290 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.290 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.290 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.290 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 28.290 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.290 * [taylor]: Taking taylor expansion of phi1 in phi1 28.290 * [backup-simplify]: Simplify 0 into 0 28.291 * [backup-simplify]: Simplify 1 into 1 28.291 * [backup-simplify]: Simplify (/ 1 1) into 1 28.291 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.291 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 28.291 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.291 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.291 * [taylor]: Taking taylor expansion of phi1 in phi1 28.291 * [backup-simplify]: Simplify 0 into 0 28.291 * [backup-simplify]: Simplify 1 into 1 28.292 * [backup-simplify]: Simplify (/ 1 1) into 1 28.292 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.292 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 28.292 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.292 * [taylor]: Taking taylor expansion of delta in phi1 28.292 * [backup-simplify]: Simplify delta into delta 28.292 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.292 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.292 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.292 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.292 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.292 * [taylor]: Taking taylor expansion of phi1 in phi1 28.292 * [backup-simplify]: Simplify 0 into 0 28.292 * [backup-simplify]: Simplify 1 into 1 28.293 * [backup-simplify]: Simplify (/ 1 1) into 1 28.293 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.293 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) in delta 28.293 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 28.293 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.293 * [taylor]: Taking taylor expansion of delta in delta 28.293 * [backup-simplify]: Simplify 0 into 0 28.293 * [backup-simplify]: Simplify 1 into 1 28.294 * [backup-simplify]: Simplify (/ 1 1) into 1 28.294 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.294 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in delta 28.294 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 28.294 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 28.294 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 28.294 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 28.294 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 28.294 * [taylor]: Taking taylor expansion of theta in delta 28.294 * [backup-simplify]: Simplify theta into theta 28.294 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.294 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.294 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.294 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 28.294 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 28.294 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.294 * [taylor]: Taking taylor expansion of delta in delta 28.294 * [backup-simplify]: Simplify 0 into 0 28.294 * [backup-simplify]: Simplify 1 into 1 28.295 * [backup-simplify]: Simplify (/ 1 1) into 1 28.295 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.295 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 28.295 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.295 * [taylor]: Taking taylor expansion of phi1 in delta 28.295 * [backup-simplify]: Simplify phi1 into phi1 28.295 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.295 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.295 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.295 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 28.295 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.295 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.295 * [taylor]: Taking taylor expansion of phi1 in delta 28.295 * [backup-simplify]: Simplify phi1 into phi1 28.295 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.296 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.296 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.296 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 28.296 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.296 * [taylor]: Taking taylor expansion of delta in delta 28.296 * [backup-simplify]: Simplify 0 into 0 28.296 * [backup-simplify]: Simplify 1 into 1 28.297 * [backup-simplify]: Simplify (/ 1 1) into 1 28.297 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.297 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.297 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.297 * [taylor]: Taking taylor expansion of phi1 in delta 28.297 * [backup-simplify]: Simplify phi1 into phi1 28.297 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.297 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.297 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.297 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) in delta 28.297 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 28.297 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.297 * [taylor]: Taking taylor expansion of delta in delta 28.297 * [backup-simplify]: Simplify 0 into 0 28.297 * [backup-simplify]: Simplify 1 into 1 28.298 * [backup-simplify]: Simplify (/ 1 1) into 1 28.298 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.298 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in delta 28.298 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 28.298 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 28.298 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 28.298 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 28.298 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 28.298 * [taylor]: Taking taylor expansion of theta in delta 28.298 * [backup-simplify]: Simplify theta into theta 28.298 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.298 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.299 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.299 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 28.299 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 28.299 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.299 * [taylor]: Taking taylor expansion of delta in delta 28.299 * [backup-simplify]: Simplify 0 into 0 28.299 * [backup-simplify]: Simplify 1 into 1 28.299 * [backup-simplify]: Simplify (/ 1 1) into 1 28.299 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.299 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 28.299 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.299 * [taylor]: Taking taylor expansion of phi1 in delta 28.299 * [backup-simplify]: Simplify phi1 into phi1 28.299 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.300 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.300 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.300 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 28.300 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.300 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.300 * [taylor]: Taking taylor expansion of phi1 in delta 28.300 * [backup-simplify]: Simplify phi1 into phi1 28.300 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.300 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.300 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.300 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 28.300 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.300 * [taylor]: Taking taylor expansion of delta in delta 28.300 * [backup-simplify]: Simplify 0 into 0 28.300 * [backup-simplify]: Simplify 1 into 1 28.301 * [backup-simplify]: Simplify (/ 1 1) into 1 28.301 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.301 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.301 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.301 * [taylor]: Taking taylor expansion of phi1 in delta 28.301 * [backup-simplify]: Simplify phi1 into phi1 28.301 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.301 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.301 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.301 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 28.301 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 28.302 * [backup-simplify]: Simplify (- 0) into 0 28.302 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 28.302 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 28.302 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 28.302 * [backup-simplify]: Simplify (- 0) into 0 28.302 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 28.303 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (cos (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 delta))) 28.303 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 28.303 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 28.303 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 28.303 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 28.303 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 28.303 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) into (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 28.304 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 28.304 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 28.304 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 28.304 * [backup-simplify]: Simplify (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) into (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) 28.305 * [backup-simplify]: Simplify (- (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) into (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 28.306 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))))) into (- (cos (/ 1 delta)) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 28.306 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) in phi1 28.306 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 28.306 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.306 * [taylor]: Taking taylor expansion of delta in phi1 28.306 * [backup-simplify]: Simplify delta into delta 28.306 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.306 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.306 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.306 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) in phi1 28.306 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in phi1 28.306 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 28.306 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.306 * [taylor]: Taking taylor expansion of phi1 in phi1 28.306 * [backup-simplify]: Simplify 0 into 0 28.306 * [backup-simplify]: Simplify 1 into 1 28.307 * [backup-simplify]: Simplify (/ 1 1) into 1 28.307 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.307 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in phi1 28.307 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.307 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.307 * [taylor]: Taking taylor expansion of phi1 in phi1 28.307 * [backup-simplify]: Simplify 0 into 0 28.307 * [backup-simplify]: Simplify 1 into 1 28.307 * [backup-simplify]: Simplify (/ 1 1) into 1 28.307 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.307 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in phi1 28.307 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 28.308 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 28.308 * [taylor]: Taking taylor expansion of theta in phi1 28.308 * [backup-simplify]: Simplify theta into theta 28.308 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.308 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.308 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.308 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 28.308 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.308 * [taylor]: Taking taylor expansion of delta in phi1 28.308 * [backup-simplify]: Simplify delta into delta 28.308 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.308 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.308 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.308 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in phi1 28.308 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 28.308 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.308 * [taylor]: Taking taylor expansion of delta in phi1 28.308 * [backup-simplify]: Simplify delta into delta 28.308 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.308 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.308 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.308 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 28.308 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.308 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.308 * [taylor]: Taking taylor expansion of phi1 in phi1 28.308 * [backup-simplify]: Simplify 0 into 0 28.308 * [backup-simplify]: Simplify 1 into 1 28.309 * [backup-simplify]: Simplify (/ 1 1) into 1 28.309 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.309 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 28.309 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 28.309 * [backup-simplify]: Simplify (- 0) into 0 28.310 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 28.310 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 28.310 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 28.310 * [backup-simplify]: Simplify (- 0) into 0 28.310 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 28.310 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 28.310 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 28.310 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 28.311 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 28.311 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) 28.311 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) into (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 28.311 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 28.311 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 28.312 * [backup-simplify]: Simplify (- 0) into 0 28.312 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 28.312 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 28.312 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 28.313 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 28.313 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 28.314 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))))) into (- (cos (/ 1 delta)) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 28.314 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) in theta 28.314 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 28.314 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.314 * [taylor]: Taking taylor expansion of delta in theta 28.314 * [backup-simplify]: Simplify delta into delta 28.314 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.314 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.314 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.314 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) in theta 28.314 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) in theta 28.314 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 28.314 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.314 * [taylor]: Taking taylor expansion of phi1 in theta 28.314 * [backup-simplify]: Simplify phi1 into phi1 28.315 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.315 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.315 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.315 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) in theta 28.315 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 28.315 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.315 * [taylor]: Taking taylor expansion of delta in theta 28.315 * [backup-simplify]: Simplify delta into delta 28.315 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.315 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.315 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.315 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 phi1))) in theta 28.315 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 28.315 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 28.315 * [taylor]: Taking taylor expansion of theta in theta 28.315 * [backup-simplify]: Simplify 0 into 0 28.315 * [backup-simplify]: Simplify 1 into 1 28.316 * [backup-simplify]: Simplify (/ 1 1) into 1 28.316 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.316 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 28.316 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.316 * [taylor]: Taking taylor expansion of phi1 in theta 28.316 * [backup-simplify]: Simplify phi1 into phi1 28.316 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.316 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.316 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.316 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in theta 28.316 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 28.316 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.316 * [taylor]: Taking taylor expansion of delta in theta 28.316 * [backup-simplify]: Simplify delta into delta 28.316 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.316 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.316 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.316 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 28.316 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 28.316 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.316 * [taylor]: Taking taylor expansion of phi1 in theta 28.317 * [backup-simplify]: Simplify phi1 into phi1 28.317 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.317 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.317 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.317 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 28.317 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 28.317 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 28.317 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 28.317 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 28.318 * [backup-simplify]: Simplify (- 0) into 0 28.318 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 28.318 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 28.318 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 28.318 * [backup-simplify]: Simplify (- 0) into 0 28.318 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 28.318 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 28.319 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 28.319 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 28.319 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 28.319 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 28.319 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 28.319 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 phi1))) into (* (cos (/ 1 theta)) (sin (/ 1 phi1))) 28.319 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) into (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 28.319 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 28.320 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 28.320 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 28.320 * [backup-simplify]: Simplify (- 0) into 0 28.320 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 28.320 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 28.320 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 28.321 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 28.322 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (+ (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 28.322 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))))) into (- (cos (/ 1 delta)) (+ (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 28.323 * [backup-simplify]: Simplify (- (cos (/ 1 delta)) (+ (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) into (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 28.323 * [backup-simplify]: Simplify (+ 0) into 0 28.324 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 28.324 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.325 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.325 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 28.326 * [backup-simplify]: Simplify (+ 0 0) into 0 28.326 * [backup-simplify]: Simplify (+ 0) into 0 28.326 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 28.327 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.327 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.328 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 28.328 * [backup-simplify]: Simplify (- 0) into 0 28.328 * [backup-simplify]: Simplify (+ 0 0) into 0 28.329 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 28.329 * [backup-simplify]: Simplify (+ 0) into 0 28.330 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 28.330 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 28.331 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.331 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 28.331 * [backup-simplify]: Simplify (- 0) into 0 28.332 * [backup-simplify]: Simplify (+ 0 0) into 0 28.332 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta))))) into 0 28.332 * [backup-simplify]: Simplify (+ 0) into 0 28.333 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 28.333 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.334 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.334 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 28.334 * [backup-simplify]: Simplify (+ 0 0) into 0 28.335 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 28.335 * [backup-simplify]: Simplify (+ 0 0) into 0 28.335 * [backup-simplify]: Simplify (+ (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 28.336 * [backup-simplify]: Simplify (- 0) into 0 28.336 * [backup-simplify]: Simplify (+ 0 0) into 0 28.336 * [taylor]: Taking taylor expansion of 0 in phi1 28.336 * [backup-simplify]: Simplify 0 into 0 28.336 * [taylor]: Taking taylor expansion of 0 in theta 28.336 * [backup-simplify]: Simplify 0 into 0 28.336 * [backup-simplify]: Simplify 0 into 0 28.337 * [backup-simplify]: Simplify (+ 0) into 0 28.337 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 28.337 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.338 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.339 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 28.339 * [backup-simplify]: Simplify (- 0) into 0 28.339 * [backup-simplify]: Simplify (+ 0 0) into 0 28.340 * [backup-simplify]: Simplify (+ 0) into 0 28.340 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 28.340 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.341 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.341 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 28.342 * [backup-simplify]: Simplify (+ 0 0) into 0 28.342 * [backup-simplify]: Simplify (+ 0) into 0 28.343 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 28.343 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 28.343 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.344 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 28.344 * [backup-simplify]: Simplify (- 0) into 0 28.345 * [backup-simplify]: Simplify (+ 0 0) into 0 28.345 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 28.345 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 28.345 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))))) into 0 28.345 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 28.346 * [backup-simplify]: Simplify (+ 0) into 0 28.346 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 28.346 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.347 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.348 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 28.348 * [backup-simplify]: Simplify (- 0) into 0 28.349 * [backup-simplify]: Simplify (+ 0 0) into 0 28.349 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 28.349 * [backup-simplify]: Simplify (+ 0 0) into 0 28.350 * [backup-simplify]: Simplify (- 0) into 0 28.350 * [backup-simplify]: Simplify (+ 0 0) into 0 28.350 * [taylor]: Taking taylor expansion of 0 in theta 28.350 * [backup-simplify]: Simplify 0 into 0 28.350 * [backup-simplify]: Simplify 0 into 0 28.350 * [backup-simplify]: Simplify (+ 0) into 0 28.351 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 28.351 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.352 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.352 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 28.353 * [backup-simplify]: Simplify (- 0) into 0 28.353 * [backup-simplify]: Simplify (+ 0 0) into 0 28.353 * [backup-simplify]: Simplify (+ 0) into 0 28.354 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 28.354 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.355 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.355 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 28.356 * [backup-simplify]: Simplify (+ 0 0) into 0 28.356 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 28.356 * [backup-simplify]: Simplify (+ 0) into 0 28.357 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 28.357 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.357 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.358 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 28.358 * [backup-simplify]: Simplify (+ 0 0) into 0 28.358 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) into 0 28.359 * [backup-simplify]: Simplify (+ 0) into 0 28.359 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 28.359 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.360 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.361 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 28.361 * [backup-simplify]: Simplify (- 0) into 0 28.361 * [backup-simplify]: Simplify (+ 0 0) into 0 28.362 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 28.362 * [backup-simplify]: Simplify (+ 0) into 0 28.362 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 28.363 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.363 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.364 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 28.364 * [backup-simplify]: Simplify (+ 0 0) into 0 28.364 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 28.365 * [backup-simplify]: Simplify (+ 0) into 0 28.365 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 28.365 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.366 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.366 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 28.367 * [backup-simplify]: Simplify (- 0) into 0 28.367 * [backup-simplify]: Simplify (+ 0 0) into 0 28.367 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 28.368 * [backup-simplify]: Simplify (+ 0 0) into 0 28.368 * [backup-simplify]: Simplify (- 0) into 0 28.368 * [backup-simplify]: Simplify (+ 0 0) into 0 28.368 * [backup-simplify]: Simplify 0 into 0 28.369 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.369 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.369 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.370 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.370 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.370 * [backup-simplify]: Simplify (+ 0 0) into 0 28.371 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.371 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.371 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.372 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.372 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.372 * [backup-simplify]: Simplify (- 0) into 0 28.373 * [backup-simplify]: Simplify (+ 0 0) into 0 28.373 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 28.373 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.374 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.374 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.374 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.375 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.375 * [backup-simplify]: Simplify (- 0) into 0 28.375 * [backup-simplify]: Simplify (+ 0 0) into 0 28.376 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta)))))) into 0 28.376 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.377 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.377 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.377 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.377 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.378 * [backup-simplify]: Simplify (+ 0 0) into 0 28.378 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 28.378 * [backup-simplify]: Simplify (+ 0 0) into 0 28.379 * [backup-simplify]: Simplify (+ (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 28.379 * [backup-simplify]: Simplify (- 0) into 0 28.379 * [backup-simplify]: Simplify (+ 0 0) into 0 28.379 * [taylor]: Taking taylor expansion of 0 in phi1 28.379 * [backup-simplify]: Simplify 0 into 0 28.379 * [taylor]: Taking taylor expansion of 0 in theta 28.379 * [backup-simplify]: Simplify 0 into 0 28.379 * [backup-simplify]: Simplify 0 into 0 28.379 * [taylor]: Taking taylor expansion of 0 in theta 28.379 * [backup-simplify]: Simplify 0 into 0 28.379 * [backup-simplify]: Simplify 0 into 0 28.380 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.380 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.380 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.381 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.381 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.381 * [backup-simplify]: Simplify (- 0) into 0 28.382 * [backup-simplify]: Simplify (+ 0 0) into 0 28.382 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.383 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.383 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.383 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.384 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.384 * [backup-simplify]: Simplify (+ 0 0) into 0 28.385 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.385 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.385 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.386 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.386 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.386 * [backup-simplify]: Simplify (- 0) into 0 28.387 * [backup-simplify]: Simplify (+ 0 0) into 0 28.387 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 28.387 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 28.388 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))))) into 0 28.388 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 28.389 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.389 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.389 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.390 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.390 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.390 * [backup-simplify]: Simplify (- 0) into 0 28.390 * [backup-simplify]: Simplify (+ 0 0) into 0 28.391 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 1 phi1)) 2)))) into 0 28.391 * [backup-simplify]: Simplify (+ 0 0) into 0 28.391 * [backup-simplify]: Simplify (- 0) into 0 28.392 * [backup-simplify]: Simplify (+ 0 0) into 0 28.392 * [taylor]: Taking taylor expansion of 0 in theta 28.392 * [backup-simplify]: Simplify 0 into 0 28.392 * [backup-simplify]: Simplify 0 into 0 28.392 * [backup-simplify]: Simplify (- (cos (/ 1 (/ 1 delta))) (+ (* (sin (/ 1 (/ 1 delta))) (* (sin (/ 1 (/ 1 phi1))) (* (cos (/ 1 (/ 1 theta))) (cos (/ 1 (/ 1 phi1)))))) (* (pow (sin (/ 1 (/ 1 phi1))) 2) (cos (/ 1 (/ 1 delta)))))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (sin phi1) (* (cos theta) (cos phi1)))))) 28.392 * [backup-simplify]: Simplify (- (cos (/ 1 (- delta))) (* (sin (/ 1 (- phi1))) (sin (asin (fma (cos (/ 1 (- theta))) (* (cos (/ 1 (- phi1))) (sin (/ 1 (- delta)))) (* (cos (/ 1 (- delta))) (sin (/ 1 (- phi1))))))))) into (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) 28.392 * [approximate]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in (delta phi1 theta) around 0 28.392 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in theta 28.392 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 28.392 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.392 * [taylor]: Taking taylor expansion of -1 in theta 28.392 * [backup-simplify]: Simplify -1 into -1 28.392 * [taylor]: Taking taylor expansion of delta in theta 28.392 * [backup-simplify]: Simplify delta into delta 28.393 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.393 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.393 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.393 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 28.393 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 28.393 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.393 * [taylor]: Taking taylor expansion of -1 in theta 28.393 * [backup-simplify]: Simplify -1 into -1 28.393 * [taylor]: Taking taylor expansion of phi1 in theta 28.393 * [backup-simplify]: Simplify phi1 into phi1 28.393 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.393 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.393 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.393 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 28.393 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 28.393 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 28.393 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 28.393 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 28.393 * [taylor]: Taking taylor expansion of -1 in theta 28.393 * [backup-simplify]: Simplify -1 into -1 28.393 * [taylor]: Taking taylor expansion of theta in theta 28.393 * [backup-simplify]: Simplify 0 into 0 28.393 * [backup-simplify]: Simplify 1 into 1 28.393 * [backup-simplify]: Simplify (/ -1 1) into -1 28.393 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.393 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 28.393 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 28.393 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.393 * [taylor]: Taking taylor expansion of -1 in theta 28.393 * [backup-simplify]: Simplify -1 into -1 28.393 * [taylor]: Taking taylor expansion of phi1 in theta 28.393 * [backup-simplify]: Simplify phi1 into phi1 28.394 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.394 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.394 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.394 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 28.394 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.394 * [taylor]: Taking taylor expansion of -1 in theta 28.394 * [backup-simplify]: Simplify -1 into -1 28.394 * [taylor]: Taking taylor expansion of delta in theta 28.394 * [backup-simplify]: Simplify delta into delta 28.394 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.394 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.394 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.394 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 28.394 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 28.394 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.394 * [taylor]: Taking taylor expansion of -1 in theta 28.394 * [backup-simplify]: Simplify -1 into -1 28.394 * [taylor]: Taking taylor expansion of phi1 in theta 28.394 * [backup-simplify]: Simplify phi1 into phi1 28.394 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.394 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.394 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.394 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 28.394 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.394 * [taylor]: Taking taylor expansion of -1 in theta 28.394 * [backup-simplify]: Simplify -1 into -1 28.394 * [taylor]: Taking taylor expansion of delta in theta 28.394 * [backup-simplify]: Simplify delta into delta 28.394 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.394 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.394 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.394 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in phi1 28.394 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 28.394 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.394 * [taylor]: Taking taylor expansion of -1 in phi1 28.394 * [backup-simplify]: Simplify -1 into -1 28.394 * [taylor]: Taking taylor expansion of delta in phi1 28.394 * [backup-simplify]: Simplify delta into delta 28.394 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.394 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.394 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.394 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 28.394 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.395 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.395 * [taylor]: Taking taylor expansion of -1 in phi1 28.395 * [backup-simplify]: Simplify -1 into -1 28.395 * [taylor]: Taking taylor expansion of phi1 in phi1 28.395 * [backup-simplify]: Simplify 0 into 0 28.395 * [backup-simplify]: Simplify 1 into 1 28.395 * [backup-simplify]: Simplify (/ -1 1) into -1 28.395 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.395 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 28.395 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 28.395 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 28.395 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 28.395 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 28.395 * [taylor]: Taking taylor expansion of -1 in phi1 28.395 * [backup-simplify]: Simplify -1 into -1 28.395 * [taylor]: Taking taylor expansion of theta in phi1 28.395 * [backup-simplify]: Simplify theta into theta 28.395 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.395 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.395 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.395 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 28.395 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 28.395 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.395 * [taylor]: Taking taylor expansion of -1 in phi1 28.395 * [backup-simplify]: Simplify -1 into -1 28.395 * [taylor]: Taking taylor expansion of phi1 in phi1 28.395 * [backup-simplify]: Simplify 0 into 0 28.395 * [backup-simplify]: Simplify 1 into 1 28.396 * [backup-simplify]: Simplify (/ -1 1) into -1 28.396 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.396 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 28.396 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.396 * [taylor]: Taking taylor expansion of -1 in phi1 28.396 * [backup-simplify]: Simplify -1 into -1 28.396 * [taylor]: Taking taylor expansion of delta in phi1 28.396 * [backup-simplify]: Simplify delta into delta 28.396 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.396 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.396 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.396 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 28.396 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.396 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.396 * [taylor]: Taking taylor expansion of -1 in phi1 28.396 * [backup-simplify]: Simplify -1 into -1 28.396 * [taylor]: Taking taylor expansion of phi1 in phi1 28.396 * [backup-simplify]: Simplify 0 into 0 28.396 * [backup-simplify]: Simplify 1 into 1 28.397 * [backup-simplify]: Simplify (/ -1 1) into -1 28.397 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.397 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 28.397 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.397 * [taylor]: Taking taylor expansion of -1 in phi1 28.397 * [backup-simplify]: Simplify -1 into -1 28.397 * [taylor]: Taking taylor expansion of delta in phi1 28.397 * [backup-simplify]: Simplify delta into delta 28.397 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.397 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.397 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.397 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in delta 28.397 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 28.397 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.397 * [taylor]: Taking taylor expansion of -1 in delta 28.397 * [backup-simplify]: Simplify -1 into -1 28.397 * [taylor]: Taking taylor expansion of delta in delta 28.397 * [backup-simplify]: Simplify 0 into 0 28.397 * [backup-simplify]: Simplify 1 into 1 28.397 * [backup-simplify]: Simplify (/ -1 1) into -1 28.397 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.398 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 28.398 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.398 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.398 * [taylor]: Taking taylor expansion of -1 in delta 28.398 * [backup-simplify]: Simplify -1 into -1 28.398 * [taylor]: Taking taylor expansion of phi1 in delta 28.398 * [backup-simplify]: Simplify phi1 into phi1 28.398 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.398 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.398 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.398 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 28.398 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 28.398 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 28.398 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 28.398 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 28.398 * [taylor]: Taking taylor expansion of -1 in delta 28.398 * [backup-simplify]: Simplify -1 into -1 28.398 * [taylor]: Taking taylor expansion of theta in delta 28.398 * [backup-simplify]: Simplify theta into theta 28.398 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.398 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.398 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.398 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 28.398 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 28.398 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.398 * [taylor]: Taking taylor expansion of -1 in delta 28.398 * [backup-simplify]: Simplify -1 into -1 28.398 * [taylor]: Taking taylor expansion of phi1 in delta 28.398 * [backup-simplify]: Simplify phi1 into phi1 28.398 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.398 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.398 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.398 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 28.398 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.399 * [taylor]: Taking taylor expansion of -1 in delta 28.399 * [backup-simplify]: Simplify -1 into -1 28.399 * [taylor]: Taking taylor expansion of delta in delta 28.399 * [backup-simplify]: Simplify 0 into 0 28.399 * [backup-simplify]: Simplify 1 into 1 28.399 * [backup-simplify]: Simplify (/ -1 1) into -1 28.399 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.399 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 28.399 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.399 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.399 * [taylor]: Taking taylor expansion of -1 in delta 28.399 * [backup-simplify]: Simplify -1 into -1 28.399 * [taylor]: Taking taylor expansion of phi1 in delta 28.399 * [backup-simplify]: Simplify phi1 into phi1 28.399 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.399 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.399 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.399 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 28.399 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.399 * [taylor]: Taking taylor expansion of -1 in delta 28.399 * [backup-simplify]: Simplify -1 into -1 28.399 * [taylor]: Taking taylor expansion of delta in delta 28.399 * [backup-simplify]: Simplify 0 into 0 28.399 * [backup-simplify]: Simplify 1 into 1 28.400 * [backup-simplify]: Simplify (/ -1 1) into -1 28.400 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.400 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in delta 28.400 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 28.400 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.400 * [taylor]: Taking taylor expansion of -1 in delta 28.400 * [backup-simplify]: Simplify -1 into -1 28.400 * [taylor]: Taking taylor expansion of delta in delta 28.400 * [backup-simplify]: Simplify 0 into 0 28.400 * [backup-simplify]: Simplify 1 into 1 28.400 * [backup-simplify]: Simplify (/ -1 1) into -1 28.400 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.400 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 28.400 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.400 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.400 * [taylor]: Taking taylor expansion of -1 in delta 28.400 * [backup-simplify]: Simplify -1 into -1 28.400 * [taylor]: Taking taylor expansion of phi1 in delta 28.400 * [backup-simplify]: Simplify phi1 into phi1 28.400 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.400 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.400 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.400 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 28.400 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 28.400 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 28.400 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 28.400 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 28.400 * [taylor]: Taking taylor expansion of -1 in delta 28.401 * [backup-simplify]: Simplify -1 into -1 28.401 * [taylor]: Taking taylor expansion of theta in delta 28.401 * [backup-simplify]: Simplify theta into theta 28.401 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.401 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.401 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.401 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 28.401 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 28.401 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.401 * [taylor]: Taking taylor expansion of -1 in delta 28.401 * [backup-simplify]: Simplify -1 into -1 28.401 * [taylor]: Taking taylor expansion of phi1 in delta 28.401 * [backup-simplify]: Simplify phi1 into phi1 28.401 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.401 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.401 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.401 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 28.401 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.401 * [taylor]: Taking taylor expansion of -1 in delta 28.401 * [backup-simplify]: Simplify -1 into -1 28.401 * [taylor]: Taking taylor expansion of delta in delta 28.401 * [backup-simplify]: Simplify 0 into 0 28.401 * [backup-simplify]: Simplify 1 into 1 28.401 * [backup-simplify]: Simplify (/ -1 1) into -1 28.401 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.401 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 28.401 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.401 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.401 * [taylor]: Taking taylor expansion of -1 in delta 28.401 * [backup-simplify]: Simplify -1 into -1 28.401 * [taylor]: Taking taylor expansion of phi1 in delta 28.401 * [backup-simplify]: Simplify phi1 into phi1 28.401 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.402 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.402 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.402 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 28.402 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.402 * [taylor]: Taking taylor expansion of -1 in delta 28.402 * [backup-simplify]: Simplify -1 into -1 28.402 * [taylor]: Taking taylor expansion of delta in delta 28.402 * [backup-simplify]: Simplify 0 into 0 28.402 * [backup-simplify]: Simplify 1 into 1 28.402 * [backup-simplify]: Simplify (/ -1 1) into -1 28.402 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.402 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 28.402 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 28.402 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 28.402 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 28.402 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 28.403 * [backup-simplify]: Simplify (- 0) into 0 28.403 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 28.403 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 28.403 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 28.403 * [backup-simplify]: Simplify (- 0) into 0 28.403 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 28.403 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 28.403 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 28.403 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 28.403 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 28.403 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 28.403 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 28.404 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) into (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 28.404 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 28.405 * [backup-simplify]: Simplify (- (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 28.405 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 28.405 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) in phi1 28.406 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 28.406 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.406 * [taylor]: Taking taylor expansion of -1 in phi1 28.406 * [backup-simplify]: Simplify -1 into -1 28.406 * [taylor]: Taking taylor expansion of delta in phi1 28.406 * [backup-simplify]: Simplify delta into delta 28.406 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.406 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.406 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.406 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) in phi1 28.406 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in phi1 28.406 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 28.406 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.406 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.406 * [taylor]: Taking taylor expansion of -1 in phi1 28.406 * [backup-simplify]: Simplify -1 into -1 28.406 * [taylor]: Taking taylor expansion of phi1 in phi1 28.406 * [backup-simplify]: Simplify 0 into 0 28.406 * [backup-simplify]: Simplify 1 into 1 28.409 * [backup-simplify]: Simplify (/ -1 1) into -1 28.409 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.409 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 28.409 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.409 * [taylor]: Taking taylor expansion of -1 in phi1 28.409 * [backup-simplify]: Simplify -1 into -1 28.409 * [taylor]: Taking taylor expansion of delta in phi1 28.409 * [backup-simplify]: Simplify delta into delta 28.409 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.409 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.409 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.409 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) in phi1 28.409 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.409 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.409 * [taylor]: Taking taylor expansion of -1 in phi1 28.409 * [backup-simplify]: Simplify -1 into -1 28.409 * [taylor]: Taking taylor expansion of phi1 in phi1 28.409 * [backup-simplify]: Simplify 0 into 0 28.409 * [backup-simplify]: Simplify 1 into 1 28.410 * [backup-simplify]: Simplify (/ -1 1) into -1 28.410 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.410 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))) in phi1 28.410 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 28.410 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 28.410 * [taylor]: Taking taylor expansion of -1 in phi1 28.410 * [backup-simplify]: Simplify -1 into -1 28.410 * [taylor]: Taking taylor expansion of theta in phi1 28.410 * [backup-simplify]: Simplify theta into theta 28.410 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.410 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.411 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.411 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 phi1))) in phi1 28.411 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 28.411 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.411 * [taylor]: Taking taylor expansion of -1 in phi1 28.411 * [backup-simplify]: Simplify -1 into -1 28.411 * [taylor]: Taking taylor expansion of delta in phi1 28.411 * [backup-simplify]: Simplify delta into delta 28.411 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.411 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.411 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.411 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 28.411 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.411 * [taylor]: Taking taylor expansion of -1 in phi1 28.411 * [backup-simplify]: Simplify -1 into -1 28.411 * [taylor]: Taking taylor expansion of phi1 in phi1 28.411 * [backup-simplify]: Simplify 0 into 0 28.411 * [backup-simplify]: Simplify 1 into 1 28.412 * [backup-simplify]: Simplify (/ -1 1) into -1 28.412 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.412 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 28.412 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 28.412 * [backup-simplify]: Simplify (- 0) into 0 28.412 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 28.412 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 28.413 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 28.413 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 28.413 * [backup-simplify]: Simplify (- 0) into 0 28.413 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 28.413 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 28.413 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 28.413 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 28.414 * [backup-simplify]: Simplify (- 0) into 0 28.414 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 28.414 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 28.414 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 28.414 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 28.414 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 28.414 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 28.415 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) 28.415 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) 28.416 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 28.417 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 28.417 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) in theta 28.417 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 28.417 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.417 * [taylor]: Taking taylor expansion of -1 in theta 28.417 * [backup-simplify]: Simplify -1 into -1 28.417 * [taylor]: Taking taylor expansion of delta in theta 28.417 * [backup-simplify]: Simplify delta into delta 28.417 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.417 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.417 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.417 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) in theta 28.417 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in theta 28.417 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in theta 28.417 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 28.417 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.417 * [taylor]: Taking taylor expansion of -1 in theta 28.417 * [backup-simplify]: Simplify -1 into -1 28.417 * [taylor]: Taking taylor expansion of phi1 in theta 28.417 * [backup-simplify]: Simplify phi1 into phi1 28.417 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.417 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.417 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.417 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 28.418 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 28.418 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 28.418 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 28.418 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.418 * [taylor]: Taking taylor expansion of -1 in theta 28.418 * [backup-simplify]: Simplify -1 into -1 28.418 * [taylor]: Taking taylor expansion of delta in theta 28.418 * [backup-simplify]: Simplify delta into delta 28.418 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.418 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.418 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.418 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) in theta 28.418 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 28.418 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.418 * [taylor]: Taking taylor expansion of -1 in theta 28.418 * [backup-simplify]: Simplify -1 into -1 28.418 * [taylor]: Taking taylor expansion of phi1 in theta 28.418 * [backup-simplify]: Simplify phi1 into phi1 28.418 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.418 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.418 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.418 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))) in theta 28.418 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 28.418 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 28.419 * [taylor]: Taking taylor expansion of -1 in theta 28.419 * [backup-simplify]: Simplify -1 into -1 28.419 * [taylor]: Taking taylor expansion of theta in theta 28.419 * [backup-simplify]: Simplify 0 into 0 28.419 * [backup-simplify]: Simplify 1 into 1 28.419 * [backup-simplify]: Simplify (/ -1 1) into -1 28.419 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.419 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 phi1))) in theta 28.419 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 28.419 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.419 * [taylor]: Taking taylor expansion of -1 in theta 28.419 * [backup-simplify]: Simplify -1 into -1 28.419 * [taylor]: Taking taylor expansion of delta in theta 28.419 * [backup-simplify]: Simplify delta into delta 28.419 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.420 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.420 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.420 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 28.420 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.420 * [taylor]: Taking taylor expansion of -1 in theta 28.420 * [backup-simplify]: Simplify -1 into -1 28.420 * [taylor]: Taking taylor expansion of phi1 in theta 28.420 * [backup-simplify]: Simplify phi1 into phi1 28.420 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.420 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.420 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.420 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 28.420 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 28.421 * [backup-simplify]: Simplify (- 0) into 0 28.421 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 28.421 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 28.421 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 28.421 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 28.421 * [backup-simplify]: Simplify (- 0) into 0 28.421 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 28.422 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 28.422 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 28.422 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 28.422 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 28.422 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 28.422 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 28.422 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 28.422 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 28.422 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 28.423 * [backup-simplify]: Simplify (- 0) into 0 28.423 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 28.423 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 28.423 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 28.423 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) 28.424 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) 28.424 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 28.425 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 28.426 * [backup-simplify]: Simplify (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 28.426 * [backup-simplify]: Simplify (+ 0) into 0 28.427 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 28.427 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.428 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.428 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 28.429 * [backup-simplify]: Simplify (- 0) into 0 28.429 * [backup-simplify]: Simplify (+ 0 0) into 0 28.429 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 28.430 * [backup-simplify]: Simplify (+ 0) into 0 28.430 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 28.430 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 28.431 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.432 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 28.432 * [backup-simplify]: Simplify (- 0) into 0 28.432 * [backup-simplify]: Simplify (+ 0 0) into 0 28.433 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 28.433 * [backup-simplify]: Simplify (+ 0) into 0 28.433 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 28.434 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.434 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.435 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 28.435 * [backup-simplify]: Simplify (+ 0 0) into 0 28.435 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 28.436 * [backup-simplify]: Simplify (+ 0 0) into 0 28.436 * [backup-simplify]: Simplify (+ 0) into 0 28.436 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 28.437 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.437 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.438 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 28.438 * [backup-simplify]: Simplify (+ 0 0) into 0 28.439 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) into 0 28.439 * [backup-simplify]: Simplify (- 0) into 0 28.439 * [backup-simplify]: Simplify (+ 0 0) into 0 28.439 * [taylor]: Taking taylor expansion of 0 in phi1 28.439 * [backup-simplify]: Simplify 0 into 0 28.439 * [taylor]: Taking taylor expansion of 0 in theta 28.439 * [backup-simplify]: Simplify 0 into 0 28.439 * [backup-simplify]: Simplify 0 into 0 28.440 * [backup-simplify]: Simplify (+ 0) into 0 28.440 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 28.440 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.441 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.442 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 28.442 * [backup-simplify]: Simplify (- 0) into 0 28.442 * [backup-simplify]: Simplify (+ 0 0) into 0 28.443 * [backup-simplify]: Simplify (+ 0) into 0 28.443 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 28.443 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.444 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.445 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 28.445 * [backup-simplify]: Simplify (- 0) into 0 28.445 * [backup-simplify]: Simplify (+ 0 0) into 0 28.446 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 28.446 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 28.446 * [backup-simplify]: Simplify (+ 0) into 0 28.447 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 28.447 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.447 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.448 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 28.448 * [backup-simplify]: Simplify (+ 0 0) into 0 28.448 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 28.449 * [backup-simplify]: Simplify (+ 0) into 0 28.449 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 28.449 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 28.451 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.451 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 28.451 * [backup-simplify]: Simplify (- 0) into 0 28.452 * [backup-simplify]: Simplify (+ 0 0) into 0 28.452 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 28.452 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 28.453 * [backup-simplify]: Simplify (+ 0 0) into 0 28.453 * [backup-simplify]: Simplify (- 0) into 0 28.453 * [backup-simplify]: Simplify (+ 0 0) into 0 28.453 * [taylor]: Taking taylor expansion of 0 in theta 28.453 * [backup-simplify]: Simplify 0 into 0 28.453 * [backup-simplify]: Simplify 0 into 0 28.454 * [backup-simplify]: Simplify (+ 0) into 0 28.454 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 28.454 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.455 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.456 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 28.456 * [backup-simplify]: Simplify (- 0) into 0 28.456 * [backup-simplify]: Simplify (+ 0 0) into 0 28.457 * [backup-simplify]: Simplify (+ 0) into 0 28.457 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 28.457 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.458 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.459 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 28.459 * [backup-simplify]: Simplify (- 0) into 0 28.459 * [backup-simplify]: Simplify (+ 0 0) into 0 28.460 * [backup-simplify]: Simplify (+ 0) into 0 28.460 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 28.460 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.461 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.462 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 28.462 * [backup-simplify]: Simplify (+ 0 0) into 0 28.462 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 28.462 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 28.463 * [backup-simplify]: Simplify (+ 0) into 0 28.463 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 28.463 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.464 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.464 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 28.465 * [backup-simplify]: Simplify (- 0) into 0 28.465 * [backup-simplify]: Simplify (+ 0 0) into 0 28.466 * [backup-simplify]: Simplify (+ 0) into 0 28.466 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 28.466 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.467 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.467 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 28.468 * [backup-simplify]: Simplify (+ 0 0) into 0 28.468 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 28.468 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 28.469 * [backup-simplify]: Simplify (+ 0) into 0 28.469 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 28.469 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.470 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.470 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 28.471 * [backup-simplify]: Simplify (+ 0 0) into 0 28.471 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 28.471 * [backup-simplify]: Simplify (+ 0 0) into 0 28.472 * [backup-simplify]: Simplify (- 0) into 0 28.472 * [backup-simplify]: Simplify (+ 0 0) into 0 28.472 * [backup-simplify]: Simplify 0 into 0 28.473 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.473 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.473 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.474 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.474 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.474 * [backup-simplify]: Simplify (- 0) into 0 28.474 * [backup-simplify]: Simplify (+ 0 0) into 0 28.475 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 28.475 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.476 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.476 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.476 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.477 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.477 * [backup-simplify]: Simplify (- 0) into 0 28.477 * [backup-simplify]: Simplify (+ 0 0) into 0 28.478 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 28.478 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.479 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.479 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.479 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.479 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.480 * [backup-simplify]: Simplify (+ 0 0) into 0 28.480 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 28.480 * [backup-simplify]: Simplify (+ 0 0) into 0 28.481 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.481 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.481 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.482 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.482 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.482 * [backup-simplify]: Simplify (+ 0 0) into 0 28.483 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) into 0 28.483 * [backup-simplify]: Simplify (- 0) into 0 28.483 * [backup-simplify]: Simplify (+ 0 0) into 0 28.483 * [taylor]: Taking taylor expansion of 0 in phi1 28.483 * [backup-simplify]: Simplify 0 into 0 28.483 * [taylor]: Taking taylor expansion of 0 in theta 28.483 * [backup-simplify]: Simplify 0 into 0 28.483 * [backup-simplify]: Simplify 0 into 0 28.483 * [taylor]: Taking taylor expansion of 0 in theta 28.483 * [backup-simplify]: Simplify 0 into 0 28.483 * [backup-simplify]: Simplify 0 into 0 28.484 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.484 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.484 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.485 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.485 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.485 * [backup-simplify]: Simplify (- 0) into 0 28.486 * [backup-simplify]: Simplify (+ 0 0) into 0 28.486 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.487 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.487 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.487 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.488 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.488 * [backup-simplify]: Simplify (- 0) into 0 28.488 * [backup-simplify]: Simplify (+ 0 0) into 0 28.488 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 28.489 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 28.489 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.490 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.490 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.490 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.491 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.491 * [backup-simplify]: Simplify (+ 0 0) into 0 28.491 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 phi1))))) into 0 28.492 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.492 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.492 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.493 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.493 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.493 * [backup-simplify]: Simplify (- 0) into 0 28.493 * [backup-simplify]: Simplify (+ 0 0) into 0 28.494 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 28.494 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))))) into 0 28.494 * [backup-simplify]: Simplify (+ 0 0) into 0 28.495 * [backup-simplify]: Simplify (- 0) into 0 28.495 * [backup-simplify]: Simplify (+ 0 0) into 0 28.495 * [taylor]: Taking taylor expansion of 0 in theta 28.495 * [backup-simplify]: Simplify 0 into 0 28.495 * [backup-simplify]: Simplify 0 into 0 28.495 * [backup-simplify]: Simplify (- (cos (/ -1 (/ 1 (- delta)))) (+ (* (pow (sin (/ -1 (/ 1 (- phi1)))) 2) (cos (/ -1 (/ 1 (- delta))))) (* (sin (/ -1 (/ 1 (- phi1)))) (* (cos (/ -1 (/ 1 (- theta)))) (* (sin (/ -1 (/ 1 (- delta)))) (cos (/ -1 (/ 1 (- phi1))))))))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos theta) (* (sin delta) (cos phi1)))))) 28.495 * * * * [progress]: [ 2 / 4 ] generating series at (2 1 2 2) 28.496 * [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)))) 28.496 * [approximate]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in (phi1 theta delta) around 0 28.496 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 28.496 * [taylor]: Taking taylor expansion of (sin phi1) in delta 28.496 * [taylor]: Taking taylor expansion of phi1 in delta 28.496 * [backup-simplify]: Simplify phi1 into phi1 28.496 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.496 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.496 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 28.496 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 28.496 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 28.496 * [taylor]: Taking taylor expansion of (cos theta) in delta 28.496 * [taylor]: Taking taylor expansion of theta in delta 28.496 * [backup-simplify]: Simplify theta into theta 28.496 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.496 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.496 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 28.496 * [taylor]: Taking taylor expansion of (cos phi1) in delta 28.496 * [taylor]: Taking taylor expansion of phi1 in delta 28.496 * [backup-simplify]: Simplify phi1 into phi1 28.496 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.496 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.496 * [taylor]: Taking taylor expansion of (sin delta) in delta 28.496 * [taylor]: Taking taylor expansion of delta in delta 28.496 * [backup-simplify]: Simplify 0 into 0 28.496 * [backup-simplify]: Simplify 1 into 1 28.496 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 28.496 * [taylor]: Taking taylor expansion of (sin phi1) in delta 28.496 * [taylor]: Taking taylor expansion of phi1 in delta 28.496 * [backup-simplify]: Simplify phi1 into phi1 28.496 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.496 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.496 * [taylor]: Taking taylor expansion of (cos delta) in delta 28.496 * [taylor]: Taking taylor expansion of delta in delta 28.496 * [backup-simplify]: Simplify 0 into 0 28.496 * [backup-simplify]: Simplify 1 into 1 28.496 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 28.496 * [taylor]: Taking taylor expansion of (sin phi1) in theta 28.496 * [taylor]: Taking taylor expansion of phi1 in theta 28.496 * [backup-simplify]: Simplify phi1 into phi1 28.496 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.496 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.496 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 28.496 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 28.496 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 28.497 * [taylor]: Taking taylor expansion of (cos theta) in theta 28.497 * [taylor]: Taking taylor expansion of theta in theta 28.497 * [backup-simplify]: Simplify 0 into 0 28.497 * [backup-simplify]: Simplify 1 into 1 28.497 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 28.497 * [taylor]: Taking taylor expansion of (cos phi1) in theta 28.497 * [taylor]: Taking taylor expansion of phi1 in theta 28.497 * [backup-simplify]: Simplify phi1 into phi1 28.497 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.497 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.497 * [taylor]: Taking taylor expansion of (sin delta) in theta 28.497 * [taylor]: Taking taylor expansion of delta in theta 28.497 * [backup-simplify]: Simplify delta into delta 28.497 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.497 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.497 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 28.497 * [taylor]: Taking taylor expansion of (sin phi1) in theta 28.497 * [taylor]: Taking taylor expansion of phi1 in theta 28.497 * [backup-simplify]: Simplify phi1 into phi1 28.497 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.497 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.497 * [taylor]: Taking taylor expansion of (cos delta) in theta 28.497 * [taylor]: Taking taylor expansion of delta in theta 28.497 * [backup-simplify]: Simplify delta into delta 28.497 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.497 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.497 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 28.497 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.497 * [taylor]: Taking taylor expansion of phi1 in phi1 28.497 * [backup-simplify]: Simplify 0 into 0 28.497 * [backup-simplify]: Simplify 1 into 1 28.497 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 28.497 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 28.497 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 28.497 * [taylor]: Taking taylor expansion of (cos theta) in phi1 28.497 * [taylor]: Taking taylor expansion of theta in phi1 28.497 * [backup-simplify]: Simplify theta into theta 28.497 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.497 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.497 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 28.497 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 28.497 * [taylor]: Taking taylor expansion of phi1 in phi1 28.497 * [backup-simplify]: Simplify 0 into 0 28.497 * [backup-simplify]: Simplify 1 into 1 28.497 * [taylor]: Taking taylor expansion of (sin delta) in phi1 28.497 * [taylor]: Taking taylor expansion of delta in phi1 28.497 * [backup-simplify]: Simplify delta into delta 28.497 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.497 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.497 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 28.497 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.497 * [taylor]: Taking taylor expansion of phi1 in phi1 28.497 * [backup-simplify]: Simplify 0 into 0 28.497 * [backup-simplify]: Simplify 1 into 1 28.497 * [taylor]: Taking taylor expansion of (cos delta) in phi1 28.497 * [taylor]: Taking taylor expansion of delta in phi1 28.497 * [backup-simplify]: Simplify delta into delta 28.498 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.498 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.498 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 28.498 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.498 * [taylor]: Taking taylor expansion of phi1 in phi1 28.498 * [backup-simplify]: Simplify 0 into 0 28.498 * [backup-simplify]: Simplify 1 into 1 28.498 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 28.498 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 28.498 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 28.498 * [taylor]: Taking taylor expansion of (cos theta) in phi1 28.498 * [taylor]: Taking taylor expansion of theta in phi1 28.498 * [backup-simplify]: Simplify theta into theta 28.498 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.498 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.498 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 28.498 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 28.498 * [taylor]: Taking taylor expansion of phi1 in phi1 28.498 * [backup-simplify]: Simplify 0 into 0 28.498 * [backup-simplify]: Simplify 1 into 1 28.498 * [taylor]: Taking taylor expansion of (sin delta) in phi1 28.498 * [taylor]: Taking taylor expansion of delta in phi1 28.498 * [backup-simplify]: Simplify delta into delta 28.498 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.498 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.498 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 28.498 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 28.498 * [taylor]: Taking taylor expansion of phi1 in phi1 28.498 * [backup-simplify]: Simplify 0 into 0 28.498 * [backup-simplify]: Simplify 1 into 1 28.498 * [taylor]: Taking taylor expansion of (cos delta) in phi1 28.498 * [taylor]: Taking taylor expansion of delta in phi1 28.498 * [backup-simplify]: Simplify delta into delta 28.498 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.498 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.498 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 28.498 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 28.499 * [backup-simplify]: Simplify (- 0) into 0 28.499 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 28.499 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 28.499 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 28.499 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 28.499 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 28.499 * [backup-simplify]: Simplify (* (cos theta) (sin delta)) into (* (cos theta) (sin delta)) 28.499 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 28.499 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 28.499 * [backup-simplify]: Simplify (- 0) into 0 28.499 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 28.499 * [backup-simplify]: Simplify (* 0 (cos delta)) into 0 28.499 * [backup-simplify]: Simplify (+ (* (cos theta) (sin delta)) 0) into (* (cos theta) (sin delta)) 28.499 * [backup-simplify]: Simplify (* 0 (* (cos theta) (sin delta))) into 0 28.499 * [taylor]: Taking taylor expansion of 0 in theta 28.499 * [backup-simplify]: Simplify 0 into 0 28.500 * [taylor]: Taking taylor expansion of 0 in delta 28.500 * [backup-simplify]: Simplify 0 into 0 28.500 * [backup-simplify]: Simplify 0 into 0 28.500 * [backup-simplify]: Simplify (+ 0) into 0 28.500 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 28.501 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.501 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 28.501 * [backup-simplify]: Simplify (+ 0 0) into 0 28.502 * [backup-simplify]: Simplify (+ 0) into 0 28.502 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin delta))) into 0 28.502 * [backup-simplify]: Simplify (+ 0) into 0 28.502 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 28.503 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.503 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 28.503 * [backup-simplify]: Simplify (- 0) into 0 28.504 * [backup-simplify]: Simplify (+ 0 0) into 0 28.504 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 (sin delta))) into 0 28.504 * [backup-simplify]: Simplify (+ 0) into 0 28.504 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 28.505 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.505 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 28.505 * [backup-simplify]: Simplify (- 0) into 0 28.505 * [backup-simplify]: Simplify (+ 0 0) into 0 28.506 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.506 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos delta))) into (cos delta) 28.506 * [backup-simplify]: Simplify (+ 0 (cos delta)) into (cos delta) 28.507 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.507 * [backup-simplify]: Simplify (+ (* 0 (cos delta)) (* 1 (* (cos theta) (sin delta)))) into (* (cos theta) (sin delta)) 28.507 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in theta 28.507 * [taylor]: Taking taylor expansion of (cos theta) in theta 28.507 * [taylor]: Taking taylor expansion of theta in theta 28.507 * [backup-simplify]: Simplify 0 into 0 28.507 * [backup-simplify]: Simplify 1 into 1 28.507 * [taylor]: Taking taylor expansion of (sin delta) in theta 28.507 * [taylor]: Taking taylor expansion of delta in theta 28.507 * [backup-simplify]: Simplify delta into delta 28.507 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.507 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.507 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 28.507 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 28.507 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 28.507 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 28.507 * [taylor]: Taking taylor expansion of (sin delta) in delta 28.507 * [taylor]: Taking taylor expansion of delta in delta 28.507 * [backup-simplify]: Simplify 0 into 0 28.507 * [backup-simplify]: Simplify 1 into 1 28.507 * [backup-simplify]: Simplify 0 into 0 28.507 * [taylor]: Taking taylor expansion of 0 in delta 28.507 * [backup-simplify]: Simplify 0 into 0 28.507 * [backup-simplify]: Simplify 0 into 0 28.507 * [backup-simplify]: Simplify 0 into 0 28.508 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.508 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 28.509 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.509 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 28.509 * [backup-simplify]: Simplify (+ 0 0) into 0 28.510 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 28.511 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (sin delta)))) into (- (* 1/2 (sin delta))) 28.511 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.512 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 28.512 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.513 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 28.514 * [backup-simplify]: Simplify (- 0) into 0 28.514 * [backup-simplify]: Simplify (+ 0 0) into 0 28.514 * [backup-simplify]: Simplify (+ (* (cos theta) (- (* 1/2 (sin delta)))) (+ (* 0 0) (* 0 (sin delta)))) into (- (* 1/2 (* (cos theta) (sin delta)))) 28.516 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.516 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 1))) into 0 28.516 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.517 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 0))) into 0 28.517 * [backup-simplify]: Simplify (- 0) into 0 28.517 * [backup-simplify]: Simplify (+ 0 0) into 0 28.518 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.518 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (cos delta)))) into 0 28.518 * [backup-simplify]: Simplify (+ (- (* 1/2 (* (cos theta) (sin delta)))) 0) into (- (* 1/2 (* (cos theta) (sin delta)))) 28.519 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.519 * [backup-simplify]: Simplify (+ (* 0 (- (* 1/2 (* (cos theta) (sin delta))))) (+ (* 1 (cos delta)) (* 0 (* (cos theta) (sin delta))))) into (cos delta) 28.519 * [taylor]: Taking taylor expansion of (cos delta) in theta 28.519 * [taylor]: Taking taylor expansion of delta in theta 28.519 * [backup-simplify]: Simplify delta into delta 28.519 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.519 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.519 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 28.519 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 28.520 * [backup-simplify]: Simplify (- 0) into 0 28.520 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 28.520 * [taylor]: Taking taylor expansion of (cos delta) in delta 28.520 * [taylor]: Taking taylor expansion of delta in delta 28.520 * [backup-simplify]: Simplify 0 into 0 28.520 * [backup-simplify]: Simplify 1 into 1 28.520 * [backup-simplify]: Simplify 1 into 1 28.520 * [backup-simplify]: Simplify (+ 0) into 0 28.520 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 28.521 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.521 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 28.521 * [backup-simplify]: Simplify (+ 0 0) into 0 28.521 * [backup-simplify]: Simplify (+ 0) into 0 28.522 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin delta))) into 0 28.522 * [taylor]: Taking taylor expansion of 0 in delta 28.522 * [backup-simplify]: Simplify 0 into 0 28.522 * [backup-simplify]: Simplify 0 into 0 28.522 * [taylor]: Taking taylor expansion of 0 in delta 28.522 * [backup-simplify]: Simplify 0 into 0 28.522 * [backup-simplify]: Simplify 0 into 0 28.522 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.522 * [backup-simplify]: Simplify 1 into 1 28.522 * [backup-simplify]: Simplify 0 into 0 28.522 * [backup-simplify]: Simplify 0 into 0 28.523 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 28.523 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 28.526 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 28.527 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 28.527 * [backup-simplify]: Simplify (+ 0 0) into 0 28.528 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 1 1) 1) (/ (pow 0 1) 1)) 0) into 0 28.529 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* -1/2 0) (* 0 (sin delta))))) into 0 28.529 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 28.530 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 28.531 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 28.531 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 28.531 * [backup-simplify]: Simplify (- 0) into 0 28.531 * [backup-simplify]: Simplify (+ 0 0) into 0 28.532 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 (- (* 1/2 (sin delta)))) (+ (* 0 0) (* 0 (sin delta))))) into 0 28.532 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 28.533 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 28.534 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 28.534 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 28.534 * [backup-simplify]: Simplify (- 0) into 0 28.534 * [backup-simplify]: Simplify (+ 0 0) into 0 28.535 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into -1/6 28.536 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* -1/6 (cos delta))))) into (- (* 1/6 (cos delta))) 28.536 * [backup-simplify]: Simplify (+ 0 (- (* 1/6 (cos delta)))) into (- (* 1/6 (cos delta))) 28.537 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into -1/6 28.537 * [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)))) 28.537 * [taylor]: Taking taylor expansion of (- (* 2/3 (* (cos theta) (sin delta)))) in theta 28.537 * [taylor]: Taking taylor expansion of (* 2/3 (* (cos theta) (sin delta))) in theta 28.537 * [taylor]: Taking taylor expansion of 2/3 in theta 28.537 * [backup-simplify]: Simplify 2/3 into 2/3 28.537 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in theta 28.537 * [taylor]: Taking taylor expansion of (cos theta) in theta 28.537 * [taylor]: Taking taylor expansion of theta in theta 28.537 * [backup-simplify]: Simplify 0 into 0 28.537 * [backup-simplify]: Simplify 1 into 1 28.537 * [taylor]: Taking taylor expansion of (sin delta) in theta 28.537 * [taylor]: Taking taylor expansion of delta in theta 28.537 * [backup-simplify]: Simplify delta into delta 28.537 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.538 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.538 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 28.538 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 28.538 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 28.538 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 28.538 * [backup-simplify]: Simplify (* 2/3 (sin delta)) into (* 2/3 (sin delta)) 28.538 * [backup-simplify]: Simplify (- (* 2/3 (sin delta))) into (- (* 2/3 (sin delta))) 28.538 * [taylor]: Taking taylor expansion of (- (* 2/3 (sin delta))) in delta 28.538 * [taylor]: Taking taylor expansion of (* 2/3 (sin delta)) in delta 28.538 * [taylor]: Taking taylor expansion of 2/3 in delta 28.538 * [backup-simplify]: Simplify 2/3 into 2/3 28.538 * [taylor]: Taking taylor expansion of (sin delta) in delta 28.538 * [taylor]: Taking taylor expansion of delta in delta 28.538 * [backup-simplify]: Simplify 0 into 0 28.538 * [backup-simplify]: Simplify 1 into 1 28.538 * [backup-simplify]: Simplify (* 2/3 0) into 0 28.538 * [backup-simplify]: Simplify (- 0) into 0 28.538 * [backup-simplify]: Simplify 0 into 0 28.539 * [backup-simplify]: Simplify (+ 0) into 0 28.539 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 28.539 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.540 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 28.540 * [backup-simplify]: Simplify (- 0) into 0 28.540 * [backup-simplify]: Simplify (+ 0 0) into 0 28.540 * [taylor]: Taking taylor expansion of 0 in delta 28.540 * [backup-simplify]: Simplify 0 into 0 28.540 * [backup-simplify]: Simplify 0 into 0 28.541 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.541 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 28.542 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.542 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 28.542 * [backup-simplify]: Simplify (+ 0 0) into 0 28.543 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 28.543 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (sin delta)))) into (- (* 1/2 (sin delta))) 28.543 * [taylor]: Taking taylor expansion of (- (* 1/2 (sin delta))) in delta 28.543 * [taylor]: Taking taylor expansion of (* 1/2 (sin delta)) in delta 28.543 * [taylor]: Taking taylor expansion of 1/2 in delta 28.543 * [backup-simplify]: Simplify 1/2 into 1/2 28.543 * [taylor]: Taking taylor expansion of (sin delta) in delta 28.543 * [taylor]: Taking taylor expansion of delta in delta 28.543 * [backup-simplify]: Simplify 0 into 0 28.543 * [backup-simplify]: Simplify 1 into 1 28.544 * [backup-simplify]: Simplify (* 1/2 0) into 0 28.544 * [backup-simplify]: Simplify (- 0) into 0 28.544 * [backup-simplify]: Simplify 0 into 0 28.544 * [taylor]: Taking taylor expansion of 0 in delta 28.544 * [backup-simplify]: Simplify 0 into 0 28.544 * [backup-simplify]: Simplify 0 into 0 28.544 * [backup-simplify]: Simplify (+ (* 1 (* delta (* 1 phi1))) (* 1 (pow (* 1 (* 1 phi1)) 2))) into (+ (* phi1 delta) (pow phi1 2)) 28.544 * [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))) 28.544 * [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 28.544 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in delta 28.544 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 28.545 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 28.545 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 28.545 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 28.545 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 28.545 * [taylor]: Taking taylor expansion of theta in delta 28.545 * [backup-simplify]: Simplify theta into theta 28.545 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.545 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.545 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.545 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 28.545 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 28.545 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.545 * [taylor]: Taking taylor expansion of delta in delta 28.545 * [backup-simplify]: Simplify 0 into 0 28.545 * [backup-simplify]: Simplify 1 into 1 28.545 * [backup-simplify]: Simplify (/ 1 1) into 1 28.545 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.545 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 28.545 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.545 * [taylor]: Taking taylor expansion of phi1 in delta 28.545 * [backup-simplify]: Simplify phi1 into phi1 28.545 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.545 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.545 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.545 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 28.545 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.545 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.545 * [taylor]: Taking taylor expansion of phi1 in delta 28.545 * [backup-simplify]: Simplify phi1 into phi1 28.545 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.545 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.546 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.546 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 28.546 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.546 * [taylor]: Taking taylor expansion of delta in delta 28.546 * [backup-simplify]: Simplify 0 into 0 28.546 * [backup-simplify]: Simplify 1 into 1 28.546 * [backup-simplify]: Simplify (/ 1 1) into 1 28.546 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.546 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.546 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.546 * [taylor]: Taking taylor expansion of phi1 in delta 28.546 * [backup-simplify]: Simplify phi1 into phi1 28.546 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.546 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.546 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.546 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in theta 28.546 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 28.546 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 28.546 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 28.546 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 28.546 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 28.546 * [taylor]: Taking taylor expansion of theta in theta 28.546 * [backup-simplify]: Simplify 0 into 0 28.546 * [backup-simplify]: Simplify 1 into 1 28.547 * [backup-simplify]: Simplify (/ 1 1) into 1 28.547 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.547 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 28.547 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 28.547 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.547 * [taylor]: Taking taylor expansion of delta in theta 28.547 * [backup-simplify]: Simplify delta into delta 28.547 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.547 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.547 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.547 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 28.547 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.547 * [taylor]: Taking taylor expansion of phi1 in theta 28.547 * [backup-simplify]: Simplify phi1 into phi1 28.547 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.547 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.547 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.547 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 28.547 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 28.547 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.547 * [taylor]: Taking taylor expansion of phi1 in theta 28.547 * [backup-simplify]: Simplify phi1 into phi1 28.547 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.547 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.547 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.547 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 28.547 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.547 * [taylor]: Taking taylor expansion of delta in theta 28.547 * [backup-simplify]: Simplify delta into delta 28.547 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.547 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.547 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.547 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 28.547 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.547 * [taylor]: Taking taylor expansion of phi1 in theta 28.547 * [backup-simplify]: Simplify phi1 into phi1 28.547 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.547 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.548 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.548 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in phi1 28.548 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 28.548 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 28.548 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 28.548 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 28.548 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 28.548 * [taylor]: Taking taylor expansion of theta in phi1 28.548 * [backup-simplify]: Simplify theta into theta 28.548 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.548 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.548 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.548 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 28.548 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 28.548 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.548 * [taylor]: Taking taylor expansion of delta in phi1 28.548 * [backup-simplify]: Simplify delta into delta 28.548 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.548 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.548 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.548 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 28.548 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.548 * [taylor]: Taking taylor expansion of phi1 in phi1 28.548 * [backup-simplify]: Simplify 0 into 0 28.548 * [backup-simplify]: Simplify 1 into 1 28.548 * [backup-simplify]: Simplify (/ 1 1) into 1 28.548 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.548 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 28.548 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.548 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.548 * [taylor]: Taking taylor expansion of phi1 in phi1 28.548 * [backup-simplify]: Simplify 0 into 0 28.548 * [backup-simplify]: Simplify 1 into 1 28.549 * [backup-simplify]: Simplify (/ 1 1) into 1 28.549 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.549 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 28.549 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.549 * [taylor]: Taking taylor expansion of delta in phi1 28.549 * [backup-simplify]: Simplify delta into delta 28.549 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.549 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.549 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.549 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.549 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.549 * [taylor]: Taking taylor expansion of phi1 in phi1 28.549 * [backup-simplify]: Simplify 0 into 0 28.549 * [backup-simplify]: Simplify 1 into 1 28.549 * [backup-simplify]: Simplify (/ 1 1) into 1 28.549 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.549 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in phi1 28.549 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 28.549 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 28.549 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 28.549 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 28.549 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 28.549 * [taylor]: Taking taylor expansion of theta in phi1 28.549 * [backup-simplify]: Simplify theta into theta 28.550 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.550 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.550 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.550 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 28.550 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 28.550 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.550 * [taylor]: Taking taylor expansion of delta in phi1 28.550 * [backup-simplify]: Simplify delta into delta 28.550 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.550 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.550 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.550 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 28.550 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.550 * [taylor]: Taking taylor expansion of phi1 in phi1 28.550 * [backup-simplify]: Simplify 0 into 0 28.550 * [backup-simplify]: Simplify 1 into 1 28.550 * [backup-simplify]: Simplify (/ 1 1) into 1 28.550 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.550 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 28.550 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.550 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.550 * [taylor]: Taking taylor expansion of phi1 in phi1 28.550 * [backup-simplify]: Simplify 0 into 0 28.550 * [backup-simplify]: Simplify 1 into 1 28.551 * [backup-simplify]: Simplify (/ 1 1) into 1 28.551 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.551 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 28.551 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.551 * [taylor]: Taking taylor expansion of delta in phi1 28.551 * [backup-simplify]: Simplify delta into delta 28.551 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.551 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.551 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.551 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 28.551 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.551 * [taylor]: Taking taylor expansion of phi1 in phi1 28.551 * [backup-simplify]: Simplify 0 into 0 28.551 * [backup-simplify]: Simplify 1 into 1 28.551 * [backup-simplify]: Simplify (/ 1 1) into 1 28.551 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.551 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 28.551 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 28.552 * [backup-simplify]: Simplify (- 0) into 0 28.552 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 28.552 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 28.552 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 28.552 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 28.552 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (cos (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 delta))) 28.552 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 28.552 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 28.552 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 28.552 * [backup-simplify]: Simplify (- 0) into 0 28.552 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 28.552 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 28.553 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) into (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 28.553 * [backup-simplify]: Simplify (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) into (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) 28.553 * [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 28.553 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in theta 28.553 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in theta 28.553 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 28.553 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.553 * [taylor]: Taking taylor expansion of phi1 in theta 28.553 * [backup-simplify]: Simplify phi1 into phi1 28.553 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.553 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.553 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.553 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in theta 28.553 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 28.553 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 28.553 * [taylor]: Taking taylor expansion of theta in theta 28.553 * [backup-simplify]: Simplify 0 into 0 28.553 * [backup-simplify]: Simplify 1 into 1 28.553 * [backup-simplify]: Simplify (/ 1 1) into 1 28.553 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.553 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 28.553 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.553 * [taylor]: Taking taylor expansion of delta in theta 28.554 * [backup-simplify]: Simplify delta into delta 28.554 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.554 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.554 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.554 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in theta 28.554 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 28.554 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.554 * [taylor]: Taking taylor expansion of delta in theta 28.554 * [backup-simplify]: Simplify delta into delta 28.554 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.554 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.554 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.554 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 28.554 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.554 * [taylor]: Taking taylor expansion of phi1 in theta 28.554 * [backup-simplify]: Simplify phi1 into phi1 28.554 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.554 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.554 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.554 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 28.554 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.554 * [taylor]: Taking taylor expansion of phi1 in theta 28.554 * [backup-simplify]: Simplify phi1 into phi1 28.554 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.554 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.554 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.554 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 28.554 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 28.555 * [backup-simplify]: Simplify (- 0) into 0 28.555 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 28.555 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 28.555 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 28.555 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 28.555 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 28.555 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 28.555 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 28.555 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 28.555 * [backup-simplify]: Simplify (- 0) into 0 28.555 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 28.555 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 28.555 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 28.555 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 28.556 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 28.556 * [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))))) 28.556 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 28.556 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 28.556 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 28.556 * [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))) 28.556 * [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 28.556 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in delta 28.556 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 28.556 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.556 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.556 * [taylor]: Taking taylor expansion of phi1 in delta 28.556 * [backup-simplify]: Simplify phi1 into phi1 28.556 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.556 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.556 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.556 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 28.556 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.556 * [taylor]: Taking taylor expansion of delta in delta 28.556 * [backup-simplify]: Simplify 0 into 0 28.556 * [backup-simplify]: Simplify 1 into 1 28.557 * [backup-simplify]: Simplify (/ 1 1) into 1 28.557 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.557 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 28.557 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 28.557 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.557 * [taylor]: Taking taylor expansion of delta in delta 28.557 * [backup-simplify]: Simplify 0 into 0 28.557 * [backup-simplify]: Simplify 1 into 1 28.557 * [backup-simplify]: Simplify (/ 1 1) into 1 28.557 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.557 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 28.557 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 28.557 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 28.557 * [taylor]: Taking taylor expansion of theta in delta 28.557 * [backup-simplify]: Simplify theta into theta 28.557 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.557 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.557 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.557 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 28.557 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.557 * [taylor]: Taking taylor expansion of phi1 in delta 28.557 * [backup-simplify]: Simplify phi1 into phi1 28.557 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.557 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.558 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.558 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 28.558 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.558 * [taylor]: Taking taylor expansion of phi1 in delta 28.558 * [backup-simplify]: Simplify phi1 into phi1 28.558 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.558 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.558 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.558 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 28.558 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 28.558 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 28.558 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 28.558 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 28.558 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 28.558 * [backup-simplify]: Simplify (- 0) into 0 28.558 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 28.558 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 28.558 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 28.559 * [backup-simplify]: Simplify (- 0) into 0 28.559 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 28.559 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 28.559 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 28.559 * [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)))) 28.559 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 28.559 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 28.559 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 28.560 * [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))) 28.560 * [backup-simplify]: Simplify (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) into (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) 28.560 * [backup-simplify]: Simplify (+ 0) into 0 28.561 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 28.561 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.561 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.561 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 28.562 * [backup-simplify]: Simplify (+ 0 0) into 0 28.562 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 28.562 * [backup-simplify]: Simplify (+ 0) into 0 28.562 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 28.562 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 28.563 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.563 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 28.563 * [backup-simplify]: Simplify (- 0) into 0 28.564 * [backup-simplify]: Simplify (+ 0 0) into 0 28.564 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta))))) into 0 28.564 * [backup-simplify]: Simplify (+ 0) into 0 28.564 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 28.564 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.565 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.565 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 28.565 * [backup-simplify]: Simplify (- 0) into 0 28.566 * [backup-simplify]: Simplify (+ 0 0) into 0 28.566 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 28.566 * [backup-simplify]: Simplify (+ 0 0) into 0 28.566 * [backup-simplify]: Simplify (+ (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 28.566 * [taylor]: Taking taylor expansion of 0 in theta 28.566 * [backup-simplify]: Simplify 0 into 0 28.566 * [taylor]: Taking taylor expansion of 0 in delta 28.566 * [backup-simplify]: Simplify 0 into 0 28.566 * [backup-simplify]: Simplify 0 into 0 28.567 * [backup-simplify]: Simplify (+ 0) into 0 28.567 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 28.567 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.567 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.568 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 28.568 * [backup-simplify]: Simplify (+ 0 0) into 0 28.568 * [backup-simplify]: Simplify (+ 0) into 0 28.568 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 28.569 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.569 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.569 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 28.570 * [backup-simplify]: Simplify (+ 0 0) into 0 28.570 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 28.570 * [backup-simplify]: Simplify (+ 0) into 0 28.570 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 28.570 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.571 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.571 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 28.571 * [backup-simplify]: Simplify (- 0) into 0 28.571 * [backup-simplify]: Simplify (+ 0 0) into 0 28.572 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 28.572 * [backup-simplify]: Simplify (+ 0) into 0 28.572 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 28.572 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.573 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.573 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 28.573 * [backup-simplify]: Simplify (+ 0 0) into 0 28.573 * [backup-simplify]: Simplify (+ 0) into 0 28.574 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 28.574 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.574 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.575 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 28.575 * [backup-simplify]: Simplify (- 0) into 0 28.575 * [backup-simplify]: Simplify (+ 0 0) into 0 28.575 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 28.575 * [backup-simplify]: Simplify (+ 0 0) into 0 28.576 * [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 28.576 * [taylor]: Taking taylor expansion of 0 in delta 28.576 * [backup-simplify]: Simplify 0 into 0 28.576 * [backup-simplify]: Simplify 0 into 0 28.576 * [backup-simplify]: Simplify (+ 0) into 0 28.577 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 28.577 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.578 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.578 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 28.579 * [backup-simplify]: Simplify (+ 0 0) into 0 28.579 * [backup-simplify]: Simplify (+ 0) into 0 28.579 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 28.580 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.580 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.580 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 28.581 * [backup-simplify]: Simplify (+ 0 0) into 0 28.581 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 28.581 * [backup-simplify]: Simplify (+ 0) into 0 28.581 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 28.581 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.582 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.582 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 28.582 * [backup-simplify]: Simplify (- 0) into 0 28.582 * [backup-simplify]: Simplify (+ 0 0) into 0 28.583 * [backup-simplify]: Simplify (+ 0) into 0 28.583 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 28.583 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 28.584 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.584 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 28.584 * [backup-simplify]: Simplify (- 0) into 0 28.584 * [backup-simplify]: Simplify (+ 0 0) into 0 28.584 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 28.585 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 28.585 * [backup-simplify]: Simplify (+ 0 0) into 0 28.585 * [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 28.585 * [backup-simplify]: Simplify 0 into 0 28.586 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.586 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.586 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.587 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.587 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.587 * [backup-simplify]: Simplify (+ 0 0) into 0 28.588 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 28.588 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.589 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.589 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.589 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.590 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.590 * [backup-simplify]: Simplify (- 0) into 0 28.590 * [backup-simplify]: Simplify (+ 0 0) into 0 28.590 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta)))))) into 0 28.591 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.591 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.591 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.592 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.592 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.592 * [backup-simplify]: Simplify (- 0) into 0 28.593 * [backup-simplify]: Simplify (+ 0 0) into 0 28.593 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 28.593 * [backup-simplify]: Simplify (+ 0 0) into 0 28.594 * [backup-simplify]: Simplify (+ (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 28.594 * [taylor]: Taking taylor expansion of 0 in theta 28.594 * [backup-simplify]: Simplify 0 into 0 28.594 * [taylor]: Taking taylor expansion of 0 in delta 28.594 * [backup-simplify]: Simplify 0 into 0 28.594 * [backup-simplify]: Simplify 0 into 0 28.594 * [taylor]: Taking taylor expansion of 0 in delta 28.594 * [backup-simplify]: Simplify 0 into 0 28.594 * [backup-simplify]: Simplify 0 into 0 28.594 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.595 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.595 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.596 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.596 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.596 * [backup-simplify]: Simplify (+ 0 0) into 0 28.597 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.597 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.597 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.598 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.598 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.598 * [backup-simplify]: Simplify (+ 0 0) into 0 28.599 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 28.599 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.600 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.600 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.600 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.601 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.601 * [backup-simplify]: Simplify (- 0) into 0 28.601 * [backup-simplify]: Simplify (+ 0 0) into 0 28.601 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 28.602 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.602 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.603 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.603 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.603 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.604 * [backup-simplify]: Simplify (+ 0 0) into 0 28.604 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.605 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.605 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.605 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.605 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.606 * [backup-simplify]: Simplify (- 0) into 0 28.606 * [backup-simplify]: Simplify (+ 0 0) into 0 28.606 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 28.606 * [backup-simplify]: Simplify (+ 0 0) into 0 28.607 * [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 28.607 * [taylor]: Taking taylor expansion of 0 in delta 28.607 * [backup-simplify]: Simplify 0 into 0 28.607 * [backup-simplify]: Simplify 0 into 0 28.607 * [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))))) 28.608 * [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))))) 28.608 * [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 28.608 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 28.608 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.608 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.608 * [taylor]: Taking taylor expansion of -1 in delta 28.608 * [backup-simplify]: Simplify -1 into -1 28.608 * [taylor]: Taking taylor expansion of phi1 in delta 28.608 * [backup-simplify]: Simplify phi1 into phi1 28.608 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.608 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.608 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.608 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 28.608 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 28.608 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 28.608 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 28.608 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 28.608 * [taylor]: Taking taylor expansion of -1 in delta 28.608 * [backup-simplify]: Simplify -1 into -1 28.608 * [taylor]: Taking taylor expansion of theta in delta 28.608 * [backup-simplify]: Simplify theta into theta 28.608 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.608 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.608 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.608 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 28.608 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 28.608 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.608 * [taylor]: Taking taylor expansion of -1 in delta 28.608 * [backup-simplify]: Simplify -1 into -1 28.608 * [taylor]: Taking taylor expansion of phi1 in delta 28.608 * [backup-simplify]: Simplify phi1 into phi1 28.608 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.608 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.608 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.608 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 28.608 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.608 * [taylor]: Taking taylor expansion of -1 in delta 28.608 * [backup-simplify]: Simplify -1 into -1 28.608 * [taylor]: Taking taylor expansion of delta in delta 28.608 * [backup-simplify]: Simplify 0 into 0 28.608 * [backup-simplify]: Simplify 1 into 1 28.609 * [backup-simplify]: Simplify (/ -1 1) into -1 28.609 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.609 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 28.609 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.609 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.609 * [taylor]: Taking taylor expansion of -1 in delta 28.609 * [backup-simplify]: Simplify -1 into -1 28.609 * [taylor]: Taking taylor expansion of phi1 in delta 28.609 * [backup-simplify]: Simplify phi1 into phi1 28.609 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.609 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.609 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.609 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 28.609 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.609 * [taylor]: Taking taylor expansion of -1 in delta 28.609 * [backup-simplify]: Simplify -1 into -1 28.609 * [taylor]: Taking taylor expansion of delta in delta 28.609 * [backup-simplify]: Simplify 0 into 0 28.609 * [backup-simplify]: Simplify 1 into 1 28.609 * [backup-simplify]: Simplify (/ -1 1) into -1 28.609 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.610 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 28.610 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 28.610 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.610 * [taylor]: Taking taylor expansion of -1 in theta 28.610 * [backup-simplify]: Simplify -1 into -1 28.610 * [taylor]: Taking taylor expansion of phi1 in theta 28.610 * [backup-simplify]: Simplify phi1 into phi1 28.610 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.610 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.610 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.610 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 28.610 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 28.610 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 28.610 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 28.610 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 28.610 * [taylor]: Taking taylor expansion of -1 in theta 28.610 * [backup-simplify]: Simplify -1 into -1 28.610 * [taylor]: Taking taylor expansion of theta in theta 28.610 * [backup-simplify]: Simplify 0 into 0 28.610 * [backup-simplify]: Simplify 1 into 1 28.610 * [backup-simplify]: Simplify (/ -1 1) into -1 28.610 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.610 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 28.610 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 28.610 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.610 * [taylor]: Taking taylor expansion of -1 in theta 28.610 * [backup-simplify]: Simplify -1 into -1 28.610 * [taylor]: Taking taylor expansion of phi1 in theta 28.610 * [backup-simplify]: Simplify phi1 into phi1 28.610 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.610 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.611 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.611 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 28.611 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.611 * [taylor]: Taking taylor expansion of -1 in theta 28.611 * [backup-simplify]: Simplify -1 into -1 28.611 * [taylor]: Taking taylor expansion of delta in theta 28.611 * [backup-simplify]: Simplify delta into delta 28.611 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.611 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.611 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.611 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 28.611 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 28.611 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.611 * [taylor]: Taking taylor expansion of -1 in theta 28.611 * [backup-simplify]: Simplify -1 into -1 28.611 * [taylor]: Taking taylor expansion of phi1 in theta 28.611 * [backup-simplify]: Simplify phi1 into phi1 28.611 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.611 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.611 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.611 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 28.611 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.611 * [taylor]: Taking taylor expansion of -1 in theta 28.611 * [backup-simplify]: Simplify -1 into -1 28.611 * [taylor]: Taking taylor expansion of delta in theta 28.611 * [backup-simplify]: Simplify delta into delta 28.611 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.611 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.611 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.611 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 28.611 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.611 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.611 * [taylor]: Taking taylor expansion of -1 in phi1 28.611 * [backup-simplify]: Simplify -1 into -1 28.611 * [taylor]: Taking taylor expansion of phi1 in phi1 28.611 * [backup-simplify]: Simplify 0 into 0 28.611 * [backup-simplify]: Simplify 1 into 1 28.612 * [backup-simplify]: Simplify (/ -1 1) into -1 28.612 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.612 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 28.612 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 28.612 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 28.612 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 28.612 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 28.612 * [taylor]: Taking taylor expansion of -1 in phi1 28.612 * [backup-simplify]: Simplify -1 into -1 28.612 * [taylor]: Taking taylor expansion of theta in phi1 28.612 * [backup-simplify]: Simplify theta into theta 28.612 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.612 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.612 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.612 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 28.612 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 28.612 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.612 * [taylor]: Taking taylor expansion of -1 in phi1 28.612 * [backup-simplify]: Simplify -1 into -1 28.612 * [taylor]: Taking taylor expansion of phi1 in phi1 28.612 * [backup-simplify]: Simplify 0 into 0 28.612 * [backup-simplify]: Simplify 1 into 1 28.612 * [backup-simplify]: Simplify (/ -1 1) into -1 28.613 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.613 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 28.613 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.613 * [taylor]: Taking taylor expansion of -1 in phi1 28.613 * [backup-simplify]: Simplify -1 into -1 28.613 * [taylor]: Taking taylor expansion of delta in phi1 28.613 * [backup-simplify]: Simplify delta into delta 28.613 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.613 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.613 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.613 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 28.613 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.613 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.613 * [taylor]: Taking taylor expansion of -1 in phi1 28.613 * [backup-simplify]: Simplify -1 into -1 28.613 * [taylor]: Taking taylor expansion of phi1 in phi1 28.613 * [backup-simplify]: Simplify 0 into 0 28.613 * [backup-simplify]: Simplify 1 into 1 28.613 * [backup-simplify]: Simplify (/ -1 1) into -1 28.613 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.613 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 28.613 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.613 * [taylor]: Taking taylor expansion of -1 in phi1 28.613 * [backup-simplify]: Simplify -1 into -1 28.613 * [taylor]: Taking taylor expansion of delta in phi1 28.613 * [backup-simplify]: Simplify delta into delta 28.613 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.613 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.613 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.613 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 28.613 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.613 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.613 * [taylor]: Taking taylor expansion of -1 in phi1 28.613 * [backup-simplify]: Simplify -1 into -1 28.613 * [taylor]: Taking taylor expansion of phi1 in phi1 28.614 * [backup-simplify]: Simplify 0 into 0 28.614 * [backup-simplify]: Simplify 1 into 1 28.614 * [backup-simplify]: Simplify (/ -1 1) into -1 28.614 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.614 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 28.614 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 28.614 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 28.614 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 28.614 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 28.614 * [taylor]: Taking taylor expansion of -1 in phi1 28.614 * [backup-simplify]: Simplify -1 into -1 28.614 * [taylor]: Taking taylor expansion of theta in phi1 28.614 * [backup-simplify]: Simplify theta into theta 28.614 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.614 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.614 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.614 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 28.614 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 28.614 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.614 * [taylor]: Taking taylor expansion of -1 in phi1 28.614 * [backup-simplify]: Simplify -1 into -1 28.614 * [taylor]: Taking taylor expansion of phi1 in phi1 28.614 * [backup-simplify]: Simplify 0 into 0 28.614 * [backup-simplify]: Simplify 1 into 1 28.615 * [backup-simplify]: Simplify (/ -1 1) into -1 28.615 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.615 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 28.615 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.615 * [taylor]: Taking taylor expansion of -1 in phi1 28.615 * [backup-simplify]: Simplify -1 into -1 28.615 * [taylor]: Taking taylor expansion of delta in phi1 28.615 * [backup-simplify]: Simplify delta into delta 28.615 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.615 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.615 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.615 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 28.615 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 28.615 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.615 * [taylor]: Taking taylor expansion of -1 in phi1 28.615 * [backup-simplify]: Simplify -1 into -1 28.615 * [taylor]: Taking taylor expansion of phi1 in phi1 28.615 * [backup-simplify]: Simplify 0 into 0 28.615 * [backup-simplify]: Simplify 1 into 1 28.616 * [backup-simplify]: Simplify (/ -1 1) into -1 28.616 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.616 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 28.616 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.616 * [taylor]: Taking taylor expansion of -1 in phi1 28.616 * [backup-simplify]: Simplify -1 into -1 28.616 * [taylor]: Taking taylor expansion of delta in phi1 28.616 * [backup-simplify]: Simplify delta into delta 28.616 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.616 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.616 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.616 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 28.616 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 28.616 * [backup-simplify]: Simplify (- 0) into 0 28.616 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 28.616 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 28.616 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 28.617 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 28.617 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 28.617 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 28.617 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 28.617 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 28.617 * [backup-simplify]: Simplify (- 0) into 0 28.617 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 28.617 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 28.617 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) into (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 28.618 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 28.618 * [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 28.618 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 28.618 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.618 * [taylor]: Taking taylor expansion of -1 in theta 28.618 * [backup-simplify]: Simplify -1 into -1 28.618 * [taylor]: Taking taylor expansion of phi1 in theta 28.618 * [backup-simplify]: Simplify phi1 into phi1 28.618 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.618 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.618 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.618 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 28.618 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) in theta 28.618 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 28.618 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.618 * [taylor]: Taking taylor expansion of -1 in theta 28.618 * [backup-simplify]: Simplify -1 into -1 28.618 * [taylor]: Taking taylor expansion of phi1 in theta 28.618 * [backup-simplify]: Simplify phi1 into phi1 28.618 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.618 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.618 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.618 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 theta))) in theta 28.618 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 28.618 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.618 * [taylor]: Taking taylor expansion of -1 in theta 28.618 * [backup-simplify]: Simplify -1 into -1 28.618 * [taylor]: Taking taylor expansion of delta in theta 28.618 * [backup-simplify]: Simplify delta into delta 28.618 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.618 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.618 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.618 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 28.618 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 28.618 * [taylor]: Taking taylor expansion of -1 in theta 28.618 * [backup-simplify]: Simplify -1 into -1 28.618 * [taylor]: Taking taylor expansion of theta in theta 28.618 * [backup-simplify]: Simplify 0 into 0 28.618 * [backup-simplify]: Simplify 1 into 1 28.619 * [backup-simplify]: Simplify (/ -1 1) into -1 28.619 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.619 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 28.619 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 28.619 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.619 * [taylor]: Taking taylor expansion of -1 in theta 28.619 * [backup-simplify]: Simplify -1 into -1 28.619 * [taylor]: Taking taylor expansion of phi1 in theta 28.619 * [backup-simplify]: Simplify phi1 into phi1 28.619 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.619 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.619 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.619 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 28.619 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.619 * [taylor]: Taking taylor expansion of -1 in theta 28.619 * [backup-simplify]: Simplify -1 into -1 28.619 * [taylor]: Taking taylor expansion of delta in theta 28.619 * [backup-simplify]: Simplify delta into delta 28.619 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.619 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.619 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.619 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 28.619 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 28.619 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 28.619 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 28.620 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 28.620 * [backup-simplify]: Simplify (- 0) into 0 28.620 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 28.620 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 28.620 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 28.620 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 28.620 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 theta))) into (* (cos (/ -1 theta)) (sin (/ -1 delta))) 28.620 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 28.620 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 28.620 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 28.620 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 28.620 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 28.620 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 28.622 * [backup-simplify]: Simplify (- 0) into 0 28.623 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 28.623 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 28.623 * [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))))) 28.623 * [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)))))) 28.623 * [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 28.623 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.623 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.623 * [taylor]: Taking taylor expansion of -1 in delta 28.623 * [backup-simplify]: Simplify -1 into -1 28.623 * [taylor]: Taking taylor expansion of phi1 in delta 28.623 * [backup-simplify]: Simplify phi1 into phi1 28.623 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.623 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.623 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.623 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in delta 28.623 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 28.623 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 28.623 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.623 * [taylor]: Taking taylor expansion of -1 in delta 28.623 * [backup-simplify]: Simplify -1 into -1 28.623 * [taylor]: Taking taylor expansion of phi1 in delta 28.623 * [backup-simplify]: Simplify phi1 into phi1 28.624 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.624 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.624 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.624 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 28.624 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.624 * [taylor]: Taking taylor expansion of -1 in delta 28.624 * [backup-simplify]: Simplify -1 into -1 28.624 * [taylor]: Taking taylor expansion of delta in delta 28.624 * [backup-simplify]: Simplify 0 into 0 28.624 * [backup-simplify]: Simplify 1 into 1 28.624 * [backup-simplify]: Simplify (/ -1 1) into -1 28.625 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.625 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in delta 28.625 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 28.625 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.625 * [taylor]: Taking taylor expansion of -1 in delta 28.625 * [backup-simplify]: Simplify -1 into -1 28.625 * [taylor]: Taking taylor expansion of phi1 in delta 28.625 * [backup-simplify]: Simplify phi1 into phi1 28.625 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.625 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.625 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.625 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in delta 28.625 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 28.625 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 28.625 * [taylor]: Taking taylor expansion of -1 in delta 28.625 * [backup-simplify]: Simplify -1 into -1 28.625 * [taylor]: Taking taylor expansion of theta in delta 28.625 * [backup-simplify]: Simplify theta into theta 28.625 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.625 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.625 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.625 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 28.625 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.625 * [taylor]: Taking taylor expansion of -1 in delta 28.625 * [backup-simplify]: Simplify -1 into -1 28.625 * [taylor]: Taking taylor expansion of delta in delta 28.625 * [backup-simplify]: Simplify 0 into 0 28.626 * [backup-simplify]: Simplify 1 into 1 28.626 * [backup-simplify]: Simplify (/ -1 1) into -1 28.626 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.626 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 28.626 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 28.626 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 28.626 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 28.626 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 28.627 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 28.627 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 28.627 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 28.627 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 28.627 * [backup-simplify]: Simplify (- 0) into 0 28.627 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 28.627 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 28.628 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 28.628 * [backup-simplify]: Simplify (- 0) into 0 28.628 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 28.628 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (cos (/ -1 theta))) 28.628 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 28.629 * [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)))) 28.629 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 28.629 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 28.630 * [backup-simplify]: Simplify (+ 0) into 0 28.631 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 28.631 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.631 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.632 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 28.632 * [backup-simplify]: Simplify (+ 0 0) into 0 28.632 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 28.633 * [backup-simplify]: Simplify (+ 0) into 0 28.633 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 28.633 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 28.634 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.635 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 28.635 * [backup-simplify]: Simplify (- 0) into 0 28.635 * [backup-simplify]: Simplify (+ 0 0) into 0 28.636 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 28.636 * [backup-simplify]: Simplify (+ 0) into 0 28.636 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 28.637 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.637 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.638 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 28.638 * [backup-simplify]: Simplify (- 0) into 0 28.639 * [backup-simplify]: Simplify (+ 0 0) into 0 28.639 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 28.639 * [backup-simplify]: Simplify (+ 0 0) into 0 28.640 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) into 0 28.640 * [taylor]: Taking taylor expansion of 0 in theta 28.640 * [backup-simplify]: Simplify 0 into 0 28.640 * [taylor]: Taking taylor expansion of 0 in delta 28.640 * [backup-simplify]: Simplify 0 into 0 28.640 * [backup-simplify]: Simplify 0 into 0 28.640 * [backup-simplify]: Simplify (+ 0) into 0 28.641 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 28.641 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.641 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.642 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 28.642 * [backup-simplify]: Simplify (+ 0 0) into 0 28.642 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 theta)))) into 0 28.643 * [backup-simplify]: Simplify (+ 0) into 0 28.643 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 28.643 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.644 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.645 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 28.645 * [backup-simplify]: Simplify (- 0) into 0 28.645 * [backup-simplify]: Simplify (+ 0 0) into 0 28.646 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into 0 28.646 * [backup-simplify]: Simplify (+ 0) into 0 28.646 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 28.647 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.647 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.648 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 28.648 * [backup-simplify]: Simplify (- 0) into 0 28.648 * [backup-simplify]: Simplify (+ 0 0) into 0 28.648 * [backup-simplify]: Simplify (+ 0) into 0 28.649 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 28.649 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.649 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.650 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 28.650 * [backup-simplify]: Simplify (+ 0 0) into 0 28.650 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 28.650 * [backup-simplify]: Simplify (+ 0 0) into 0 28.650 * [backup-simplify]: Simplify (+ 0) into 0 28.651 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 28.651 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.651 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.651 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 28.652 * [backup-simplify]: Simplify (+ 0 0) into 0 28.652 * [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 28.652 * [taylor]: Taking taylor expansion of 0 in delta 28.652 * [backup-simplify]: Simplify 0 into 0 28.652 * [backup-simplify]: Simplify 0 into 0 28.652 * [backup-simplify]: Simplify (+ 0) into 0 28.653 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 28.653 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.653 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.653 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 28.654 * [backup-simplify]: Simplify (+ 0 0) into 0 28.654 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 28.654 * [backup-simplify]: Simplify (+ 0) into 0 28.654 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 28.654 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 28.655 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.655 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 28.655 * [backup-simplify]: Simplify (- 0) into 0 28.656 * [backup-simplify]: Simplify (+ 0 0) into 0 28.656 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 28.656 * [backup-simplify]: Simplify (+ 0) into 0 28.656 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 28.656 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.657 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.657 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 28.657 * [backup-simplify]: Simplify (- 0) into 0 28.658 * [backup-simplify]: Simplify (+ 0 0) into 0 28.658 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into 0 28.658 * [backup-simplify]: Simplify (+ 0 0) into 0 28.658 * [backup-simplify]: Simplify (+ 0) into 0 28.659 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 28.659 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.659 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.659 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 28.660 * [backup-simplify]: Simplify (+ 0 0) into 0 28.660 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) into 0 28.660 * [backup-simplify]: Simplify 0 into 0 28.660 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.661 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.661 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.662 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.662 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.662 * [backup-simplify]: Simplify (+ 0 0) into 0 28.663 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 28.663 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.664 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.664 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.664 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.665 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.665 * [backup-simplify]: Simplify (- 0) into 0 28.665 * [backup-simplify]: Simplify (+ 0 0) into 0 28.666 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 28.666 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.666 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.667 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.667 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.667 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.668 * [backup-simplify]: Simplify (- 0) into 0 28.668 * [backup-simplify]: Simplify (+ 0 0) into 0 28.668 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 28.668 * [backup-simplify]: Simplify (+ 0 0) into 0 28.669 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) into 0 28.669 * [taylor]: Taking taylor expansion of 0 in theta 28.669 * [backup-simplify]: Simplify 0 into 0 28.669 * [taylor]: Taking taylor expansion of 0 in delta 28.669 * [backup-simplify]: Simplify 0 into 0 28.669 * [backup-simplify]: Simplify 0 into 0 28.669 * [taylor]: Taking taylor expansion of 0 in delta 28.669 * [backup-simplify]: Simplify 0 into 0 28.669 * [backup-simplify]: Simplify 0 into 0 28.670 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.670 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.670 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.671 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.671 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.671 * [backup-simplify]: Simplify (+ 0 0) into 0 28.672 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 28.672 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.673 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.673 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.673 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.674 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.674 * [backup-simplify]: Simplify (- 0) into 0 28.674 * [backup-simplify]: Simplify (+ 0 0) into 0 28.674 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 28.675 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.675 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.675 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.676 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.676 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.677 * [backup-simplify]: Simplify (- 0) into 0 28.677 * [backup-simplify]: Simplify (+ 0 0) into 0 28.677 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.678 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.678 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.678 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.679 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.679 * [backup-simplify]: Simplify (+ 0 0) into 0 28.679 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 28.679 * [backup-simplify]: Simplify (+ 0 0) into 0 28.680 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.680 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.680 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.681 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.681 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.681 * [backup-simplify]: Simplify (+ 0 0) into 0 28.682 * [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 28.682 * [taylor]: Taking taylor expansion of 0 in delta 28.682 * [backup-simplify]: Simplify 0 into 0 28.682 * [backup-simplify]: Simplify 0 into 0 28.682 * [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)))) 28.682 * * * * [progress]: [ 3 / 4 ] generating series at (2 1 2 2 2 1) 28.682 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 28.683 * [approximate]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in (theta phi1 delta) around 0 28.683 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 28.683 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 28.683 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 28.683 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 28.683 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 28.683 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 28.683 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 28.683 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 28.684 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 28.685 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 28.685 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 28.685 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 28.685 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 28.685 * [taylor]: Taking taylor expansion of 0 in phi1 28.685 * [backup-simplify]: Simplify 0 into 0 28.685 * [taylor]: Taking taylor expansion of 0 in delta 28.685 * [backup-simplify]: Simplify 0 into 0 28.685 * [backup-simplify]: Simplify 0 into 0 28.685 * [taylor]: Taking taylor expansion of 0 in delta 28.685 * [backup-simplify]: Simplify 0 into 0 28.685 * [backup-simplify]: Simplify 0 into 0 28.685 * [backup-simplify]: Simplify 0 into 0 28.685 * [taylor]: Taking taylor expansion of 0 in phi1 28.685 * [backup-simplify]: Simplify 0 into 0 28.685 * [taylor]: Taking taylor expansion of 0 in delta 28.685 * [backup-simplify]: Simplify 0 into 0 28.685 * [backup-simplify]: Simplify 0 into 0 28.685 * [taylor]: Taking taylor expansion of 0 in delta 28.685 * [backup-simplify]: Simplify 0 into 0 28.685 * [backup-simplify]: Simplify 0 into 0 28.685 * [taylor]: Taking taylor expansion of 0 in delta 28.685 * [backup-simplify]: Simplify 0 into 0 28.685 * [backup-simplify]: Simplify 0 into 0 28.685 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 28.686 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) into (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) 28.686 * [approximate]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in (theta phi1 delta) around 0 28.686 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in delta 28.686 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) into (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) 28.686 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in phi1 28.686 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) into (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) 28.686 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in theta 28.686 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) into (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) 28.686 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in theta 28.686 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) into (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) 28.686 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in phi1 28.687 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) into (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) 28.687 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in delta 28.687 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) into (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) 28.687 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) into (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) 28.687 * [taylor]: Taking taylor expansion of 0 in phi1 28.687 * [backup-simplify]: Simplify 0 into 0 28.687 * [taylor]: Taking taylor expansion of 0 in delta 28.687 * [backup-simplify]: Simplify 0 into 0 28.687 * [backup-simplify]: Simplify 0 into 0 28.687 * [taylor]: Taking taylor expansion of 0 in delta 28.687 * [backup-simplify]: Simplify 0 into 0 28.687 * [backup-simplify]: Simplify 0 into 0 28.687 * [backup-simplify]: Simplify 0 into 0 28.687 * [taylor]: Taking taylor expansion of 0 in phi1 28.687 * [backup-simplify]: Simplify 0 into 0 28.687 * [taylor]: Taking taylor expansion of 0 in delta 28.687 * [backup-simplify]: Simplify 0 into 0 28.687 * [backup-simplify]: Simplify 0 into 0 28.687 * [taylor]: Taking taylor expansion of 0 in delta 28.687 * [backup-simplify]: Simplify 0 into 0 28.687 * [backup-simplify]: Simplify 0 into 0 28.687 * [taylor]: Taking taylor expansion of 0 in delta 28.687 * [backup-simplify]: Simplify 0 into 0 28.687 * [backup-simplify]: Simplify 0 into 0 28.687 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 (/ 1 theta))) (* (sin (/ 1 (/ 1 delta))) (cos (/ 1 (/ 1 phi1)))) (* (sin (/ 1 (/ 1 phi1))) (cos (/ 1 (/ 1 delta)))))) into (asin (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta)))) 28.688 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 (- theta))) (* (cos (/ 1 (- phi1))) (sin (/ 1 (- delta)))) (* (cos (/ 1 (- delta))) (sin (/ 1 (- phi1)))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 28.688 * [approximate]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in (theta phi1 delta) around 0 28.688 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 28.688 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 28.688 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 28.688 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 28.688 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 28.688 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 28.688 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 28.688 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 28.689 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 28.689 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 28.689 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 28.689 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 28.689 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 28.689 * [taylor]: Taking taylor expansion of 0 in phi1 28.689 * [backup-simplify]: Simplify 0 into 0 28.689 * [taylor]: Taking taylor expansion of 0 in delta 28.689 * [backup-simplify]: Simplify 0 into 0 28.689 * [backup-simplify]: Simplify 0 into 0 28.689 * [taylor]: Taking taylor expansion of 0 in delta 28.689 * [backup-simplify]: Simplify 0 into 0 28.689 * [backup-simplify]: Simplify 0 into 0 28.689 * [backup-simplify]: Simplify 0 into 0 28.689 * [taylor]: Taking taylor expansion of 0 in phi1 28.689 * [backup-simplify]: Simplify 0 into 0 28.689 * [taylor]: Taking taylor expansion of 0 in delta 28.689 * [backup-simplify]: Simplify 0 into 0 28.689 * [backup-simplify]: Simplify 0 into 0 28.689 * [taylor]: Taking taylor expansion of 0 in delta 28.689 * [backup-simplify]: Simplify 0 into 0 28.689 * [backup-simplify]: Simplify 0 into 0 28.689 * [taylor]: Taking taylor expansion of 0 in delta 28.689 * [backup-simplify]: Simplify 0 into 0 28.689 * [backup-simplify]: Simplify 0 into 0 28.690 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 (/ 1 (- theta)))) (* (cos (/ -1 (/ 1 (- phi1)))) (sin (/ -1 (/ 1 (- delta))))) (* (sin (/ -1 (/ 1 (- phi1)))) (cos (/ -1 (/ 1 (- delta))))))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 28.690 * * * * [progress]: [ 4 / 4 ] generating series at (2 1 1) 28.690 * [backup-simplify]: Simplify (* (sin delta) (* (cos phi1) (sin theta))) into (* (sin delta) (* (cos phi1) (sin theta))) 28.690 * [approximate]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in (delta phi1 theta) around 0 28.690 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in theta 28.690 * [taylor]: Taking taylor expansion of (sin delta) in theta 28.690 * [taylor]: Taking taylor expansion of delta in theta 28.690 * [backup-simplify]: Simplify delta into delta 28.690 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.690 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.690 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in theta 28.690 * [taylor]: Taking taylor expansion of (cos phi1) in theta 28.690 * [taylor]: Taking taylor expansion of phi1 in theta 28.690 * [backup-simplify]: Simplify phi1 into phi1 28.690 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.690 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.690 * [taylor]: Taking taylor expansion of (sin theta) in theta 28.690 * [taylor]: Taking taylor expansion of theta in theta 28.690 * [backup-simplify]: Simplify 0 into 0 28.690 * [backup-simplify]: Simplify 1 into 1 28.690 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in phi1 28.690 * [taylor]: Taking taylor expansion of (sin delta) in phi1 28.690 * [taylor]: Taking taylor expansion of delta in phi1 28.690 * [backup-simplify]: Simplify delta into delta 28.690 * [backup-simplify]: Simplify (sin delta) into (sin delta) 28.690 * [backup-simplify]: Simplify (cos delta) into (cos delta) 28.690 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in phi1 28.690 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 28.690 * [taylor]: Taking taylor expansion of phi1 in phi1 28.690 * [backup-simplify]: Simplify 0 into 0 28.690 * [backup-simplify]: Simplify 1 into 1 28.690 * [taylor]: Taking taylor expansion of (sin theta) in phi1 28.690 * [taylor]: Taking taylor expansion of theta in phi1 28.690 * [backup-simplify]: Simplify theta into theta 28.690 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.690 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.690 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in delta 28.690 * [taylor]: Taking taylor expansion of (sin delta) in delta 28.690 * [taylor]: Taking taylor expansion of delta in delta 28.690 * [backup-simplify]: Simplify 0 into 0 28.690 * [backup-simplify]: Simplify 1 into 1 28.690 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in delta 28.690 * [taylor]: Taking taylor expansion of (cos phi1) in delta 28.691 * [taylor]: Taking taylor expansion of phi1 in delta 28.691 * [backup-simplify]: Simplify phi1 into phi1 28.691 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.691 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.691 * [taylor]: Taking taylor expansion of (sin theta) in delta 28.691 * [taylor]: Taking taylor expansion of theta in delta 28.691 * [backup-simplify]: Simplify theta into theta 28.691 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.691 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.691 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in delta 28.691 * [taylor]: Taking taylor expansion of (sin delta) in delta 28.691 * [taylor]: Taking taylor expansion of delta in delta 28.691 * [backup-simplify]: Simplify 0 into 0 28.691 * [backup-simplify]: Simplify 1 into 1 28.691 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in delta 28.691 * [taylor]: Taking taylor expansion of (cos phi1) in delta 28.691 * [taylor]: Taking taylor expansion of phi1 in delta 28.691 * [backup-simplify]: Simplify phi1 into phi1 28.691 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 28.691 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 28.691 * [taylor]: Taking taylor expansion of (sin theta) in delta 28.691 * [taylor]: Taking taylor expansion of theta in delta 28.691 * [backup-simplify]: Simplify theta into theta 28.691 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.691 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.691 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 28.691 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 28.692 * [backup-simplify]: Simplify (- 0) into 0 28.692 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 28.692 * [backup-simplify]: Simplify (* (sin theta) 1) into (sin theta) 28.692 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 28.692 * [backup-simplify]: Simplify (+ (sin theta) 0) into (sin theta) 28.692 * [backup-simplify]: Simplify (* (cos phi1) (sin theta)) into (* (cos phi1) (sin theta)) 28.692 * [backup-simplify]: Simplify (* 0 (* (cos phi1) (sin theta))) into 0 28.692 * [taylor]: Taking taylor expansion of 0 in phi1 28.692 * [backup-simplify]: Simplify 0 into 0 28.692 * [taylor]: Taking taylor expansion of 0 in theta 28.692 * [backup-simplify]: Simplify 0 into 0 28.692 * [backup-simplify]: Simplify 0 into 0 28.692 * [backup-simplify]: Simplify (+ 0) into 0 28.693 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 1)) into 0 28.693 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.693 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 0)) into 0 28.694 * [backup-simplify]: Simplify (+ 0 0) into 0 28.694 * [backup-simplify]: Simplify (+ 0) into 0 28.694 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 28.695 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.695 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 28.695 * [backup-simplify]: Simplify (- 0) into 0 28.695 * [backup-simplify]: Simplify (+ 0 0) into 0 28.695 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 (sin theta))) into 0 28.696 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 28.696 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos phi1) (sin theta)))) into (* (cos phi1) (sin theta)) 28.696 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in phi1 28.696 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 28.696 * [taylor]: Taking taylor expansion of phi1 in phi1 28.696 * [backup-simplify]: Simplify 0 into 0 28.696 * [backup-simplify]: Simplify 1 into 1 28.696 * [taylor]: Taking taylor expansion of (sin theta) in phi1 28.696 * [taylor]: Taking taylor expansion of theta in phi1 28.696 * [backup-simplify]: Simplify theta into theta 28.696 * [backup-simplify]: Simplify (sin theta) into (sin theta) 28.696 * [backup-simplify]: Simplify (cos theta) into (cos theta) 28.696 * [backup-simplify]: Simplify (* (sin theta) 1) into (sin theta) 28.696 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 28.697 * [backup-simplify]: Simplify (+ (sin theta) 0) into (sin theta) 28.697 * [backup-simplify]: Simplify (* 1 (sin theta)) into (sin theta) 28.697 * [taylor]: Taking taylor expansion of (sin theta) in theta 28.697 * [taylor]: Taking taylor expansion of theta in theta 28.697 * [backup-simplify]: Simplify 0 into 0 28.697 * [backup-simplify]: Simplify 1 into 1 28.697 * [backup-simplify]: Simplify 0 into 0 28.697 * [taylor]: Taking taylor expansion of 0 in theta 28.697 * [backup-simplify]: Simplify 0 into 0 28.697 * [backup-simplify]: Simplify 0 into 0 28.697 * [backup-simplify]: Simplify 0 into 0 28.697 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.698 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 1))) into 0 28.698 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.698 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 0))) into 0 28.699 * [backup-simplify]: Simplify (+ 0 0) into 0 28.699 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.700 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 28.700 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.700 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 28.701 * [backup-simplify]: Simplify (- 0) into 0 28.701 * [backup-simplify]: Simplify (+ 0 0) into 0 28.701 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 (sin theta)))) into 0 28.702 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.702 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (cos phi1) (sin theta))))) into 0 28.702 * [taylor]: Taking taylor expansion of 0 in phi1 28.702 * [backup-simplify]: Simplify 0 into 0 28.702 * [taylor]: Taking taylor expansion of 0 in theta 28.702 * [backup-simplify]: Simplify 0 into 0 28.702 * [backup-simplify]: Simplify 0 into 0 28.703 * [backup-simplify]: Simplify (+ 0) into 0 28.703 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 1)) into 0 28.703 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.704 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 0)) into 0 28.704 * [backup-simplify]: Simplify (+ 0 0) into 0 28.704 * [backup-simplify]: Simplify (+ 0) into 0 28.704 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin theta))) into 0 28.704 * [taylor]: Taking taylor expansion of 0 in theta 28.704 * [backup-simplify]: Simplify 0 into 0 28.704 * [backup-simplify]: Simplify 0 into 0 28.704 * [backup-simplify]: Simplify 0 into 0 28.705 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) 28.705 * [approximate]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in (delta phi1 theta) around 0 28.705 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in theta 28.705 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 28.705 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.705 * [taylor]: Taking taylor expansion of phi1 in theta 28.705 * [backup-simplify]: Simplify phi1 into phi1 28.705 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.705 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.705 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.705 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in theta 28.705 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in theta 28.705 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 28.705 * [taylor]: Taking taylor expansion of theta in theta 28.705 * [backup-simplify]: Simplify 0 into 0 28.705 * [backup-simplify]: Simplify 1 into 1 28.705 * [backup-simplify]: Simplify (/ 1 1) into 1 28.705 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.705 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 28.705 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.705 * [taylor]: Taking taylor expansion of delta in theta 28.705 * [backup-simplify]: Simplify delta into delta 28.705 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.705 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.705 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.705 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in phi1 28.705 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 28.705 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.705 * [taylor]: Taking taylor expansion of phi1 in phi1 28.706 * [backup-simplify]: Simplify 0 into 0 28.706 * [backup-simplify]: Simplify 1 into 1 28.706 * [backup-simplify]: Simplify (/ 1 1) into 1 28.706 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.706 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in phi1 28.706 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in phi1 28.706 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 28.706 * [taylor]: Taking taylor expansion of theta in phi1 28.706 * [backup-simplify]: Simplify theta into theta 28.706 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.706 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.706 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.706 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 28.706 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.706 * [taylor]: Taking taylor expansion of delta in phi1 28.706 * [backup-simplify]: Simplify delta into delta 28.706 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.706 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.706 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.706 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in delta 28.706 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 28.706 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.706 * [taylor]: Taking taylor expansion of phi1 in delta 28.706 * [backup-simplify]: Simplify phi1 into phi1 28.706 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.706 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.706 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.706 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in delta 28.706 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in delta 28.706 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 28.706 * [taylor]: Taking taylor expansion of theta in delta 28.706 * [backup-simplify]: Simplify theta into theta 28.707 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.707 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.707 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.707 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 28.707 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.707 * [taylor]: Taking taylor expansion of delta in delta 28.707 * [backup-simplify]: Simplify 0 into 0 28.707 * [backup-simplify]: Simplify 1 into 1 28.707 * [backup-simplify]: Simplify (/ 1 1) into 1 28.707 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.707 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in delta 28.707 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 28.707 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 28.707 * [taylor]: Taking taylor expansion of phi1 in delta 28.707 * [backup-simplify]: Simplify phi1 into phi1 28.707 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.707 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.707 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.707 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in delta 28.707 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in delta 28.707 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 28.707 * [taylor]: Taking taylor expansion of theta in delta 28.707 * [backup-simplify]: Simplify theta into theta 28.707 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.707 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.707 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.707 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 28.707 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 28.707 * [taylor]: Taking taylor expansion of delta in delta 28.707 * [backup-simplify]: Simplify 0 into 0 28.708 * [backup-simplify]: Simplify 1 into 1 28.708 * [backup-simplify]: Simplify (/ 1 1) into 1 28.708 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.708 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 28.708 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 28.708 * [backup-simplify]: Simplify (- 0) into 0 28.708 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 28.709 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 1) into (sin (/ 1 theta)) 28.709 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 0) into 0 28.709 * [backup-simplify]: Simplify (+ (sin (/ 1 theta)) 0) into (sin (/ 1 theta)) 28.709 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (sin (/ 1 delta))) into (* (sin (/ 1 theta)) (sin (/ 1 delta))) 28.709 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) 28.709 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 28.709 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 28.709 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 28.709 * [taylor]: Taking taylor expansion of delta in phi1 28.709 * [backup-simplify]: Simplify delta into delta 28.709 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.709 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.709 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.709 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (cos (/ 1 phi1))) in phi1 28.709 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in phi1 28.709 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 28.709 * [taylor]: Taking taylor expansion of theta in phi1 28.709 * [backup-simplify]: Simplify theta into theta 28.709 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 28.709 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.709 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 28.709 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 28.709 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 28.709 * [taylor]: Taking taylor expansion of phi1 in phi1 28.709 * [backup-simplify]: Simplify 0 into 0 28.709 * [backup-simplify]: Simplify 1 into 1 28.710 * [backup-simplify]: Simplify (/ 1 1) into 1 28.710 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.710 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 28.710 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 28.710 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 28.710 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 1) into (sin (/ 1 theta)) 28.710 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 0) into 0 28.710 * [backup-simplify]: Simplify (+ (sin (/ 1 theta)) 0) into (sin (/ 1 theta)) 28.710 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (cos (/ 1 phi1))) into (* (sin (/ 1 theta)) (cos (/ 1 phi1))) 28.710 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) 28.710 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in theta 28.710 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 28.710 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 28.710 * [taylor]: Taking taylor expansion of phi1 in theta 28.710 * [backup-simplify]: Simplify phi1 into phi1 28.710 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 28.710 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 28.710 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 28.710 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in theta 28.710 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in theta 28.710 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 28.710 * [taylor]: Taking taylor expansion of theta in theta 28.710 * [backup-simplify]: Simplify 0 into 0 28.710 * [backup-simplify]: Simplify 1 into 1 28.711 * [backup-simplify]: Simplify (/ 1 1) into 1 28.711 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 28.711 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 28.711 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 28.711 * [taylor]: Taking taylor expansion of delta in theta 28.711 * [backup-simplify]: Simplify delta into delta 28.711 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 28.711 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 28.711 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 28.711 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 28.711 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 28.711 * [backup-simplify]: Simplify (- 0) into 0 28.712 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 28.712 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 28.712 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 28.712 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 28.712 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (sin (/ 1 delta))) into (* (sin (/ 1 theta)) (sin (/ 1 delta))) 28.712 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) 28.712 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) 28.712 * [backup-simplify]: Simplify (+ 0) into 0 28.713 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 1)) into 0 28.713 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 28.713 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.713 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 0)) into 0 28.714 * [backup-simplify]: Simplify (+ 0 0) into 0 28.714 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 28.714 * [backup-simplify]: Simplify (+ 0) into 0 28.714 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 28.714 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.715 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.715 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 28.715 * [backup-simplify]: Simplify (- 0) into 0 28.716 * [backup-simplify]: Simplify (+ 0 0) into 0 28.716 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 theta)) (sin (/ 1 delta))))) into 0 28.716 * [taylor]: Taking taylor expansion of 0 in phi1 28.716 * [backup-simplify]: Simplify 0 into 0 28.716 * [taylor]: Taking taylor expansion of 0 in theta 28.716 * [backup-simplify]: Simplify 0 into 0 28.716 * [backup-simplify]: Simplify 0 into 0 28.716 * [backup-simplify]: Simplify (+ 0) into 0 28.716 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 1)) into 0 28.716 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 28.717 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.717 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 0)) into 0 28.717 * [backup-simplify]: Simplify (+ 0 0) into 0 28.718 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 28.718 * [backup-simplify]: Simplify (+ 0) into 0 28.718 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 28.718 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.719 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.719 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 28.719 * [backup-simplify]: Simplify (+ 0 0) into 0 28.719 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (sin (/ 1 theta)) (cos (/ 1 phi1))))) into 0 28.719 * [taylor]: Taking taylor expansion of 0 in theta 28.719 * [backup-simplify]: Simplify 0 into 0 28.719 * [backup-simplify]: Simplify 0 into 0 28.720 * [backup-simplify]: Simplify (+ 0) into 0 28.720 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 28.720 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 28.721 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.721 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 28.721 * [backup-simplify]: Simplify (+ 0 0) into 0 28.721 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 28.721 * [backup-simplify]: Simplify (+ 0) into 0 28.722 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 28.722 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 28.722 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.722 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 28.723 * [backup-simplify]: Simplify (- 0) into 0 28.723 * [backup-simplify]: Simplify (+ 0 0) into 0 28.723 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 theta)) (sin (/ 1 delta))))) into 0 28.723 * [backup-simplify]: Simplify 0 into 0 28.724 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.724 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.725 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.729 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.730 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.730 * [backup-simplify]: Simplify (+ 0 0) into 0 28.731 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 28.732 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.732 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.733 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.733 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.734 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.734 * [backup-simplify]: Simplify (- 0) into 0 28.735 * [backup-simplify]: Simplify (+ 0 0) into 0 28.735 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 theta)) (sin (/ 1 delta)))))) into 0 28.735 * [taylor]: Taking taylor expansion of 0 in phi1 28.735 * [backup-simplify]: Simplify 0 into 0 28.735 * [taylor]: Taking taylor expansion of 0 in theta 28.736 * [backup-simplify]: Simplify 0 into 0 28.736 * [backup-simplify]: Simplify 0 into 0 28.736 * [taylor]: Taking taylor expansion of 0 in theta 28.736 * [backup-simplify]: Simplify 0 into 0 28.736 * [backup-simplify]: Simplify 0 into 0 28.737 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.737 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.738 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.738 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.739 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.739 * [backup-simplify]: Simplify (+ 0 0) into 0 28.740 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 28.741 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.741 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.742 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.742 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.743 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.743 * [backup-simplify]: Simplify (+ 0 0) into 0 28.744 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 28.744 * [taylor]: Taking taylor expansion of 0 in theta 28.744 * [backup-simplify]: Simplify 0 into 0 28.744 * [backup-simplify]: Simplify 0 into 0 28.745 * [backup-simplify]: Simplify (* (cos (/ 1 (/ 1 phi1))) (* (sin (/ 1 (/ 1 theta))) (sin (/ 1 (/ 1 delta))))) into (* (cos phi1) (* (sin theta) (sin delta))) 28.745 * [backup-simplify]: Simplify (* (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (sin (/ 1 (- theta))))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) 28.745 * [approximate]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in (delta phi1 theta) around 0 28.745 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in theta 28.745 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 28.745 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.745 * [taylor]: Taking taylor expansion of -1 in theta 28.745 * [backup-simplify]: Simplify -1 into -1 28.745 * [taylor]: Taking taylor expansion of phi1 in theta 28.745 * [backup-simplify]: Simplify phi1 into phi1 28.745 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.745 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.745 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.745 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in theta 28.745 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in theta 28.745 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 28.745 * [taylor]: Taking taylor expansion of -1 in theta 28.745 * [backup-simplify]: Simplify -1 into -1 28.746 * [taylor]: Taking taylor expansion of theta in theta 28.746 * [backup-simplify]: Simplify 0 into 0 28.746 * [backup-simplify]: Simplify 1 into 1 28.746 * [backup-simplify]: Simplify (/ -1 1) into -1 28.746 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.746 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 28.746 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.746 * [taylor]: Taking taylor expansion of -1 in theta 28.746 * [backup-simplify]: Simplify -1 into -1 28.746 * [taylor]: Taking taylor expansion of delta in theta 28.746 * [backup-simplify]: Simplify delta into delta 28.746 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.746 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.746 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.747 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in phi1 28.747 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 28.747 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.747 * [taylor]: Taking taylor expansion of -1 in phi1 28.747 * [backup-simplify]: Simplify -1 into -1 28.747 * [taylor]: Taking taylor expansion of phi1 in phi1 28.747 * [backup-simplify]: Simplify 0 into 0 28.747 * [backup-simplify]: Simplify 1 into 1 28.747 * [backup-simplify]: Simplify (/ -1 1) into -1 28.747 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.747 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in phi1 28.747 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in phi1 28.747 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 28.747 * [taylor]: Taking taylor expansion of -1 in phi1 28.747 * [backup-simplify]: Simplify -1 into -1 28.747 * [taylor]: Taking taylor expansion of theta in phi1 28.747 * [backup-simplify]: Simplify theta into theta 28.747 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.748 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.748 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.748 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 28.748 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.748 * [taylor]: Taking taylor expansion of -1 in phi1 28.748 * [backup-simplify]: Simplify -1 into -1 28.748 * [taylor]: Taking taylor expansion of delta in phi1 28.748 * [backup-simplify]: Simplify delta into delta 28.748 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.748 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.748 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.748 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in delta 28.748 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 28.748 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.748 * [taylor]: Taking taylor expansion of -1 in delta 28.748 * [backup-simplify]: Simplify -1 into -1 28.748 * [taylor]: Taking taylor expansion of phi1 in delta 28.748 * [backup-simplify]: Simplify phi1 into phi1 28.748 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.748 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.748 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.748 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in delta 28.748 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in delta 28.748 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 28.748 * [taylor]: Taking taylor expansion of -1 in delta 28.748 * [backup-simplify]: Simplify -1 into -1 28.748 * [taylor]: Taking taylor expansion of theta in delta 28.749 * [backup-simplify]: Simplify theta into theta 28.749 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.749 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.749 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.749 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 28.749 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.749 * [taylor]: Taking taylor expansion of -1 in delta 28.749 * [backup-simplify]: Simplify -1 into -1 28.749 * [taylor]: Taking taylor expansion of delta in delta 28.749 * [backup-simplify]: Simplify 0 into 0 28.749 * [backup-simplify]: Simplify 1 into 1 28.749 * [backup-simplify]: Simplify (/ -1 1) into -1 28.749 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.749 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in delta 28.750 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 28.750 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 28.750 * [taylor]: Taking taylor expansion of -1 in delta 28.750 * [backup-simplify]: Simplify -1 into -1 28.750 * [taylor]: Taking taylor expansion of phi1 in delta 28.750 * [backup-simplify]: Simplify phi1 into phi1 28.750 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.750 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.750 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.750 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in delta 28.750 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in delta 28.750 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 28.750 * [taylor]: Taking taylor expansion of -1 in delta 28.750 * [backup-simplify]: Simplify -1 into -1 28.750 * [taylor]: Taking taylor expansion of theta in delta 28.750 * [backup-simplify]: Simplify theta into theta 28.750 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.750 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.750 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.750 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 28.750 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 28.750 * [taylor]: Taking taylor expansion of -1 in delta 28.750 * [backup-simplify]: Simplify -1 into -1 28.750 * [taylor]: Taking taylor expansion of delta in delta 28.750 * [backup-simplify]: Simplify 0 into 0 28.750 * [backup-simplify]: Simplify 1 into 1 28.751 * [backup-simplify]: Simplify (/ -1 1) into -1 28.751 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.751 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 28.751 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 28.752 * [backup-simplify]: Simplify (- 0) into 0 28.752 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 28.752 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 1) into (sin (/ -1 theta)) 28.752 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 0) into 0 28.752 * [backup-simplify]: Simplify (+ (sin (/ -1 theta)) 0) into (sin (/ -1 theta)) 28.752 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (sin (/ -1 theta))) 28.752 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) 28.752 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) in phi1 28.752 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 28.752 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 28.752 * [taylor]: Taking taylor expansion of -1 in phi1 28.753 * [backup-simplify]: Simplify -1 into -1 28.753 * [taylor]: Taking taylor expansion of phi1 in phi1 28.753 * [backup-simplify]: Simplify 0 into 0 28.753 * [backup-simplify]: Simplify 1 into 1 28.753 * [backup-simplify]: Simplify (/ -1 1) into -1 28.753 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.753 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (sin (/ -1 theta))) in phi1 28.753 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 28.753 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 28.753 * [taylor]: Taking taylor expansion of -1 in phi1 28.753 * [backup-simplify]: Simplify -1 into -1 28.753 * [taylor]: Taking taylor expansion of delta in phi1 28.753 * [backup-simplify]: Simplify delta into delta 28.753 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.753 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.754 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.754 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in phi1 28.754 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 28.754 * [taylor]: Taking taylor expansion of -1 in phi1 28.754 * [backup-simplify]: Simplify -1 into -1 28.754 * [taylor]: Taking taylor expansion of theta in phi1 28.754 * [backup-simplify]: Simplify theta into theta 28.754 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 28.754 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.754 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 28.754 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 28.754 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 28.754 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 28.754 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 1) into (sin (/ -1 theta)) 28.754 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 0) into 0 28.754 * [backup-simplify]: Simplify (+ (sin (/ -1 theta)) 0) into (sin (/ -1 theta)) 28.755 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (sin (/ -1 theta))) into (* (sin (/ -1 theta)) (sin (/ -1 delta))) 28.755 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) 28.755 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in theta 28.755 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 28.755 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 28.755 * [taylor]: Taking taylor expansion of -1 in theta 28.755 * [backup-simplify]: Simplify -1 into -1 28.755 * [taylor]: Taking taylor expansion of phi1 in theta 28.755 * [backup-simplify]: Simplify phi1 into phi1 28.755 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 28.755 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 28.755 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 28.755 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in theta 28.755 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in theta 28.755 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 28.755 * [taylor]: Taking taylor expansion of -1 in theta 28.755 * [backup-simplify]: Simplify -1 into -1 28.755 * [taylor]: Taking taylor expansion of theta in theta 28.755 * [backup-simplify]: Simplify 0 into 0 28.755 * [backup-simplify]: Simplify 1 into 1 28.756 * [backup-simplify]: Simplify (/ -1 1) into -1 28.756 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 28.756 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 28.756 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 28.756 * [taylor]: Taking taylor expansion of -1 in theta 28.756 * [backup-simplify]: Simplify -1 into -1 28.756 * [taylor]: Taking taylor expansion of delta in theta 28.756 * [backup-simplify]: Simplify delta into delta 28.756 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 28.756 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 28.756 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 28.756 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 28.757 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 28.757 * [backup-simplify]: Simplify (- 0) into 0 28.757 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 28.757 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 28.757 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 28.757 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 28.757 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (sin (/ -1 theta))) 28.758 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) 28.758 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) 28.758 * [backup-simplify]: Simplify (+ 0) into 0 28.759 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 1)) into 0 28.759 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 28.760 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.760 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 0)) into 0 28.761 * [backup-simplify]: Simplify (+ 0 0) into 0 28.761 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 28.761 * [backup-simplify]: Simplify (+ 0) into 0 28.762 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 28.762 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.763 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.763 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 28.764 * [backup-simplify]: Simplify (- 0) into 0 28.764 * [backup-simplify]: Simplify (+ 0 0) into 0 28.764 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (sin (/ -1 theta))))) into 0 28.764 * [taylor]: Taking taylor expansion of 0 in phi1 28.764 * [backup-simplify]: Simplify 0 into 0 28.764 * [taylor]: Taking taylor expansion of 0 in theta 28.764 * [backup-simplify]: Simplify 0 into 0 28.764 * [backup-simplify]: Simplify 0 into 0 28.764 * [backup-simplify]: Simplify (+ 0) into 0 28.765 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 1)) into 0 28.765 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 28.765 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.766 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 0)) into 0 28.766 * [backup-simplify]: Simplify (+ 0 0) into 0 28.766 * [backup-simplify]: Simplify (+ 0) into 0 28.766 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 28.766 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.767 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.767 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 28.767 * [backup-simplify]: Simplify (+ 0 0) into 0 28.767 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (sin (/ -1 theta)))) into 0 28.768 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 theta)) (sin (/ -1 delta))))) into 0 28.768 * [taylor]: Taking taylor expansion of 0 in theta 28.768 * [backup-simplify]: Simplify 0 into 0 28.768 * [backup-simplify]: Simplify 0 into 0 28.768 * [backup-simplify]: Simplify (+ 0) into 0 28.768 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 28.768 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 28.769 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.769 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 28.769 * [backup-simplify]: Simplify (+ 0 0) into 0 28.769 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 28.770 * [backup-simplify]: Simplify (+ 0) into 0 28.770 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 28.770 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 28.770 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.771 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 28.771 * [backup-simplify]: Simplify (- 0) into 0 28.771 * [backup-simplify]: Simplify (+ 0 0) into 0 28.771 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (sin (/ -1 theta))))) into 0 28.771 * [backup-simplify]: Simplify 0 into 0 28.772 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.772 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.772 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.773 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.773 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.774 * [backup-simplify]: Simplify (+ 0 0) into 0 28.774 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 28.774 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.775 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 28.775 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 28.775 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.776 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 28.776 * [backup-simplify]: Simplify (- 0) into 0 28.776 * [backup-simplify]: Simplify (+ 0 0) into 0 28.776 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -1 delta)) (sin (/ -1 theta)))))) into 0 28.777 * [taylor]: Taking taylor expansion of 0 in phi1 28.777 * [backup-simplify]: Simplify 0 into 0 28.777 * [taylor]: Taking taylor expansion of 0 in theta 28.777 * [backup-simplify]: Simplify 0 into 0 28.777 * [backup-simplify]: Simplify 0 into 0 28.777 * [taylor]: Taking taylor expansion of 0 in theta 28.777 * [backup-simplify]: Simplify 0 into 0 28.777 * [backup-simplify]: Simplify 0 into 0 28.777 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.778 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.778 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 28.778 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.778 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.779 * [backup-simplify]: Simplify (+ 0 0) into 0 28.779 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 28.780 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 28.780 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 28.780 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 28.781 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 28.781 * [backup-simplify]: Simplify (+ 0 0) into 0 28.781 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 theta))))) into 0 28.782 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -1 theta)) (sin (/ -1 delta)))))) into 0 28.782 * [taylor]: Taking taylor expansion of 0 in theta 28.782 * [backup-simplify]: Simplify 0 into 0 28.782 * [backup-simplify]: Simplify 0 into 0 28.782 * [backup-simplify]: Simplify (* (cos (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- delta)))) (sin (/ -1 (/ 1 (- theta)))))) into (* (cos phi1) (* (sin delta) (sin theta))) 28.782 * * * [progress]: simplifying candidates 28.782 * * * * [progress]: [ 1 / 87 ] simplifiying candidate # 28.782 * [simplify]: Simplifying (fma (* (cbrt (cos delta)) (cbrt (cos delta))) (cbrt (cos delta)) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))) 28.782 * * [simplify]: iters left: 6 (18 enodes) 28.786 * * [simplify]: iters left: 5 (65 enodes) 28.798 * * [simplify]: iters left: 4 (84 enodes) 28.822 * * [simplify]: iters left: 3 (104 enodes) 28.849 * * [simplify]: iters left: 2 (111 enodes) 28.883 * * [simplify]: iters left: 1 (137 enodes) 28.919 * * [simplify]: Extracting #0: cost 1 inf + 0 28.919 * * [simplify]: Extracting #1: cost 11 inf + 0 28.919 * * [simplify]: Extracting #2: cost 26 inf + 0 28.919 * * [simplify]: Extracting #3: cost 26 inf + 165 28.919 * * [simplify]: Extracting #4: cost 34 inf + 389 28.920 * * [simplify]: Extracting #5: cost 36 inf + 2245 28.920 * * [simplify]: Extracting #6: cost 25 inf + 5855 28.922 * * [simplify]: Extracting #7: cost 5 inf + 14523 28.925 * * [simplify]: Extracting #8: cost 0 inf + 17473 28.927 * [simplify]: Simplified to (- (cos delta) (* (sin (asin (fma (* (cos phi1) (sin delta)) (cos theta) (* (cos delta) (sin phi1))))) (sin phi1))) 28.927 * [simplify]: Simplified (2 1 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (+ (- (cos delta) (* (sin (asin (fma (* (cos phi1) (sin delta)) (cos theta) (* (cos delta) (sin phi1))))) (sin phi1))) (fma (- (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin phi1) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1))))) lambda1)) 28.927 * [simplify]: Simplifying (fma (- (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin phi1) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1))) 28.928 * * [simplify]: iters left: 6 (16 enodes) 28.931 * * [simplify]: iters left: 5 (55 enodes) 28.938 * * [simplify]: iters left: 4 (70 enodes) 28.953 * * [simplify]: iters left: 3 (95 enodes) 28.966 * * [simplify]: iters left: 2 (101 enodes) 28.978 * * [simplify]: Extracting #0: cost 1 inf + 0 28.978 * * [simplify]: Extracting #1: cost 0 inf + 1 28.978 * [simplify]: Simplified to 0 28.978 * [simplify]: Simplified (2 1 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (+ (fma (* (cbrt (cos delta)) (cbrt (cos delta))) (cbrt (cos delta)) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))) 0)) lambda1)) 28.978 * * * * [progress]: [ 2 / 87 ] simplifiying candidate # 28.979 * [simplify]: Simplifying (fma (sqrt (cos delta)) (sqrt (cos delta)) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))) 28.979 * * [simplify]: iters left: 6 (17 enodes) 28.986 * * [simplify]: iters left: 5 (62 enodes) 29.004 * * [simplify]: iters left: 4 (77 enodes) 29.014 * * [simplify]: iters left: 3 (96 enodes) 29.027 * * [simplify]: iters left: 2 (106 enodes) 29.047 * * [simplify]: Extracting #0: cost 1 inf + 0 29.047 * * [simplify]: Extracting #1: cost 10 inf + 0 29.047 * * [simplify]: Extracting #2: cost 21 inf + 0 29.048 * * [simplify]: Extracting #3: cost 20 inf + 63 29.048 * * [simplify]: Extracting #4: cost 25 inf + 387 29.048 * * [simplify]: Extracting #5: cost 28 inf + 1096 29.049 * * [simplify]: Extracting #6: cost 21 inf + 2069 29.051 * * [simplify]: Extracting #7: cost 9 inf + 5808 29.054 * * [simplify]: Extracting #8: cost 1 inf + 11072 29.058 * * [simplify]: Extracting #9: cost 0 inf + 11715 29.061 * [simplify]: Simplified to (- (cos delta) (* (sin phi1) (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))))) 29.061 * [simplify]: Simplified (2 1 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (+ (- (cos delta) (* (sin phi1) (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))))) (fma (- (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin phi1) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1))))) lambda1)) 29.062 * [simplify]: Simplifying (fma (- (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin phi1) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1))) 29.062 * * [simplify]: iters left: 6 (16 enodes) 29.066 * * [simplify]: iters left: 5 (55 enodes) 29.077 * * [simplify]: iters left: 4 (70 enodes) 29.087 * * [simplify]: iters left: 3 (95 enodes) 29.108 * * [simplify]: iters left: 2 (101 enodes) 29.130 * * [simplify]: Extracting #0: cost 1 inf + 0 29.130 * * [simplify]: Extracting #1: cost 0 inf + 1 29.130 * [simplify]: Simplified to 0 29.130 * [simplify]: Simplified (2 1 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (+ (fma (sqrt (cos delta)) (sqrt (cos delta)) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))) 0)) lambda1)) 29.130 * * * * [progress]: [ 3 / 87 ] simplifiying candidate # 29.131 * [simplify]: Simplifying (fma 1 (cos delta) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))) 29.131 * * [simplify]: iters left: 6 (17 enodes) 29.138 * * [simplify]: iters left: 5 (64 enodes) 29.157 * * [simplify]: iters left: 4 (82 enodes) 29.181 * * [simplify]: iters left: 3 (106 enodes) 29.197 * * [simplify]: iters left: 2 (110 enodes) 29.211 * * [simplify]: iters left: 1 (128 enodes) 29.242 * * [simplify]: Extracting #0: cost 1 inf + 0 29.242 * * [simplify]: Extracting #1: cost 10 inf + 0 29.242 * * [simplify]: Extracting #2: cost 20 inf + 1 29.243 * * [simplify]: Extracting #3: cost 19 inf + 4 29.243 * * [simplify]: Extracting #4: cost 25 inf + 187 29.243 * * [simplify]: Extracting #5: cost 27 inf + 896 29.243 * * [simplify]: Extracting #6: cost 18 inf + 1789 29.244 * * [simplify]: Extracting #7: cost 11 inf + 4223 29.246 * * [simplify]: Extracting #8: cost 2 inf + 9745 29.248 * * [simplify]: Extracting #9: cost 0 inf + 11111 29.251 * [simplify]: Simplified to (- (cos delta) (* (sin phi1) (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (cos delta) (sin phi1))))))) 29.251 * [simplify]: Simplified (2 1 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (+ (- (cos delta) (* (sin phi1) (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (cos delta) (sin phi1))))))) (fma (- (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin phi1) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1))))) lambda1)) 29.251 * [simplify]: Simplifying (fma (- (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin phi1) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1))) 29.251 * * [simplify]: iters left: 6 (16 enodes) 29.254 * * [simplify]: iters left: 5 (55 enodes) 29.261 * * [simplify]: iters left: 4 (70 enodes) 29.272 * * [simplify]: iters left: 3 (95 enodes) 29.285 * * [simplify]: iters left: 2 (101 enodes) 29.296 * * [simplify]: Extracting #0: cost 1 inf + 0 29.296 * * [simplify]: Extracting #1: cost 0 inf + 1 29.296 * [simplify]: Simplified to 0 29.296 * [simplify]: Simplified (2 1 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (+ (fma 1 (cos delta) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))) 0)) lambda1)) 29.296 * * * * [progress]: [ 4 / 87 ] simplifiying candidate # 29.297 * * * * [progress]: [ 5 / 87 ] simplifiying candidate # 29.297 * * * * [progress]: [ 6 / 87 ] simplifiying candidate # 29.297 * [simplify]: Simplifying (* (cbrt (cos delta)) (cbrt (cos delta))) 29.297 * * [simplify]: iters left: 4 (4 enodes) 29.298 * * [simplify]: iters left: 3 (12 enodes) 29.299 * * [simplify]: Extracting #0: cost 1 inf + 0 29.299 * * [simplify]: Extracting #1: cost 3 inf + 0 29.299 * * [simplify]: Extracting #2: cost 5 inf + 0 29.299 * * [simplify]: Extracting #3: cost 7 inf + 0 29.299 * * [simplify]: Extracting #4: cost 6 inf + 1 29.299 * * [simplify]: Extracting #5: cost 0 inf + 767 29.300 * [simplify]: Simplified to (* (cbrt (cos delta)) (cbrt (cos delta))) 29.300 * [simplify]: Simplified (2 1 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (fma (* (cbrt (cos delta)) (cbrt (cos delta))) (cbrt (cos delta)) (- (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))))) lambda1)) 29.300 * * * * [progress]: [ 7 / 87 ] simplifiying candidate # 29.300 * [simplify]: Simplifying (sqrt (cos delta)) 29.300 * * [simplify]: iters left: 2 (3 enodes) 29.301 * * [simplify]: iters left: 1 (9 enodes) 29.302 * * [simplify]: Extracting #0: cost 1 inf + 0 29.302 * * [simplify]: Extracting #1: cost 3 inf + 0 29.302 * * [simplify]: Extracting #2: cost 5 inf + 0 29.302 * * [simplify]: Extracting #3: cost 4 inf + 1 29.302 * * [simplify]: Extracting #4: cost 0 inf + 325 29.302 * [simplify]: Simplified to (sqrt (cos delta)) 29.302 * [simplify]: Simplified (2 1 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (fma (sqrt (cos delta)) (sqrt (cos delta)) (- (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))))) lambda1)) 29.302 * * * * [progress]: [ 8 / 87 ] simplifiying candidate # 29.302 * * * * [progress]: [ 9 / 87 ] simplifiying candidate # 29.302 * [simplify]: Simplifying (/ (exp (cos delta)) (exp (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) 29.302 * * [simplify]: iters left: 6 (17 enodes) 29.306 * * [simplify]: iters left: 5 (60 enodes) 29.314 * * [simplify]: iters left: 4 (80 enodes) 29.326 * * [simplify]: iters left: 3 (119 enodes) 29.343 * * [simplify]: iters left: 2 (169 enodes) 29.391 * * [simplify]: iters left: 1 (274 enodes) 29.493 * * [simplify]: Extracting #0: cost 1 inf + 0 29.494 * * [simplify]: Extracting #1: cost 57 inf + 0 29.494 * * [simplify]: Extracting #2: cost 149 inf + 1 29.495 * * [simplify]: Extracting #3: cost 194 inf + 3 29.497 * * [simplify]: Extracting #4: cost 187 inf + 1031 29.498 * * [simplify]: Extracting #5: cost 182 inf + 2905 29.500 * * [simplify]: Extracting #6: cost 185 inf + 3675 29.504 * * [simplify]: Extracting #7: cost 163 inf + 14265 29.518 * * [simplify]: Extracting #8: cost 101 inf + 63094 29.557 * * [simplify]: Extracting #9: cost 8 inf + 164201 29.599 * * [simplify]: Extracting #10: cost 0 inf + 172717 29.643 * [simplify]: Simplified to (exp (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) 29.643 * [simplify]: Simplified (2 1 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (log (exp (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1)) 29.643 * * * * [progress]: [ 10 / 87 ] simplifiying candidate # 29.643 * * * * [progress]: [ 11 / 87 ] simplifiying candidate # 29.643 * * * * [progress]: [ 12 / 87 ] simplifiying candidate # 29.643 * * * * [progress]: [ 13 / 87 ] simplifiying candidate # 29.643 * * * * [progress]: [ 14 / 87 ] simplifiying candidate # 29.644 * * * * [progress]: [ 15 / 87 ] simplifiying candidate # 29.644 * * * * [progress]: [ 16 / 87 ] simplifiying candidate # 29.644 * * * * [progress]: [ 17 / 87 ] simplifiying candidate # 29.644 * * * * [progress]: [ 18 / 87 ] simplifiying candidate # 29.644 * * * * [progress]: [ 19 / 87 ] simplifiying candidate # 29.644 * * * * [progress]: [ 20 / 87 ] simplifiying candidate # 29.644 * * * * [progress]: [ 21 / 87 ] simplifiying candidate #real (real->posit16 (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 29.644 * * * * [progress]: [ 22 / 87 ] simplifiying candidate # 29.644 * * * * [progress]: [ 23 / 87 ] simplifiying candidate # 29.644 * * * * [progress]: [ 24 / 87 ] simplifiying candidate # 29.645 * [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))))))) 29.645 * * [simplify]: iters left: 6 (17 enodes) 29.652 * * [simplify]: iters left: 5 (60 enodes) 29.671 * * [simplify]: iters left: 4 (74 enodes) 29.691 * * [simplify]: iters left: 3 (87 enodes) 29.713 * * [simplify]: Extracting #0: cost 1 inf + 0 29.713 * * [simplify]: Extracting #1: cost 5 inf + 0 29.713 * * [simplify]: Extracting #2: cost 10 inf + 0 29.713 * * [simplify]: Extracting #3: cost 15 inf + 0 29.713 * * [simplify]: Extracting #4: cost 17 inf + 1 29.713 * * [simplify]: Extracting #5: cost 28 inf + 1 29.713 * * [simplify]: Extracting #6: cost 38 inf + 123 29.714 * * [simplify]: Extracting #7: cost 32 inf + 369 29.714 * * [simplify]: Extracting #8: cost 20 inf + 2010 29.716 * * [simplify]: Extracting #9: cost 13 inf + 5080 29.718 * * [simplify]: Extracting #10: cost 3 inf + 11290 29.722 * * [simplify]: Extracting #11: cost 0 inf + 13399 29.725 * [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))))))) 29.726 * [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)) 29.726 * * * * [progress]: [ 25 / 87 ] simplifiying candidate # 29.726 * [simplify]: Simplifying (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) 29.726 * * [simplify]: iters left: 6 (14 enodes) 29.732 * * [simplify]: iters left: 5 (47 enodes) 29.745 * * [simplify]: iters left: 4 (55 enodes) 29.756 * * [simplify]: iters left: 3 (68 enodes) 29.764 * * [simplify]: Extracting #0: cost 1 inf + 0 29.764 * * [simplify]: Extracting #1: cost 4 inf + 0 29.764 * * [simplify]: Extracting #2: cost 8 inf + 0 29.764 * * [simplify]: Extracting #3: cost 9 inf + 1 29.764 * * [simplify]: Extracting #4: cost 17 inf + 123 29.764 * * [simplify]: Extracting #5: cost 27 inf + 184 29.765 * * [simplify]: Extracting #6: cost 21 inf + 531 29.765 * * [simplify]: Extracting #7: cost 12 inf + 1888 29.766 * * [simplify]: Extracting #8: cost 2 inf + 5643 29.767 * * [simplify]: Extracting #9: cost 0 inf + 6889 29.768 * [simplify]: Simplified to (* (sin phi1) (sin (asin (fma (cos theta) (* (sin delta) (cos phi1)) (* (cos delta) (sin phi1)))))) 29.768 * [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)) 29.768 * * * * [progress]: [ 26 / 87 ] simplifiying candidate # 29.768 * * * * [progress]: [ 27 / 87 ] simplifiying candidate # 29.768 * [simplify]: Simplifying (+ (log (sin phi1)) (log (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) 29.768 * * [simplify]: iters left: 6 (16 enodes) 29.772 * * [simplify]: iters left: 5 (53 enodes) 29.778 * * [simplify]: iters left: 4 (61 enodes) 29.796 * * [simplify]: iters left: 3 (74 enodes) 29.816 * * [simplify]: Extracting #0: cost 1 inf + 0 29.816 * * [simplify]: Extracting #1: cost 4 inf + 0 29.816 * * [simplify]: Extracting #2: cost 8 inf + 0 29.816 * * [simplify]: Extracting #3: cost 12 inf + 0 29.816 * * [simplify]: Extracting #4: cost 13 inf + 1 29.816 * * [simplify]: Extracting #5: cost 21 inf + 123 29.816 * * [simplify]: Extracting #6: cost 29 inf + 446 29.817 * * [simplify]: Extracting #7: cost 17 inf + 1563 29.818 * * [simplify]: Extracting #8: cost 5 inf + 5262 29.821 * * [simplify]: Extracting #9: cost 0 inf + 8777 29.823 * [simplify]: Simplified to (+ (log (sin (asin (fma (sin phi1) (cos delta) (* (* (sin delta) (cos theta)) (cos phi1)))))) (log (sin phi1))) 29.823 * [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)) 29.823 * * * * [progress]: [ 28 / 87 ] simplifiying candidate # 29.824 * * * * [progress]: [ 29 / 87 ] simplifiying candidate # 29.824 * * * * [progress]: [ 30 / 87 ] simplifiying candidate # 29.824 * [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))))))) 29.824 * * [simplify]: iters left: 6 (18 enodes) 29.833 * * [simplify]: iters left: 5 (65 enodes) 29.855 * * [simplify]: iters left: 4 (102 enodes) 29.888 * * [simplify]: iters left: 3 (170 enodes) 29.932 * * [simplify]: iters left: 2 (276 enodes) 30.008 * * [simplify]: iters left: 1 (473 enodes) 30.187 * * [simplify]: Extracting #0: cost 1 inf + 0 30.188 * * [simplify]: Extracting #1: cost 58 inf + 0 30.189 * * [simplify]: Extracting #2: cost 167 inf + 1 30.190 * * [simplify]: Extracting #3: cost 162 inf + 580 30.192 * * [simplify]: Extracting #4: cost 161 inf + 3290 30.194 * * [simplify]: Extracting #5: cost 168 inf + 4669 30.199 * * [simplify]: Extracting #6: cost 141 inf + 16922 30.233 * * [simplify]: Extracting #7: cost 33 inf + 117870 30.284 * * [simplify]: Extracting #8: cost 1 inf + 152965 30.334 * * [simplify]: Extracting #9: cost 0 inf + 154281 30.385 * [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))))))) 30.385 * [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)) 30.385 * * * * [progress]: [ 31 / 87 ] simplifiying candidate # 30.386 * * * * [progress]: [ 32 / 87 ] simplifiying candidate # 30.386 * * * * [progress]: [ 33 / 87 ] simplifiying candidate # 30.386 * * * * [progress]: [ 34 / 87 ] simplifiying candidate # 30.386 * * * * [progress]: [ 35 / 87 ] simplifiying candidate # 30.386 * [simplify]: Simplifying (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) 30.386 * * [simplify]: iters left: 6 (16 enodes) 30.393 * * [simplify]: iters left: 5 (53 enodes) 30.405 * * [simplify]: iters left: 4 (61 enodes) 30.413 * * [simplify]: iters left: 3 (74 enodes) 30.423 * * [simplify]: Extracting #0: cost 1 inf + 0 30.423 * * [simplify]: Extracting #1: cost 4 inf + 0 30.423 * * [simplify]: Extracting #2: cost 8 inf + 0 30.423 * * [simplify]: Extracting #3: cost 12 inf + 0 30.423 * * [simplify]: Extracting #4: cost 13 inf + 1 30.423 * * [simplify]: Extracting #5: cost 21 inf + 123 30.423 * * [simplify]: Extracting #6: cost 29 inf + 386 30.423 * * [simplify]: Extracting #7: cost 17 inf + 1503 30.424 * * [simplify]: Extracting #8: cost 5 inf + 5202 30.425 * * [simplify]: Extracting #9: cost 0 inf + 8537 30.426 * [simplify]: Simplified to (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (sin phi1) (cos delta) (* (* (sin delta) (cos theta)) (cos phi1))))))) 30.426 * [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)) 30.427 * [simplify]: Simplifying (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) 30.427 * * [simplify]: iters left: 6 (16 enodes) 30.430 * * [simplify]: iters left: 5 (53 enodes) 30.437 * * [simplify]: iters left: 4 (61 enodes) 30.445 * * [simplify]: iters left: 3 (74 enodes) 30.454 * * [simplify]: Extracting #0: cost 1 inf + 0 30.454 * * [simplify]: Extracting #1: cost 4 inf + 0 30.454 * * [simplify]: Extracting #2: cost 8 inf + 0 30.454 * * [simplify]: Extracting #3: cost 12 inf + 0 30.455 * * [simplify]: Extracting #4: cost 13 inf + 1 30.455 * * [simplify]: Extracting #5: cost 21 inf + 123 30.455 * * [simplify]: Extracting #6: cost 29 inf + 386 30.455 * * [simplify]: Extracting #7: cost 17 inf + 1503 30.456 * * [simplify]: Extracting #8: cost 5 inf + 5202 30.457 * * [simplify]: Extracting #9: cost 0 inf + 8537 30.458 * [simplify]: Simplified to (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (sin phi1) (cos delta) (* (* (sin delta) (cos theta)) (cos phi1))))))) 30.458 * [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)) 30.458 * * * * [progress]: [ 36 / 87 ] simplifiying candidate # 30.458 * [simplify]: Simplifying (cbrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) 30.459 * * [simplify]: iters left: 6 (14 enodes) 30.461 * * [simplify]: iters left: 5 (46 enodes) 30.467 * * [simplify]: iters left: 4 (54 enodes) 30.475 * * [simplify]: iters left: 3 (67 enodes) 30.483 * * [simplify]: Extracting #0: cost 1 inf + 0 30.483 * * [simplify]: Extracting #1: cost 3 inf + 0 30.483 * * [simplify]: Extracting #2: cost 5 inf + 0 30.483 * * [simplify]: Extracting #3: cost 7 inf + 0 30.484 * * [simplify]: Extracting #4: cost 18 inf + 0 30.484 * * [simplify]: Extracting #5: cost 31 inf + 0 30.484 * * [simplify]: Extracting #6: cost 21 inf + 430 30.484 * * [simplify]: Extracting #7: cost 9 inf + 2273 30.485 * * [simplify]: Extracting #8: cost 2 inf + 5683 30.486 * * [simplify]: Extracting #9: cost 0 inf + 6969 30.487 * [simplify]: Simplified to (cbrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) 30.487 * [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)) 30.487 * * * * [progress]: [ 37 / 87 ] simplifiying candidate # 30.488 * [simplify]: Simplifying (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) 30.488 * * [simplify]: iters left: 6 (14 enodes) 30.490 * * [simplify]: iters left: 5 (46 enodes) 30.496 * * [simplify]: iters left: 4 (54 enodes) 30.509 * * [simplify]: iters left: 3 (67 enodes) 30.525 * * [simplify]: Extracting #0: cost 1 inf + 0 30.525 * * [simplify]: Extracting #1: cost 3 inf + 0 30.526 * * [simplify]: Extracting #2: cost 5 inf + 0 30.526 * * [simplify]: Extracting #3: cost 7 inf + 0 30.526 * * [simplify]: Extracting #4: cost 18 inf + 0 30.526 * * [simplify]: Extracting #5: cost 31 inf + 0 30.526 * * [simplify]: Extracting #6: cost 21 inf + 430 30.527 * * [simplify]: Extracting #7: cost 9 inf + 2273 30.528 * * [simplify]: Extracting #8: cost 2 inf + 5643 30.530 * * [simplify]: Extracting #9: cost 0 inf + 6889 30.532 * [simplify]: Simplified to (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) 30.532 * [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)) 30.532 * * * * [progress]: [ 38 / 87 ] simplifiying candidate # 30.532 * [simplify]: Simplifying (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) 30.533 * * [simplify]: iters left: 6 (13 enodes) 30.538 * * [simplify]: iters left: 5 (43 enodes) 30.550 * * [simplify]: iters left: 4 (51 enodes) 30.566 * * [simplify]: iters left: 3 (64 enodes) 30.582 * * [simplify]: Extracting #0: cost 1 inf + 0 30.582 * * [simplify]: Extracting #1: cost 3 inf + 0 30.582 * * [simplify]: Extracting #2: cost 5 inf + 0 30.582 * * [simplify]: Extracting #3: cost 16 inf + 0 30.582 * * [simplify]: Extracting #4: cost 29 inf + 0 30.583 * * [simplify]: Extracting #5: cost 17 inf + 1158 30.583 * * [simplify]: Extracting #6: cost 10 inf + 1888 30.584 * * [simplify]: Extracting #7: cost 3 inf + 4019 30.586 * * [simplify]: Extracting #8: cost 0 inf + 5603 30.587 * [simplify]: Simplified to (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) 30.588 * [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)) 30.588 * * * * [progress]: [ 39 / 87 ] simplifiying candidate # 30.588 * [simplify]: Simplifying (* (cbrt (sin phi1)) (cbrt (sin phi1))) 30.588 * * [simplify]: iters left: 4 (4 enodes) 30.589 * * [simplify]: iters left: 3 (12 enodes) 30.590 * * [simplify]: Extracting #0: cost 1 inf + 0 30.590 * * [simplify]: Extracting #1: cost 3 inf + 0 30.590 * * [simplify]: Extracting #2: cost 5 inf + 0 30.590 * * [simplify]: Extracting #3: cost 7 inf + 0 30.591 * * [simplify]: Extracting #4: cost 6 inf + 1 30.591 * * [simplify]: Extracting #5: cost 0 inf + 767 30.591 * [simplify]: Simplified to (* (cbrt (sin phi1)) (cbrt (sin phi1))) 30.591 * [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)) 30.591 * * * * [progress]: [ 40 / 87 ] simplifiying candidate # 30.591 * [simplify]: Simplifying (sqrt (sin phi1)) 30.591 * * [simplify]: iters left: 2 (3 enodes) 30.592 * * [simplify]: iters left: 1 (9 enodes) 30.593 * * [simplify]: Extracting #0: cost 1 inf + 0 30.594 * * [simplify]: Extracting #1: cost 3 inf + 0 30.594 * * [simplify]: Extracting #2: cost 5 inf + 0 30.594 * * [simplify]: Extracting #3: cost 4 inf + 1 30.594 * * [simplify]: Extracting #4: cost 0 inf + 325 30.594 * [simplify]: Simplified to (sqrt (sin phi1)) 30.594 * [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)) 30.594 * * * * [progress]: [ 41 / 87 ] simplifiying candidate # 30.594 * * * * [progress]: [ 42 / 87 ] simplifiying candidate #real (real->posit16 (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 30.594 * * * * [progress]: [ 43 / 87 ] simplifiying candidate # 30.594 * * * * [progress]: [ 44 / 87 ] simplifiying candidate # 30.594 * * * * [progress]: [ 45 / 87 ] simplifiying candidate # 30.594 * * * * [progress]: [ 46 / 87 ] simplifiying candidate # 30.594 * * * * [progress]: [ 47 / 87 ] simplifiying candidate # 30.594 * * * * [progress]: [ 48 / 87 ] simplifiying candidate # 30.594 * * * * [progress]: [ 49 / 87 ] simplifiying candidate # 30.594 * * * * [progress]: [ 50 / 87 ] simplifiying candidate # 30.594 * * * * [progress]: [ 51 / 87 ] simplifiying candidate # 30.594 * * * * [progress]: [ 52 / 87 ] simplifiying candidate # 30.594 * * * * [progress]: [ 53 / 87 ] simplifiying candidate # 30.595 * * * * [progress]: [ 54 / 87 ] simplifiying candidate #real (real->posit16 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 30.595 * * * * [progress]: [ 55 / 87 ] simplifiying candidate # 30.595 * * * * [progress]: [ 56 / 87 ] simplifiying candidate # 30.595 * * * * [progress]: [ 57 / 87 ] simplifiying candidate # 30.595 * [simplify]: Simplifying (* (sin delta) (* (cos phi1) (sin theta))) 30.595 * * [simplify]: iters left: 5 (8 enodes) 30.597 * * [simplify]: iters left: 4 (28 enodes) 30.600 * * [simplify]: iters left: 3 (36 enodes) 30.605 * * [simplify]: iters left: 2 (42 enodes) 30.610 * * [simplify]: Extracting #0: cost 1 inf + 0 30.610 * * [simplify]: Extracting #1: cost 8 inf + 0 30.610 * * [simplify]: Extracting #2: cost 17 inf + 0 30.610 * * [simplify]: Extracting #3: cost 12 inf + 125 30.610 * * [simplify]: Extracting #4: cost 5 inf + 1057 30.611 * * [simplify]: Extracting #5: cost 1 inf + 1705 30.611 * * [simplify]: Extracting #6: cost 0 inf + 1867 30.611 * [simplify]: Simplified to (* (* (cos phi1) (sin theta)) (sin delta)) 30.611 * [simplify]: Simplified (2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (pow (* (* (cos phi1) (sin theta)) (sin delta)) 1) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 30.612 * * * * [progress]: [ 58 / 87 ] simplifiying candidate # 30.612 * [simplify]: Simplifying (* (sin delta) (* (cos phi1) (sin theta))) 30.612 * * [simplify]: iters left: 5 (8 enodes) 30.614 * * [simplify]: iters left: 4 (28 enodes) 30.617 * * [simplify]: iters left: 3 (36 enodes) 30.625 * * [simplify]: iters left: 2 (42 enodes) 30.635 * * [simplify]: Extracting #0: cost 1 inf + 0 30.636 * * [simplify]: Extracting #1: cost 8 inf + 0 30.636 * * [simplify]: Extracting #2: cost 17 inf + 0 30.636 * * [simplify]: Extracting #3: cost 12 inf + 125 30.636 * * [simplify]: Extracting #4: cost 5 inf + 1057 30.637 * * [simplify]: Extracting #5: cost 1 inf + 1705 30.637 * * [simplify]: Extracting #6: cost 0 inf + 1867 30.638 * [simplify]: Simplified to (* (* (cos phi1) (sin theta)) (sin delta)) 30.638 * [simplify]: Simplified (2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (pow (* (* (cos phi1) (sin theta)) (sin delta)) 1) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 30.638 * * * * [progress]: [ 59 / 87 ] simplifiying candidate # 30.638 * * * * [progress]: [ 60 / 87 ] simplifiying candidate # 30.639 * [simplify]: Simplifying (+ (log (sin delta)) (+ (log (cos phi1)) (log (sin theta)))) 30.639 * * [simplify]: iters left: 6 (11 enodes) 30.643 * * [simplify]: iters left: 5 (37 enodes) 30.653 * * [simplify]: iters left: 4 (45 enodes) 30.659 * * [simplify]: iters left: 3 (51 enodes) 30.666 * * [simplify]: Extracting #0: cost 1 inf + 0 30.666 * * [simplify]: Extracting #1: cost 8 inf + 0 30.666 * * [simplify]: Extracting #2: cost 17 inf + 0 30.666 * * [simplify]: Extracting #3: cost 23 inf + 0 30.666 * * [simplify]: Extracting #4: cost 19 inf + 64 30.666 * * [simplify]: Extracting #5: cost 12 inf + 701 30.666 * * [simplify]: Extracting #6: cost 5 inf + 2061 30.667 * * [simplify]: Extracting #7: cost 0 inf + 3913 30.667 * [simplify]: Simplified to (+ (+ (log (sin theta)) (log (sin delta))) (log (cos phi1))) 30.667 * [simplify]: Simplified (2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (exp (+ (+ (log (sin theta)) (log (sin delta))) (log (cos phi1)))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 30.668 * * * * [progress]: [ 61 / 87 ] simplifiying candidate # 30.668 * [simplify]: Simplifying (+ (log (sin delta)) (log (* (cos phi1) (sin theta)))) 30.668 * * [simplify]: iters left: 6 (10 enodes) 30.670 * * [simplify]: iters left: 5 (35 enodes) 30.674 * * [simplify]: iters left: 4 (44 enodes) 30.680 * * [simplify]: iters left: 3 (52 enodes) 30.688 * * [simplify]: Extracting #0: cost 1 inf + 0 30.688 * * [simplify]: Extracting #1: cost 8 inf + 0 30.688 * * [simplify]: Extracting #2: cost 18 inf + 0 30.688 * * [simplify]: Extracting #3: cost 25 inf + 0 30.688 * * [simplify]: Extracting #4: cost 19 inf + 186 30.689 * * [simplify]: Extracting #5: cost 6 inf + 2285 30.689 * * [simplify]: Extracting #6: cost 0 inf + 3957 30.690 * [simplify]: Simplified to (+ (log (* (sin theta) (cos phi1))) (log (sin delta))) 30.690 * [simplify]: Simplified (2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (exp (+ (log (* (sin theta) (cos phi1))) (log (sin delta)))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 30.690 * * * * [progress]: [ 62 / 87 ] simplifiying candidate # 30.690 * * * * [progress]: [ 63 / 87 ] simplifiying candidate # 30.690 * * * * [progress]: [ 64 / 87 ] simplifiying candidate # 30.690 * [simplify]: Simplifying (* (* (* (sin delta) (sin delta)) (sin delta)) (* (* (* (cos phi1) (cos phi1)) (cos phi1)) (* (* (sin theta) (sin theta)) (sin theta)))) 30.690 * * [simplify]: iters left: 6 (14 enodes) 30.694 * * [simplify]: iters left: 5 (55 enodes) 30.706 * * [simplify]: iters left: 4 (129 enodes) 30.770 * * [simplify]: iters left: 3 (377 enodes) 31.045 * * [simplify]: Extracting #0: cost 1 inf + 0 31.045 * * [simplify]: Extracting #1: cost 90 inf + 0 31.047 * * [simplify]: Extracting #2: cost 264 inf + 0 31.053 * * [simplify]: Extracting #3: cost 200 inf + 16131 31.070 * * [simplify]: Extracting #4: cost 17 inf + 84192 31.095 * * [simplify]: Extracting #5: cost 0 inf + 87671 31.131 * * [simplify]: Extracting #6: cost 0 inf + 87231 31.167 * [simplify]: Simplified to (* (* (sin theta) (* (* (* (cos phi1) (sin delta)) (* (cos phi1) (sin delta))) (* (cos phi1) (sin delta)))) (* (sin theta) (sin theta))) 31.168 * [simplify]: Simplified (2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (cbrt (* (* (sin theta) (* (* (* (cos phi1) (sin delta)) (* (cos phi1) (sin delta))) (* (cos phi1) (sin delta)))) (* (sin theta) (sin theta)))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 31.168 * * * * [progress]: [ 65 / 87 ] simplifiying candidate # 31.168 * [simplify]: Simplifying (* (* (* (sin delta) (sin delta)) (sin delta)) (* (* (* (cos phi1) (sin theta)) (* (cos phi1) (sin theta))) (* (cos phi1) (sin theta)))) 31.168 * * [simplify]: iters left: 6 (12 enodes) 31.172 * * [simplify]: iters left: 5 (53 enodes) 31.182 * * [simplify]: iters left: 4 (136 enodes) 31.232 * * [simplify]: iters left: 3 (434 enodes) 31.552 * * [simplify]: Extracting #0: cost 1 inf + 0 31.553 * * [simplify]: Extracting #1: cost 82 inf + 0 31.555 * * [simplify]: Extracting #2: cost 211 inf + 0 31.560 * * [simplify]: Extracting #3: cost 159 inf + 14566 31.587 * * [simplify]: Extracting #4: cost 27 inf + 57182 31.624 * * [simplify]: Extracting #5: cost 0 inf + 64809 31.643 * * [simplify]: Extracting #6: cost 0 inf + 64209 31.661 * [simplify]: Simplified to (* (* (* (sin theta) (cos phi1)) (sin delta)) (* (* (* (sin theta) (cos phi1)) (sin delta)) (* (* (sin theta) (cos phi1)) (sin delta)))) 31.661 * [simplify]: Simplified (2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (cbrt (* (* (* (sin theta) (cos phi1)) (sin delta)) (* (* (* (sin theta) (cos phi1)) (sin delta)) (* (* (sin theta) (cos phi1)) (sin delta))))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 31.662 * * * * [progress]: [ 66 / 87 ] simplifiying candidate # 31.662 * * * * [progress]: [ 67 / 87 ] simplifiying candidate # 31.662 * * * * [progress]: [ 68 / 87 ] simplifiying candidate # 31.662 * * * * [progress]: [ 69 / 87 ] simplifiying candidate # 31.662 * * * * [progress]: [ 70 / 87 ] simplifiying candidate # 31.662 * [simplify]: Simplifying (sin theta) 31.662 * * [simplify]: iters left: 1 (2 enodes) 31.663 * * [simplify]: Extracting #0: cost 1 inf + 0 31.663 * * [simplify]: Extracting #1: cost 3 inf + 0 31.663 * * [simplify]: Extracting #2: cost 2 inf + 1 31.663 * * [simplify]: Extracting #3: cost 0 inf + 123 31.663 * [simplify]: Simplified to (sin theta) 31.663 * [simplify]: Simplified (2 1 1 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (* (sin delta) (cos phi1)) (sin theta)) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 31.663 * * * * [progress]: [ 71 / 87 ] simplifiying candidate # 31.663 * [simplify]: Simplifying (* (cbrt (sin delta)) (cbrt (sin delta))) 31.663 * * [simplify]: iters left: 4 (4 enodes) 31.664 * * [simplify]: iters left: 3 (12 enodes) 31.665 * * [simplify]: Extracting #0: cost 1 inf + 0 31.666 * * [simplify]: Extracting #1: cost 3 inf + 0 31.666 * * [simplify]: Extracting #2: cost 5 inf + 0 31.666 * * [simplify]: Extracting #3: cost 7 inf + 0 31.666 * * [simplify]: Extracting #4: cost 6 inf + 1 31.666 * * [simplify]: Extracting #5: cost 0 inf + 767 31.666 * [simplify]: Simplified to (* (cbrt (sin delta)) (cbrt (sin delta))) 31.666 * [simplify]: Simplified (2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (* (cbrt (sin delta)) (cbrt (sin delta))) (* (cbrt (sin delta)) (* (cos phi1) (sin theta)))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 31.666 * * * * [progress]: [ 72 / 87 ] simplifiying candidate # 31.666 * [simplify]: Simplifying (sqrt (sin delta)) 31.666 * * [simplify]: iters left: 2 (3 enodes) 31.667 * * [simplify]: iters left: 1 (9 enodes) 31.668 * * [simplify]: Extracting #0: cost 1 inf + 0 31.668 * * [simplify]: Extracting #1: cost 3 inf + 0 31.668 * * [simplify]: Extracting #2: cost 5 inf + 0 31.668 * * [simplify]: Extracting #3: cost 4 inf + 1 31.668 * * [simplify]: Extracting #4: cost 0 inf + 325 31.668 * [simplify]: Simplified to (sqrt (sin delta)) 31.668 * [simplify]: Simplified (2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sqrt (sin delta)) (* (sqrt (sin delta)) (* (cos phi1) (sin theta)))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 31.668 * * * * [progress]: [ 73 / 87 ] simplifiying candidate # 31.668 * * * * [progress]: [ 74 / 87 ] simplifiying candidate #real (real->posit16 (* (sin delta) (* (cos phi1) (sin theta))))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1))> 31.668 * * * * [progress]: [ 75 / 87 ] simplifiying candidate # 31.668 * * * * [progress]: [ 76 / 87 ] simplifiying candidate # 31.669 * [simplify]: Simplifying (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) 31.669 * * [simplify]: iters left: 6 (10 enodes) 31.672 * * [simplify]: iters left: 5 (44 enodes) 31.679 * * [simplify]: iters left: 4 (66 enodes) 31.696 * * [simplify]: iters left: 3 (115 enodes) 31.735 * * [simplify]: iters left: 2 (226 enodes) 31.788 * * [simplify]: iters left: 1 (314 enodes) 31.859 * * [simplify]: Extracting #0: cost 1 inf + 0 31.859 * * [simplify]: Extracting #1: cost 29 inf + 0 31.860 * * [simplify]: Extracting #2: cost 43 inf + 390 31.861 * * [simplify]: Extracting #3: cost 15 inf + 2617 31.863 * * [simplify]: Extracting #4: cost 2 inf + 4019 31.865 * * [simplify]: Extracting #5: cost 0 inf + 4155 31.868 * [simplify]: Simplified to (- 1 (* (fma delta 1/2 phi1) delta)) 31.868 * [simplify]: Simplified (2 1 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- 1 (* (fma delta 1/2 phi1) delta))) lambda1)) 31.868 * * * * [progress]: [ 77 / 87 ] simplifiying candidate # 31.868 * [simplify]: Simplifying (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (sin phi1) (* (cos theta) (cos phi1)))))) 31.868 * * [simplify]: iters left: 6 (16 enodes) 31.873 * * [simplify]: iters left: 5 (67 enodes) 31.885 * * [simplify]: iters left: 4 (124 enodes) 31.920 * * [simplify]: iters left: 3 (263 enodes) 32.021 * * [simplify]: Extracting #0: cost 1 inf + 0 32.021 * * [simplify]: Extracting #1: cost 44 inf + 0 32.022 * * [simplify]: Extracting #2: cost 139 inf + 0 32.023 * * [simplify]: Extracting #3: cost 130 inf + 1663 32.032 * * [simplify]: Extracting #4: cost 35 inf + 25069 32.043 * * [simplify]: Extracting #5: cost 2 inf + 35611 32.054 * * [simplify]: Extracting #6: cost 0 inf + 36075 32.064 * [simplify]: Simplified to (- (cos delta) (* (sin phi1) (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta))))) 32.064 * [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)) 32.064 * * * * [progress]: [ 78 / 87 ] simplifiying candidate # 32.066 * [simplify]: Simplifying (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos theta) (* (sin delta) (cos phi1)))))) 32.066 * * [simplify]: iters left: 6 (16 enodes) 32.071 * * [simplify]: iters left: 5 (67 enodes) 32.090 * * [simplify]: iters left: 4 (124 enodes) 32.136 * * [simplify]: iters left: 3 (263 enodes) 32.238 * * [simplify]: Extracting #0: cost 1 inf + 0 32.239 * * [simplify]: Extracting #1: cost 44 inf + 0 32.239 * * [simplify]: Extracting #2: cost 144 inf + 0 32.240 * * [simplify]: Extracting #3: cost 139 inf + 996 32.243 * * [simplify]: Extracting #4: cost 46 inf + 23463 32.254 * * [simplify]: Extracting #5: cost 1 inf + 37366 32.263 * * [simplify]: Extracting #6: cost 0 inf + 37589 32.277 * [simplify]: Simplified to (- (cos delta) (* (sin phi1) (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta))))) 32.277 * [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)) 32.277 * * * * [progress]: [ 79 / 87 ] simplifiying candidate # 32.278 * [simplify]: Simplifying (+ (* phi1 delta) (pow phi1 2)) 32.278 * * [simplify]: iters left: 4 (6 enodes) 32.282 * * [simplify]: iters left: 3 (26 enodes) 32.290 * * [simplify]: iters left: 2 (37 enodes) 32.299 * * [simplify]: iters left: 1 (44 enodes) 32.310 * * [simplify]: Extracting #0: cost 1 inf + 0 32.310 * * [simplify]: Extracting #1: cost 7 inf + 0 32.310 * * [simplify]: Extracting #2: cost 9 inf + 2 32.311 * * [simplify]: Extracting #3: cost 2 inf + 308 32.311 * * [simplify]: Extracting #4: cost 0 inf + 432 32.311 * * [simplify]: Extracting #5: cost 0 inf + 417 32.312 * [simplify]: Simplified to (* (+ delta phi1) phi1) 32.312 * [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)) 32.312 * * * * [progress]: [ 80 / 87 ] simplifiying candidate # 32.312 * [simplify]: Simplifying (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta))))) 32.312 * * [simplify]: iters left: 6 (13 enodes) 32.318 * * [simplify]: iters left: 5 (53 enodes) 32.335 * * [simplify]: iters left: 4 (90 enodes) 32.361 * * [simplify]: iters left: 3 (146 enodes) 32.400 * * [simplify]: iters left: 2 (161 enodes) 32.421 * * [simplify]: Extracting #0: cost 1 inf + 0 32.421 * * [simplify]: Extracting #1: cost 18 inf + 0 32.421 * * [simplify]: Extracting #2: cost 40 inf + 0 32.421 * * [simplify]: Extracting #3: cost 38 inf + 307 32.422 * * [simplify]: Extracting #4: cost 20 inf + 2595 32.424 * * [simplify]: Extracting #5: cost 2 inf + 7503 32.425 * * [simplify]: Extracting #6: cost 0 inf + 8143 32.427 * [simplify]: Simplified to (* (fma (* (cos theta) (cos phi1)) (sin delta) (* (cos delta) (sin phi1))) (sin phi1)) 32.427 * [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)) 32.427 * * * * [progress]: [ 81 / 87 ] simplifiying candidate # 32.428 * [simplify]: Simplifying (* (sin phi1) (+ (* (cos phi1) (* (sin delta) (cos theta))) (* (sin phi1) (cos delta)))) 32.428 * * [simplify]: iters left: 6 (13 enodes) 32.430 * * [simplify]: iters left: 5 (53 enodes) 32.439 * * [simplify]: iters left: 4 (90 enodes) 32.461 * * [simplify]: iters left: 3 (144 enodes) 32.503 * * [simplify]: iters left: 2 (159 enodes) 32.523 * * [simplify]: Extracting #0: cost 1 inf + 0 32.523 * * [simplify]: Extracting #1: cost 18 inf + 0 32.523 * * [simplify]: Extracting #2: cost 41 inf + 0 32.523 * * [simplify]: Extracting #3: cost 39 inf + 186 32.524 * * [simplify]: Extracting #4: cost 8 inf + 6304 32.526 * * [simplify]: Extracting #5: cost 1 inf + 7780 32.528 * * [simplify]: Extracting #6: cost 0 inf + 8143 32.529 * [simplify]: Simplified to (* (fma (* (cos theta) (sin delta)) (cos phi1) (* (sin phi1) (cos delta))) (sin phi1)) 32.529 * [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)) 32.530 * * * * [progress]: [ 82 / 87 ] simplifiying candidate # 32.530 * [simplify]: Simplifying (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 32.530 * * [simplify]: iters left: 5 (12 enodes) 32.532 * * [simplify]: iters left: 4 (40 enodes) 32.539 * * [simplify]: iters left: 3 (48 enodes) 32.553 * * [simplify]: iters left: 2 (61 enodes) 32.567 * * [simplify]: Extracting #0: cost 1 inf + 0 32.567 * * [simplify]: Extracting #1: cost 3 inf + 0 32.567 * * [simplify]: Extracting #2: cost 14 inf + 0 32.567 * * [simplify]: Extracting #3: cost 27 inf + 0 32.567 * * [simplify]: Extracting #4: cost 16 inf + 592 32.568 * * [simplify]: Extracting #5: cost 1 inf + 4134 32.568 * * [simplify]: Extracting #6: cost 0 inf + 4397 32.569 * [simplify]: Simplified to (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 32.569 * [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)) 32.569 * * * * [progress]: [ 83 / 87 ] simplifiying candidate # 32.569 * [simplify]: Simplifying (asin (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta)))) 32.569 * * [simplify]: iters left: 5 (12 enodes) 32.572 * * [simplify]: iters left: 4 (40 enodes) 32.577 * * [simplify]: iters left: 3 (48 enodes) 32.584 * * [simplify]: iters left: 2 (61 enodes) 32.591 * * [simplify]: Extracting #0: cost 1 inf + 0 32.591 * * [simplify]: Extracting #1: cost 3 inf + 0 32.591 * * [simplify]: Extracting #2: cost 14 inf + 0 32.591 * * [simplify]: Extracting #3: cost 27 inf + 0 32.592 * * [simplify]: Extracting #4: cost 19 inf + 308 32.592 * * [simplify]: Extracting #5: cost 6 inf + 2010 32.593 * * [simplify]: Extracting #6: cost 0 inf + 4397 32.593 * [simplify]: Simplified to (asin (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta)))) 32.593 * [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)) 32.594 * * * * [progress]: [ 84 / 87 ] simplifiying candidate # 32.594 * [simplify]: Simplifying (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 32.594 * * [simplify]: iters left: 5 (12 enodes) 32.597 * * [simplify]: iters left: 4 (40 enodes) 32.608 * * [simplify]: iters left: 3 (48 enodes) 32.621 * * [simplify]: iters left: 2 (61 enodes) 32.635 * * [simplify]: Extracting #0: cost 1 inf + 0 32.635 * * [simplify]: Extracting #1: cost 3 inf + 0 32.635 * * [simplify]: Extracting #2: cost 14 inf + 0 32.635 * * [simplify]: Extracting #3: cost 27 inf + 0 32.636 * * [simplify]: Extracting #4: cost 16 inf + 592 32.637 * * [simplify]: Extracting #5: cost 1 inf + 4134 32.638 * * [simplify]: Extracting #6: cost 0 inf + 4397 32.639 * [simplify]: Simplified to (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 32.639 * [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)) 32.639 * * * * [progress]: [ 85 / 87 ] simplifiying candidate # 32.640 * [simplify]: Simplifying 0 32.640 * * [simplify]: iters left: 0 (1 enodes) 32.641 * * [simplify]: Extracting #0: cost 1 inf + 0 32.641 * * [simplify]: Extracting #1: cost 0 inf + 1 32.641 * [simplify]: Simplified to 0 32.641 * [simplify]: Simplified (2 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 0 (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 32.641 * * * * [progress]: [ 86 / 87 ] simplifiying candidate # 32.642 * [simplify]: Simplifying (* (cos phi1) (* (sin theta) (sin delta))) 32.642 * * [simplify]: iters left: 5 (8 enodes) 32.645 * * [simplify]: iters left: 4 (28 enodes) 32.653 * * [simplify]: iters left: 3 (36 enodes) 32.662 * * [simplify]: iters left: 2 (42 enodes) 32.672 * * [simplify]: Extracting #0: cost 1 inf + 0 32.672 * * [simplify]: Extracting #1: cost 8 inf + 0 32.672 * * [simplify]: Extracting #2: cost 17 inf + 0 32.672 * * [simplify]: Extracting #3: cost 12 inf + 125 32.673 * * [simplify]: Extracting #4: cost 5 inf + 1057 32.673 * * [simplify]: Extracting #5: cost 1 inf + 1705 32.674 * * [simplify]: Extracting #6: cost 0 inf + 1867 32.674 * [simplify]: Simplified to (* (* (sin theta) (sin delta)) (cos phi1)) 32.674 * [simplify]: Simplified (2 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 32.675 * * * * [progress]: [ 87 / 87 ] simplifiying candidate # 32.675 * [simplify]: Simplifying (* (cos phi1) (* (sin delta) (sin theta))) 32.675 * * [simplify]: iters left: 5 (8 enodes) 32.679 * * [simplify]: iters left: 4 (28 enodes) 32.688 * * [simplify]: iters left: 3 (36 enodes) 32.698 * * [simplify]: iters left: 2 (42 enodes) 32.708 * * [simplify]: Extracting #0: cost 1 inf + 0 32.708 * * [simplify]: Extracting #1: cost 8 inf + 0 32.708 * * [simplify]: Extracting #2: cost 17 inf + 0 32.708 * * [simplify]: Extracting #3: cost 12 inf + 125 32.708 * * [simplify]: Extracting #4: cost 5 inf + 1057 32.709 * * [simplify]: Extracting #5: cost 1 inf + 1705 32.710 * * [simplify]: Extracting #6: cost 0 inf + 1867 32.710 * [simplify]: Simplified to (* (* (sin delta) (sin theta)) (cos phi1)) 32.710 * [simplify]: Simplified (2 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (* (sin delta) (sin theta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 32.711 * * * [progress]: adding candidates to table 34.617 * [progress]: [Phase 3 of 3] Extracting. 34.629 * [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) 34.629 * * [simplify]: iters left: 6 (21 enodes) 34.630 * * [simplify]: iters left: 5 (27 enodes) 34.630 * * [simplify]: Extracting #0: cost 1 inf + 0 34.631 * * [simplify]: Extracting #1: cost 3 inf + 0 34.631 * * [simplify]: Extracting #2: cost 4 inf + 1 34.631 * * [simplify]: Extracting #3: cost 8 inf + 1 34.631 * * [simplify]: Extracting #4: cost 13 inf + 1 34.631 * * [simplify]: Extracting #5: cost 15 inf + 2 34.631 * * [simplify]: Extracting #6: cost 9 inf + 309 34.631 * * [simplify]: Extracting #7: cost 10 inf + 734 34.631 * * [simplify]: Extracting #8: cost 6 inf + 1557 34.631 * * [simplify]: Extracting #9: cost 4 inf + 2703 34.632 * * [simplify]: Extracting #10: cost 3 inf + 3346 34.632 * * [simplify]: Extracting #11: cost 0 inf + 5996 34.633 * [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)))))))))