0.002 * [progress]: [Phase 1 of 3] Setting up. 0.002 * * * [progress]: [1/2] Preparing points 29.405 * * * [progress]: [2/2] Setting up program. 29.419 * [progress]: [Phase 2 of 3] Improving. 29.419 * * * * [progress]: [ 1 / 1 ] simplifiying candidate # 29.419 * [simplify]: Simplifying (+ lambda1 (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))))) 29.420 * * [simplify]: iteration 1: (22 enodes) 29.429 * * [simplify]: iteration 2: (80 enodes) 29.453 * * [simplify]: iteration 3: (107 enodes) 29.482 * * [simplify]: iteration 4: (125 enodes) 29.525 * * [simplify]: Extracting #0: cost 1 inf + 0 29.525 * * [simplify]: Extracting #1: cost 4 inf + 0 29.525 * * [simplify]: Extracting #2: cost 6 inf + 1 29.525 * * [simplify]: Extracting #3: cost 21 inf + 1 29.526 * * [simplify]: Extracting #4: cost 38 inf + 1 29.526 * * [simplify]: Extracting #5: cost 28 inf + 734 29.526 * * [simplify]: Extracting #6: cost 24 inf + 1889 29.527 * * [simplify]: Extracting #7: cost 25 inf + 2537 29.527 * * [simplify]: Extracting #8: cost 18 inf + 4766 29.528 * * [simplify]: Extracting #9: cost 12 inf + 7142 29.530 * * [simplify]: Extracting #10: cost 3 inf + 13414 29.532 * * [simplify]: Extracting #11: cost 0 inf + 16385 29.535 * * [simplify]: Extracting #12: cost 0 inf + 16340 29.537 * [simplify]: Simplified to (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1) 29.537 * * * * [progress]: [ 1 / 1 ] simplifiying candidate # 29.537 * [simplify]: Simplified (2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1)) 29.559 * * [progress]: iteration 1 / 4 29.559 * * * [progress]: picking best candidate 29.572 * * * * [pick]: Picked # 29.572 * * * [progress]: localizing error 29.685 * * * [progress]: generating rewritten candidates 29.685 * * * * [progress]: [ 1 / 4 ] rewriting at (2 1 2) 29.692 * * * * [progress]: [ 2 / 4 ] rewriting at (2 1 2 2 2 1) 29.693 * * * * [progress]: [ 3 / 4 ] rewriting at (2 1 2 2 2 1 1) 29.693 * * * * [progress]: [ 4 / 4 ] rewriting at (2 1 2 2) 29.709 * * * [progress]: generating series expansions 29.709 * * * * [progress]: [ 1 / 4 ] generating series at (2 1 2) 29.709 * [backup-simplify]: Simplify (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) into (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) 29.709 * [approximate]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in (delta phi1 theta) around 0 29.709 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in theta 29.709 * [taylor]: Taking taylor expansion of (cos delta) in theta 29.710 * [taylor]: Taking taylor expansion of delta in theta 29.710 * [backup-simplify]: Simplify delta into delta 29.710 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.710 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.710 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 29.710 * [taylor]: Taking taylor expansion of (sin phi1) in theta 29.710 * [taylor]: Taking taylor expansion of phi1 in theta 29.710 * [backup-simplify]: Simplify phi1 into phi1 29.710 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.710 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.710 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 29.710 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 29.710 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 29.710 * [taylor]: Taking taylor expansion of (cos theta) in theta 29.710 * [taylor]: Taking taylor expansion of theta in theta 29.710 * [backup-simplify]: Simplify 0 into 0 29.710 * [backup-simplify]: Simplify 1 into 1 29.710 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 29.710 * [taylor]: Taking taylor expansion of (cos phi1) in theta 29.710 * [taylor]: Taking taylor expansion of phi1 in theta 29.710 * [backup-simplify]: Simplify phi1 into phi1 29.711 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.711 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.711 * [taylor]: Taking taylor expansion of (sin delta) in theta 29.711 * [taylor]: Taking taylor expansion of delta in theta 29.711 * [backup-simplify]: Simplify delta into delta 29.711 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.711 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.711 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 29.711 * [taylor]: Taking taylor expansion of (sin phi1) in theta 29.711 * [taylor]: Taking taylor expansion of phi1 in theta 29.711 * [backup-simplify]: Simplify phi1 into phi1 29.711 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.711 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.711 * [taylor]: Taking taylor expansion of (cos delta) in theta 29.711 * [taylor]: Taking taylor expansion of delta in theta 29.711 * [backup-simplify]: Simplify delta into delta 29.711 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.711 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.711 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in phi1 29.711 * [taylor]: Taking taylor expansion of (cos delta) in phi1 29.711 * [taylor]: Taking taylor expansion of delta in phi1 29.711 * [backup-simplify]: Simplify delta into delta 29.711 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.711 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.711 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 29.711 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 29.711 * [taylor]: Taking taylor expansion of phi1 in phi1 29.711 * [backup-simplify]: Simplify 0 into 0 29.711 * [backup-simplify]: Simplify 1 into 1 29.711 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 29.711 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 29.712 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 29.712 * [taylor]: Taking taylor expansion of (cos theta) in phi1 29.712 * [taylor]: Taking taylor expansion of theta in phi1 29.712 * [backup-simplify]: Simplify theta into theta 29.712 * [backup-simplify]: Simplify (cos theta) into (cos theta) 29.712 * [backup-simplify]: Simplify (sin theta) into (sin theta) 29.712 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 29.712 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 29.712 * [taylor]: Taking taylor expansion of phi1 in phi1 29.712 * [backup-simplify]: Simplify 0 into 0 29.712 * [backup-simplify]: Simplify 1 into 1 29.712 * [taylor]: Taking taylor expansion of (sin delta) in phi1 29.712 * [taylor]: Taking taylor expansion of delta in phi1 29.712 * [backup-simplify]: Simplify delta into delta 29.712 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.712 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.712 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 29.712 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 29.712 * [taylor]: Taking taylor expansion of phi1 in phi1 29.712 * [backup-simplify]: Simplify 0 into 0 29.712 * [backup-simplify]: Simplify 1 into 1 29.712 * [taylor]: Taking taylor expansion of (cos delta) in phi1 29.712 * [taylor]: Taking taylor expansion of delta in phi1 29.712 * [backup-simplify]: Simplify delta into delta 29.712 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.712 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.712 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in delta 29.712 * [taylor]: Taking taylor expansion of (cos delta) in delta 29.712 * [taylor]: Taking taylor expansion of delta in delta 29.712 * [backup-simplify]: Simplify 0 into 0 29.712 * [backup-simplify]: Simplify 1 into 1 29.713 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 29.713 * [taylor]: Taking taylor expansion of (sin phi1) in delta 29.713 * [taylor]: Taking taylor expansion of phi1 in delta 29.713 * [backup-simplify]: Simplify phi1 into phi1 29.713 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.713 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.713 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 29.713 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 29.713 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 29.713 * [taylor]: Taking taylor expansion of (cos theta) in delta 29.713 * [taylor]: Taking taylor expansion of theta in delta 29.713 * [backup-simplify]: Simplify theta into theta 29.713 * [backup-simplify]: Simplify (cos theta) into (cos theta) 29.713 * [backup-simplify]: Simplify (sin theta) into (sin theta) 29.713 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 29.713 * [taylor]: Taking taylor expansion of (cos phi1) in delta 29.713 * [taylor]: Taking taylor expansion of phi1 in delta 29.713 * [backup-simplify]: Simplify phi1 into phi1 29.713 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.713 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.713 * [taylor]: Taking taylor expansion of (sin delta) in delta 29.713 * [taylor]: Taking taylor expansion of delta in delta 29.713 * [backup-simplify]: Simplify 0 into 0 29.713 * [backup-simplify]: Simplify 1 into 1 29.713 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 29.713 * [taylor]: Taking taylor expansion of (sin phi1) in delta 29.713 * [taylor]: Taking taylor expansion of phi1 in delta 29.713 * [backup-simplify]: Simplify phi1 into phi1 29.713 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.714 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.714 * [taylor]: Taking taylor expansion of (cos delta) in delta 29.714 * [taylor]: Taking taylor expansion of delta in delta 29.714 * [backup-simplify]: Simplify 0 into 0 29.714 * [backup-simplify]: Simplify 1 into 1 29.714 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in delta 29.714 * [taylor]: Taking taylor expansion of (cos delta) in delta 29.714 * [taylor]: Taking taylor expansion of delta in delta 29.714 * [backup-simplify]: Simplify 0 into 0 29.714 * [backup-simplify]: Simplify 1 into 1 29.714 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 29.714 * [taylor]: Taking taylor expansion of (sin phi1) in delta 29.714 * [taylor]: Taking taylor expansion of phi1 in delta 29.714 * [backup-simplify]: Simplify phi1 into phi1 29.714 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.714 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.714 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 29.714 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 29.714 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 29.714 * [taylor]: Taking taylor expansion of (cos theta) in delta 29.714 * [taylor]: Taking taylor expansion of theta in delta 29.714 * [backup-simplify]: Simplify theta into theta 29.714 * [backup-simplify]: Simplify (cos theta) into (cos theta) 29.714 * [backup-simplify]: Simplify (sin theta) into (sin theta) 29.714 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 29.714 * [taylor]: Taking taylor expansion of (cos phi1) in delta 29.714 * [taylor]: Taking taylor expansion of phi1 in delta 29.714 * [backup-simplify]: Simplify phi1 into phi1 29.714 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.714 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.714 * [taylor]: Taking taylor expansion of (sin delta) in delta 29.714 * [taylor]: Taking taylor expansion of delta in delta 29.714 * [backup-simplify]: Simplify 0 into 0 29.715 * [backup-simplify]: Simplify 1 into 1 29.715 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 29.715 * [taylor]: Taking taylor expansion of (sin phi1) in delta 29.715 * [taylor]: Taking taylor expansion of phi1 in delta 29.715 * [backup-simplify]: Simplify phi1 into phi1 29.715 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.715 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.715 * [taylor]: Taking taylor expansion of (cos delta) in delta 29.715 * [taylor]: Taking taylor expansion of delta in delta 29.715 * [backup-simplify]: Simplify 0 into 0 29.715 * [backup-simplify]: Simplify 1 into 1 29.715 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 29.715 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 29.715 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 29.715 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 29.715 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 29.716 * [backup-simplify]: Simplify (- 0) into 0 29.716 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 29.716 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 29.716 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 29.716 * [backup-simplify]: Simplify (- 0) into 0 29.716 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 29.717 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 29.717 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 29.717 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 29.717 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 29.717 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 29.717 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 29.717 * [backup-simplify]: Simplify (+ 0 (sin phi1)) into (sin phi1) 29.717 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 29.717 * [backup-simplify]: Simplify (- (pow (sin phi1) 2)) into (- (pow (sin phi1) 2)) 29.717 * [backup-simplify]: Simplify (+ 1 (- (pow (sin phi1) 2))) into (- 1 (pow (sin phi1) 2)) 29.717 * [taylor]: Taking taylor expansion of (- 1 (pow (sin phi1) 2)) in phi1 29.717 * [taylor]: Taking taylor expansion of 1 in phi1 29.717 * [backup-simplify]: Simplify 1 into 1 29.717 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 29.717 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 29.717 * [taylor]: Taking taylor expansion of phi1 in phi1 29.717 * [backup-simplify]: Simplify 0 into 0 29.717 * [backup-simplify]: Simplify 1 into 1 29.718 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 29.719 * [backup-simplify]: Simplify (+ 1 0) into 1 29.719 * [taylor]: Taking taylor expansion of 1 in theta 29.719 * [backup-simplify]: Simplify 1 into 1 29.719 * [backup-simplify]: Simplify 1 into 1 29.719 * [backup-simplify]: Simplify (+ 0) into 0 29.720 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 29.720 * [backup-simplify]: Simplify (+ 0) into 0 29.721 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 29.721 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.722 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 29.722 * [backup-simplify]: Simplify (- 0) into 0 29.723 * [backup-simplify]: Simplify (+ 0 0) into 0 29.723 * [backup-simplify]: Simplify (+ (* (cos phi1) 1) (* 0 0)) into (cos phi1) 29.723 * [backup-simplify]: Simplify (+ 0) into 0 29.724 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 29.724 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.725 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 29.725 * [backup-simplify]: Simplify (- 0) into 0 29.726 * [backup-simplify]: Simplify (+ 0 0) into 0 29.726 * [backup-simplify]: Simplify (+ (* (cos theta) (cos phi1)) (* 0 0)) into (* (cos theta) (cos phi1)) 29.726 * [backup-simplify]: Simplify (+ 0) into 0 29.727 * [backup-simplify]: Simplify (+ 0) into 0 29.727 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 29.728 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.728 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 29.729 * [backup-simplify]: Simplify (+ 0 0) into 0 29.729 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 29.729 * [backup-simplify]: Simplify (+ (* (cos theta) (cos phi1)) 0) into (* (cos theta) (cos phi1)) 29.730 * [backup-simplify]: Simplify (+ 0) into 0 29.730 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 29.731 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.732 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 29.732 * [backup-simplify]: Simplify (+ 0 0) into 0 29.732 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos theta) (cos phi1))) (* 0 (sin phi1))) into (* (sin phi1) (* (cos theta) (cos phi1))) 29.732 * [backup-simplify]: Simplify (- (* (sin phi1) (* (cos theta) (cos phi1)))) into (- (* (sin phi1) (* (cos theta) (cos phi1)))) 29.732 * [backup-simplify]: Simplify (+ 0 (- (* (sin phi1) (* (cos theta) (cos phi1))))) into (- (* (sin phi1) (* (cos theta) (cos phi1)))) 29.733 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (* (cos theta) (cos phi1)))) in phi1 29.733 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos theta) (cos phi1))) in phi1 29.733 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 29.733 * [taylor]: Taking taylor expansion of phi1 in phi1 29.733 * [backup-simplify]: Simplify 0 into 0 29.733 * [backup-simplify]: Simplify 1 into 1 29.733 * [taylor]: Taking taylor expansion of (* (cos theta) (cos phi1)) in phi1 29.733 * [taylor]: Taking taylor expansion of (cos theta) in phi1 29.733 * [taylor]: Taking taylor expansion of theta in phi1 29.733 * [backup-simplify]: Simplify theta into theta 29.733 * [backup-simplify]: Simplify (cos theta) into (cos theta) 29.733 * [backup-simplify]: Simplify (sin theta) into (sin theta) 29.733 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 29.733 * [taylor]: Taking taylor expansion of phi1 in phi1 29.733 * [backup-simplify]: Simplify 0 into 0 29.733 * [backup-simplify]: Simplify 1 into 1 29.733 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 29.733 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 29.733 * [backup-simplify]: Simplify (- 0) into 0 29.733 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 29.734 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 29.734 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 29.734 * [backup-simplify]: Simplify (- 0) into 0 29.734 * [taylor]: Taking taylor expansion of 0 in theta 29.734 * [backup-simplify]: Simplify 0 into 0 29.734 * [backup-simplify]: Simplify 0 into 0 29.734 * [backup-simplify]: Simplify (+ 0 0) into 0 29.735 * [taylor]: Taking taylor expansion of 0 in theta 29.735 * [backup-simplify]: Simplify 0 into 0 29.735 * [backup-simplify]: Simplify 0 into 0 29.735 * [backup-simplify]: Simplify 0 into 0 29.736 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 29.736 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.737 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.738 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 29.739 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.739 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 29.740 * [backup-simplify]: Simplify (- 0) into 0 29.740 * [backup-simplify]: Simplify (+ 0 0) into 0 29.741 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 1) (* 0 0))) into 0 29.742 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.742 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 29.743 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.744 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 29.744 * [backup-simplify]: Simplify (- 0) into 0 29.745 * [backup-simplify]: Simplify (+ 0 0) into 0 29.745 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 (cos phi1)) (* 0 0))) into 0 29.746 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 29.747 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.748 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 29.748 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.749 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 29.749 * [backup-simplify]: Simplify (+ 0 0) into 0 29.750 * [backup-simplify]: Simplify (+ (* (sin phi1) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (sin phi1))) 29.750 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (sin phi1)))) into (- (* 1/2 (sin phi1))) 29.751 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.752 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 29.753 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.753 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 29.754 * [backup-simplify]: Simplify (+ 0 0) into 0 29.754 * [backup-simplify]: Simplify (+ (* (sin phi1) (- (* 1/2 (sin phi1)))) (+ (* 0 (* (cos theta) (cos phi1))) (* 0 (sin phi1)))) into (- (* 1/2 (pow (sin phi1) 2))) 29.754 * [backup-simplify]: Simplify (- (- (* 1/2 (pow (sin phi1) 2)))) into (* 1/2 (pow (sin phi1) 2)) 29.754 * [backup-simplify]: Simplify (+ -1/2 (* 1/2 (pow (sin phi1) 2))) into (- (* 1/2 (pow (sin phi1) 2)) 1/2) 29.754 * [taylor]: Taking taylor expansion of (- (* 1/2 (pow (sin phi1) 2)) 1/2) in phi1 29.754 * [taylor]: Taking taylor expansion of (* 1/2 (pow (sin phi1) 2)) in phi1 29.754 * [taylor]: Taking taylor expansion of 1/2 in phi1 29.754 * [backup-simplify]: Simplify 1/2 into 1/2 29.754 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 29.754 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 29.754 * [taylor]: Taking taylor expansion of phi1 in phi1 29.755 * [backup-simplify]: Simplify 0 into 0 29.755 * [backup-simplify]: Simplify 1 into 1 29.755 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 29.755 * [taylor]: Taking taylor expansion of 1/2 in phi1 29.755 * [backup-simplify]: Simplify 1/2 into 1/2 29.756 * [backup-simplify]: Simplify (- 1/2) into -1/2 29.756 * [backup-simplify]: Simplify (+ 0 -1/2) into -1/2 29.756 * [taylor]: Taking taylor expansion of -1/2 in theta 29.756 * [backup-simplify]: Simplify -1/2 into -1/2 29.756 * [backup-simplify]: Simplify -1/2 into -1/2 29.763 * [backup-simplify]: Simplify (+ 0) into 0 29.764 * [backup-simplify]: Simplify (+ 0) into 0 29.764 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 29.765 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.766 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 29.766 * [backup-simplify]: Simplify (- 0) into 0 29.767 * [backup-simplify]: Simplify (+ 0 0) into 0 29.767 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 29.768 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 29.768 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos theta))) into (cos theta) 29.768 * [backup-simplify]: Simplify (- (cos theta)) into (- (cos theta)) 29.768 * [taylor]: Taking taylor expansion of (- (cos theta)) in theta 29.768 * [taylor]: Taking taylor expansion of (cos theta) in theta 29.768 * [taylor]: Taking taylor expansion of theta in theta 29.768 * [backup-simplify]: Simplify 0 into 0 29.768 * [backup-simplify]: Simplify 1 into 1 29.769 * [backup-simplify]: Simplify (- 1) into -1 29.769 * [backup-simplify]: Simplify -1 into -1 29.769 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* phi1 delta))) (+ (* -1/2 (pow (* 1 (* 1 delta)) 2)) 1)) into (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) 29.770 * [backup-simplify]: Simplify (- (cos (/ 1 delta)) (* (sin (/ 1 phi1)) (sin (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))))) into (- (cos (/ 1 delta)) (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) 29.770 * [approximate]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) in (delta phi1 theta) around 0 29.770 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) in theta 29.770 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 29.770 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.770 * [taylor]: Taking taylor expansion of delta in theta 29.770 * [backup-simplify]: Simplify delta into delta 29.770 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.770 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.770 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.770 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in theta 29.770 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 29.770 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 29.770 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 29.770 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 29.770 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 29.770 * [taylor]: Taking taylor expansion of theta in theta 29.770 * [backup-simplify]: Simplify 0 into 0 29.771 * [backup-simplify]: Simplify 1 into 1 29.771 * [backup-simplify]: Simplify (/ 1 1) into 1 29.771 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.771 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 29.771 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 29.771 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.771 * [taylor]: Taking taylor expansion of delta in theta 29.771 * [backup-simplify]: Simplify delta into delta 29.771 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.771 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.771 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.771 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 29.771 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.772 * [taylor]: Taking taylor expansion of phi1 in theta 29.772 * [backup-simplify]: Simplify phi1 into phi1 29.772 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.772 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.772 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.772 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 29.772 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 29.772 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.772 * [taylor]: Taking taylor expansion of phi1 in theta 29.772 * [backup-simplify]: Simplify phi1 into phi1 29.772 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.772 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.772 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.772 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 29.772 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.772 * [taylor]: Taking taylor expansion of delta in theta 29.772 * [backup-simplify]: Simplify delta into delta 29.772 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.772 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.772 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.772 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 29.772 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.772 * [taylor]: Taking taylor expansion of phi1 in theta 29.772 * [backup-simplify]: Simplify phi1 into phi1 29.773 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.773 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.773 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.773 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) in phi1 29.773 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 29.773 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.773 * [taylor]: Taking taylor expansion of delta in phi1 29.773 * [backup-simplify]: Simplify delta into delta 29.773 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.773 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.773 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.773 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in phi1 29.773 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 29.773 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 29.773 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 29.773 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 29.773 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 29.773 * [taylor]: Taking taylor expansion of theta in phi1 29.773 * [backup-simplify]: Simplify theta into theta 29.773 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 29.773 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.773 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 29.774 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 29.774 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 29.774 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.774 * [taylor]: Taking taylor expansion of delta in phi1 29.774 * [backup-simplify]: Simplify delta into delta 29.774 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.774 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.774 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.774 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 29.774 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.774 * [taylor]: Taking taylor expansion of phi1 in phi1 29.774 * [backup-simplify]: Simplify 0 into 0 29.774 * [backup-simplify]: Simplify 1 into 1 29.774 * [backup-simplify]: Simplify (/ 1 1) into 1 29.775 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.775 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 29.775 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 29.775 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.775 * [taylor]: Taking taylor expansion of phi1 in phi1 29.775 * [backup-simplify]: Simplify 0 into 0 29.775 * [backup-simplify]: Simplify 1 into 1 29.775 * [backup-simplify]: Simplify (/ 1 1) into 1 29.775 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.775 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 29.775 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.775 * [taylor]: Taking taylor expansion of delta in phi1 29.775 * [backup-simplify]: Simplify delta into delta 29.775 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.775 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.776 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.776 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 29.776 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.776 * [taylor]: Taking taylor expansion of phi1 in phi1 29.776 * [backup-simplify]: Simplify 0 into 0 29.776 * [backup-simplify]: Simplify 1 into 1 29.776 * [backup-simplify]: Simplify (/ 1 1) into 1 29.776 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.776 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) in delta 29.776 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 29.776 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.776 * [taylor]: Taking taylor expansion of delta in delta 29.776 * [backup-simplify]: Simplify 0 into 0 29.776 * [backup-simplify]: Simplify 1 into 1 29.777 * [backup-simplify]: Simplify (/ 1 1) into 1 29.777 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.777 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in delta 29.777 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 29.777 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 29.777 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 29.777 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 29.777 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 29.777 * [taylor]: Taking taylor expansion of theta in delta 29.777 * [backup-simplify]: Simplify theta into theta 29.777 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 29.777 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.777 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 29.777 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 29.777 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 29.777 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.777 * [taylor]: Taking taylor expansion of delta in delta 29.777 * [backup-simplify]: Simplify 0 into 0 29.777 * [backup-simplify]: Simplify 1 into 1 29.778 * [backup-simplify]: Simplify (/ 1 1) into 1 29.778 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.778 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 29.778 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.778 * [taylor]: Taking taylor expansion of phi1 in delta 29.778 * [backup-simplify]: Simplify phi1 into phi1 29.778 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.778 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.778 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.778 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 29.778 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 29.778 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.778 * [taylor]: Taking taylor expansion of phi1 in delta 29.778 * [backup-simplify]: Simplify phi1 into phi1 29.778 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.778 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.779 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.779 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 29.779 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.779 * [taylor]: Taking taylor expansion of delta in delta 29.779 * [backup-simplify]: Simplify 0 into 0 29.779 * [backup-simplify]: Simplify 1 into 1 29.779 * [backup-simplify]: Simplify (/ 1 1) into 1 29.779 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.779 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 29.779 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.779 * [taylor]: Taking taylor expansion of phi1 in delta 29.779 * [backup-simplify]: Simplify phi1 into phi1 29.779 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.779 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.779 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.780 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) in delta 29.780 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 29.780 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.780 * [taylor]: Taking taylor expansion of delta in delta 29.780 * [backup-simplify]: Simplify 0 into 0 29.780 * [backup-simplify]: Simplify 1 into 1 29.780 * [backup-simplify]: Simplify (/ 1 1) into 1 29.780 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.780 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in delta 29.780 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 29.780 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 29.780 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 29.780 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 29.780 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 29.780 * [taylor]: Taking taylor expansion of theta in delta 29.780 * [backup-simplify]: Simplify theta into theta 29.780 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 29.781 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.781 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 29.781 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 29.781 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 29.781 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.781 * [taylor]: Taking taylor expansion of delta in delta 29.781 * [backup-simplify]: Simplify 0 into 0 29.781 * [backup-simplify]: Simplify 1 into 1 29.781 * [backup-simplify]: Simplify (/ 1 1) into 1 29.781 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.781 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 29.781 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.781 * [taylor]: Taking taylor expansion of phi1 in delta 29.781 * [backup-simplify]: Simplify phi1 into phi1 29.781 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.781 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.782 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.782 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 29.782 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 29.782 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.782 * [taylor]: Taking taylor expansion of phi1 in delta 29.782 * [backup-simplify]: Simplify phi1 into phi1 29.782 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.782 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.782 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.782 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 29.782 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.782 * [taylor]: Taking taylor expansion of delta in delta 29.782 * [backup-simplify]: Simplify 0 into 0 29.782 * [backup-simplify]: Simplify 1 into 1 29.782 * [backup-simplify]: Simplify (/ 1 1) into 1 29.782 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.783 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 29.783 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.783 * [taylor]: Taking taylor expansion of phi1 in delta 29.783 * [backup-simplify]: Simplify phi1 into phi1 29.783 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.783 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.783 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.783 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 29.783 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 29.783 * [backup-simplify]: Simplify (- 0) into 0 29.784 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 29.784 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 29.784 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 29.784 * [backup-simplify]: Simplify (- 0) into 0 29.784 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 29.784 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (cos (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 delta))) 29.784 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 29.784 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 29.784 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 29.784 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 29.785 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 29.785 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) into (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 29.785 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 29.785 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 29.785 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 29.785 * [backup-simplify]: Simplify (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) into (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) 29.785 * [backup-simplify]: Simplify (- (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) into (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 29.786 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))))) into (- (cos (/ 1 delta)) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 29.786 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) in phi1 29.786 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 29.786 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.786 * [taylor]: Taking taylor expansion of delta in phi1 29.786 * [backup-simplify]: Simplify delta into delta 29.786 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.786 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.786 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.786 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) in phi1 29.786 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in phi1 29.786 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 29.786 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.786 * [taylor]: Taking taylor expansion of phi1 in phi1 29.786 * [backup-simplify]: Simplify 0 into 0 29.786 * [backup-simplify]: Simplify 1 into 1 29.786 * [backup-simplify]: Simplify (/ 1 1) into 1 29.786 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.786 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in phi1 29.786 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 29.786 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.786 * [taylor]: Taking taylor expansion of phi1 in phi1 29.786 * [backup-simplify]: Simplify 0 into 0 29.786 * [backup-simplify]: Simplify 1 into 1 29.787 * [backup-simplify]: Simplify (/ 1 1) into 1 29.787 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.787 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in phi1 29.787 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 29.787 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 29.787 * [taylor]: Taking taylor expansion of theta in phi1 29.787 * [backup-simplify]: Simplify theta into theta 29.787 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 29.787 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.787 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 29.787 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 29.787 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.787 * [taylor]: Taking taylor expansion of delta in phi1 29.787 * [backup-simplify]: Simplify delta into delta 29.787 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.787 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.787 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.787 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in phi1 29.787 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 29.787 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.787 * [taylor]: Taking taylor expansion of delta in phi1 29.787 * [backup-simplify]: Simplify delta into delta 29.787 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.787 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.787 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.787 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 29.787 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 29.787 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.787 * [taylor]: Taking taylor expansion of phi1 in phi1 29.787 * [backup-simplify]: Simplify 0 into 0 29.787 * [backup-simplify]: Simplify 1 into 1 29.788 * [backup-simplify]: Simplify (/ 1 1) into 1 29.788 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.788 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 29.788 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 29.788 * [backup-simplify]: Simplify (- 0) into 0 29.788 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 29.788 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 29.788 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 29.789 * [backup-simplify]: Simplify (- 0) into 0 29.789 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 29.789 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 29.789 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 29.789 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 29.789 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 29.789 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) 29.789 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) into (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 29.789 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 29.789 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 29.789 * [backup-simplify]: Simplify (- 0) into 0 29.789 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 29.790 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 29.790 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 29.790 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 29.790 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 29.791 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))))) into (- (cos (/ 1 delta)) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 29.791 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) in theta 29.791 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 29.791 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.791 * [taylor]: Taking taylor expansion of delta in theta 29.791 * [backup-simplify]: Simplify delta into delta 29.791 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.791 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.791 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.791 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) in theta 29.791 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) in theta 29.791 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 29.791 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.791 * [taylor]: Taking taylor expansion of phi1 in theta 29.791 * [backup-simplify]: Simplify phi1 into phi1 29.791 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.791 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.791 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.791 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) in theta 29.791 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 29.791 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.791 * [taylor]: Taking taylor expansion of delta in theta 29.791 * [backup-simplify]: Simplify delta into delta 29.791 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.791 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.791 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.791 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 phi1))) in theta 29.791 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 29.792 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 29.792 * [taylor]: Taking taylor expansion of theta in theta 29.792 * [backup-simplify]: Simplify 0 into 0 29.792 * [backup-simplify]: Simplify 1 into 1 29.792 * [backup-simplify]: Simplify (/ 1 1) into 1 29.792 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.792 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 29.792 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.792 * [taylor]: Taking taylor expansion of phi1 in theta 29.792 * [backup-simplify]: Simplify phi1 into phi1 29.792 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.792 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.792 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.792 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in theta 29.792 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 29.792 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.792 * [taylor]: Taking taylor expansion of delta in theta 29.792 * [backup-simplify]: Simplify delta into delta 29.792 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.792 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.792 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.792 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 29.792 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 29.792 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.792 * [taylor]: Taking taylor expansion of phi1 in theta 29.792 * [backup-simplify]: Simplify phi1 into phi1 29.792 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.792 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.792 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.792 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 29.793 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 29.793 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 29.793 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 29.793 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 29.793 * [backup-simplify]: Simplify (- 0) into 0 29.793 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 29.793 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 29.793 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 29.793 * [backup-simplify]: Simplify (- 0) into 0 29.793 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 29.793 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 29.794 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 29.794 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 29.794 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 29.794 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 29.794 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 29.794 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 phi1))) into (* (cos (/ 1 theta)) (sin (/ 1 phi1))) 29.794 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) into (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 29.794 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 29.794 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 29.794 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 29.794 * [backup-simplify]: Simplify (- 0) into 0 29.794 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 29.795 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 29.795 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 29.795 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 29.795 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (+ (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 29.796 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))))) into (- (cos (/ 1 delta)) (+ (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 29.796 * [backup-simplify]: Simplify (- (cos (/ 1 delta)) (+ (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) into (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 29.796 * [backup-simplify]: Simplify (+ 0) into 0 29.797 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 29.797 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.797 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.797 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 29.798 * [backup-simplify]: Simplify (+ 0 0) into 0 29.798 * [backup-simplify]: Simplify (+ 0) into 0 29.798 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 29.798 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.799 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.799 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 29.799 * [backup-simplify]: Simplify (- 0) into 0 29.800 * [backup-simplify]: Simplify (+ 0 0) into 0 29.800 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 29.800 * [backup-simplify]: Simplify (+ 0) into 0 29.800 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 29.800 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 29.801 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.801 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 29.801 * [backup-simplify]: Simplify (- 0) into 0 29.802 * [backup-simplify]: Simplify (+ 0 0) into 0 29.802 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta))))) into 0 29.802 * [backup-simplify]: Simplify (+ 0) into 0 29.802 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 29.802 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.803 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.803 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 29.803 * [backup-simplify]: Simplify (+ 0 0) into 0 29.803 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 29.804 * [backup-simplify]: Simplify (+ 0 0) into 0 29.804 * [backup-simplify]: Simplify (+ (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 29.804 * [backup-simplify]: Simplify (- 0) into 0 29.804 * [backup-simplify]: Simplify (+ 0 0) into 0 29.804 * [taylor]: Taking taylor expansion of 0 in phi1 29.804 * [backup-simplify]: Simplify 0 into 0 29.804 * [taylor]: Taking taylor expansion of 0 in theta 29.804 * [backup-simplify]: Simplify 0 into 0 29.804 * [backup-simplify]: Simplify 0 into 0 29.805 * [backup-simplify]: Simplify (+ 0) into 0 29.805 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 29.805 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.806 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.806 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 29.806 * [backup-simplify]: Simplify (- 0) into 0 29.806 * [backup-simplify]: Simplify (+ 0 0) into 0 29.807 * [backup-simplify]: Simplify (+ 0) into 0 29.807 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 29.807 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.807 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.808 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 29.808 * [backup-simplify]: Simplify (+ 0 0) into 0 29.808 * [backup-simplify]: Simplify (+ 0) into 0 29.809 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 29.809 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 29.809 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.809 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 29.810 * [backup-simplify]: Simplify (- 0) into 0 29.810 * [backup-simplify]: Simplify (+ 0 0) into 0 29.810 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 29.810 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 29.810 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))))) into 0 29.810 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 29.811 * [backup-simplify]: Simplify (+ 0) into 0 29.811 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 29.811 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.811 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.812 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 29.812 * [backup-simplify]: Simplify (- 0) into 0 29.812 * [backup-simplify]: Simplify (+ 0 0) into 0 29.813 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 29.813 * [backup-simplify]: Simplify (+ 0 0) into 0 29.813 * [backup-simplify]: Simplify (- 0) into 0 29.814 * [backup-simplify]: Simplify (+ 0 0) into 0 29.814 * [taylor]: Taking taylor expansion of 0 in theta 29.814 * [backup-simplify]: Simplify 0 into 0 29.814 * [backup-simplify]: Simplify 0 into 0 29.814 * [backup-simplify]: Simplify (+ 0) into 0 29.815 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 29.815 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.816 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.816 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 29.817 * [backup-simplify]: Simplify (- 0) into 0 29.817 * [backup-simplify]: Simplify (+ 0 0) into 0 29.817 * [backup-simplify]: Simplify (+ 0) into 0 29.818 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 29.818 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.819 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.819 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 29.820 * [backup-simplify]: Simplify (+ 0 0) into 0 29.820 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 29.820 * [backup-simplify]: Simplify (+ 0) into 0 29.821 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 29.821 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.822 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.822 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 29.822 * [backup-simplify]: Simplify (+ 0 0) into 0 29.823 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) into 0 29.823 * [backup-simplify]: Simplify (+ 0) into 0 29.824 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 29.824 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.824 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.825 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 29.825 * [backup-simplify]: Simplify (- 0) into 0 29.826 * [backup-simplify]: Simplify (+ 0 0) into 0 29.826 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 29.826 * [backup-simplify]: Simplify (+ 0) into 0 29.827 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 29.827 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.828 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.828 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 29.829 * [backup-simplify]: Simplify (+ 0 0) into 0 29.829 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 29.829 * [backup-simplify]: Simplify (+ 0) into 0 29.830 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 29.830 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.831 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.831 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 29.831 * [backup-simplify]: Simplify (- 0) into 0 29.832 * [backup-simplify]: Simplify (+ 0 0) into 0 29.832 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 29.832 * [backup-simplify]: Simplify (+ 0 0) into 0 29.833 * [backup-simplify]: Simplify (- 0) into 0 29.833 * [backup-simplify]: Simplify (+ 0 0) into 0 29.833 * [backup-simplify]: Simplify 0 into 0 29.834 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.835 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.835 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.836 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.837 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.837 * [backup-simplify]: Simplify (+ 0 0) into 0 29.838 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.839 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.839 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.840 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.841 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.841 * [backup-simplify]: Simplify (- 0) into 0 29.842 * [backup-simplify]: Simplify (+ 0 0) into 0 29.842 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 29.843 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.844 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.844 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 29.845 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.846 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.846 * [backup-simplify]: Simplify (- 0) into 0 29.846 * [backup-simplify]: Simplify (+ 0 0) into 0 29.847 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta)))))) into 0 29.848 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.849 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.849 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.850 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.850 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.851 * [backup-simplify]: Simplify (+ 0 0) into 0 29.851 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 29.852 * [backup-simplify]: Simplify (+ 0 0) into 0 29.852 * [backup-simplify]: Simplify (+ (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 29.853 * [backup-simplify]: Simplify (- 0) into 0 29.854 * [backup-simplify]: Simplify (+ 0 0) into 0 29.854 * [taylor]: Taking taylor expansion of 0 in phi1 29.854 * [backup-simplify]: Simplify 0 into 0 29.854 * [taylor]: Taking taylor expansion of 0 in theta 29.854 * [backup-simplify]: Simplify 0 into 0 29.854 * [backup-simplify]: Simplify 0 into 0 29.854 * [taylor]: Taking taylor expansion of 0 in theta 29.854 * [backup-simplify]: Simplify 0 into 0 29.854 * [backup-simplify]: Simplify 0 into 0 29.855 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.855 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.856 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.856 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.857 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.857 * [backup-simplify]: Simplify (- 0) into 0 29.858 * [backup-simplify]: Simplify (+ 0 0) into 0 29.859 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.859 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.860 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.860 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.861 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.861 * [backup-simplify]: Simplify (+ 0 0) into 0 29.862 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.863 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.863 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 29.864 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.865 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.865 * [backup-simplify]: Simplify (- 0) into 0 29.865 * [backup-simplify]: Simplify (+ 0 0) into 0 29.866 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 29.867 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 29.867 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))))) into 0 29.868 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 29.869 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.870 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.870 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.871 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.871 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.872 * [backup-simplify]: Simplify (- 0) into 0 29.872 * [backup-simplify]: Simplify (+ 0 0) into 0 29.873 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 1 phi1)) 2)))) into 0 29.873 * [backup-simplify]: Simplify (+ 0 0) into 0 29.873 * [backup-simplify]: Simplify (- 0) into 0 29.874 * [backup-simplify]: Simplify (+ 0 0) into 0 29.874 * [taylor]: Taking taylor expansion of 0 in theta 29.874 * [backup-simplify]: Simplify 0 into 0 29.874 * [backup-simplify]: Simplify 0 into 0 29.875 * [backup-simplify]: Simplify (- (cos (/ 1 (/ 1 delta))) (+ (* (sin (/ 1 (/ 1 delta))) (* (sin (/ 1 (/ 1 phi1))) (* (cos (/ 1 (/ 1 theta))) (cos (/ 1 (/ 1 phi1)))))) (* (pow (sin (/ 1 (/ 1 phi1))) 2) (cos (/ 1 (/ 1 delta)))))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (sin phi1) (* (cos theta) (cos phi1)))))) 29.875 * [backup-simplify]: Simplify (- (cos (/ 1 (- delta))) (* (sin (/ 1 (- phi1))) (sin (asin (fma (cos (/ 1 (- theta))) (* (cos (/ 1 (- phi1))) (sin (/ 1 (- delta)))) (* (cos (/ 1 (- delta))) (sin (/ 1 (- phi1))))))))) into (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) 29.875 * [approximate]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in (delta phi1 theta) around 0 29.875 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in theta 29.875 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 29.875 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 29.875 * [taylor]: Taking taylor expansion of -1 in theta 29.875 * [backup-simplify]: Simplify -1 into -1 29.875 * [taylor]: Taking taylor expansion of delta in theta 29.875 * [backup-simplify]: Simplify delta into delta 29.876 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.876 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.876 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.876 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 29.876 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 29.876 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.876 * [taylor]: Taking taylor expansion of -1 in theta 29.876 * [backup-simplify]: Simplify -1 into -1 29.876 * [taylor]: Taking taylor expansion of phi1 in theta 29.876 * [backup-simplify]: Simplify phi1 into phi1 29.876 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.876 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.876 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.876 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 29.876 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 29.876 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 29.876 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 29.876 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 29.876 * [taylor]: Taking taylor expansion of -1 in theta 29.876 * [backup-simplify]: Simplify -1 into -1 29.876 * [taylor]: Taking taylor expansion of theta in theta 29.876 * [backup-simplify]: Simplify 0 into 0 29.876 * [backup-simplify]: Simplify 1 into 1 29.877 * [backup-simplify]: Simplify (/ -1 1) into -1 29.877 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.877 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 29.877 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 29.877 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.877 * [taylor]: Taking taylor expansion of -1 in theta 29.877 * [backup-simplify]: Simplify -1 into -1 29.877 * [taylor]: Taking taylor expansion of phi1 in theta 29.877 * [backup-simplify]: Simplify phi1 into phi1 29.877 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.877 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.877 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.877 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 29.877 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 29.877 * [taylor]: Taking taylor expansion of -1 in theta 29.877 * [backup-simplify]: Simplify -1 into -1 29.878 * [taylor]: Taking taylor expansion of delta in theta 29.878 * [backup-simplify]: Simplify delta into delta 29.878 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.878 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.878 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.878 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 29.878 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 29.878 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.878 * [taylor]: Taking taylor expansion of -1 in theta 29.878 * [backup-simplify]: Simplify -1 into -1 29.878 * [taylor]: Taking taylor expansion of phi1 in theta 29.878 * [backup-simplify]: Simplify phi1 into phi1 29.878 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.878 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.878 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.878 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 29.878 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 29.878 * [taylor]: Taking taylor expansion of -1 in theta 29.878 * [backup-simplify]: Simplify -1 into -1 29.878 * [taylor]: Taking taylor expansion of delta in theta 29.878 * [backup-simplify]: Simplify delta into delta 29.878 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.878 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.878 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.878 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in phi1 29.878 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 29.878 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 29.878 * [taylor]: Taking taylor expansion of -1 in phi1 29.878 * [backup-simplify]: Simplify -1 into -1 29.879 * [taylor]: Taking taylor expansion of delta in phi1 29.879 * [backup-simplify]: Simplify delta into delta 29.879 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.879 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.879 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.879 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 29.879 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 29.879 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.879 * [taylor]: Taking taylor expansion of -1 in phi1 29.879 * [backup-simplify]: Simplify -1 into -1 29.879 * [taylor]: Taking taylor expansion of phi1 in phi1 29.879 * [backup-simplify]: Simplify 0 into 0 29.879 * [backup-simplify]: Simplify 1 into 1 29.879 * [backup-simplify]: Simplify (/ -1 1) into -1 29.880 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.880 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 29.880 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 29.880 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 29.880 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 29.880 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 29.880 * [taylor]: Taking taylor expansion of -1 in phi1 29.880 * [backup-simplify]: Simplify -1 into -1 29.880 * [taylor]: Taking taylor expansion of theta in phi1 29.880 * [backup-simplify]: Simplify theta into theta 29.880 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 29.880 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.880 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 29.880 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 29.880 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 29.880 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.880 * [taylor]: Taking taylor expansion of -1 in phi1 29.880 * [backup-simplify]: Simplify -1 into -1 29.880 * [taylor]: Taking taylor expansion of phi1 in phi1 29.880 * [backup-simplify]: Simplify 0 into 0 29.880 * [backup-simplify]: Simplify 1 into 1 29.881 * [backup-simplify]: Simplify (/ -1 1) into -1 29.881 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.881 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 29.881 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 29.881 * [taylor]: Taking taylor expansion of -1 in phi1 29.881 * [backup-simplify]: Simplify -1 into -1 29.881 * [taylor]: Taking taylor expansion of delta in phi1 29.881 * [backup-simplify]: Simplify delta into delta 29.881 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.881 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.881 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.881 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 29.881 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 29.881 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.881 * [taylor]: Taking taylor expansion of -1 in phi1 29.881 * [backup-simplify]: Simplify -1 into -1 29.881 * [taylor]: Taking taylor expansion of phi1 in phi1 29.881 * [backup-simplify]: Simplify 0 into 0 29.881 * [backup-simplify]: Simplify 1 into 1 29.882 * [backup-simplify]: Simplify (/ -1 1) into -1 29.882 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.882 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 29.882 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 29.882 * [taylor]: Taking taylor expansion of -1 in phi1 29.882 * [backup-simplify]: Simplify -1 into -1 29.882 * [taylor]: Taking taylor expansion of delta in phi1 29.882 * [backup-simplify]: Simplify delta into delta 29.882 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.882 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.882 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.882 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in delta 29.882 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 29.882 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 29.883 * [taylor]: Taking taylor expansion of -1 in delta 29.883 * [backup-simplify]: Simplify -1 into -1 29.883 * [taylor]: Taking taylor expansion of delta in delta 29.883 * [backup-simplify]: Simplify 0 into 0 29.883 * [backup-simplify]: Simplify 1 into 1 29.883 * [backup-simplify]: Simplify (/ -1 1) into -1 29.883 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.883 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 29.883 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 29.883 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.883 * [taylor]: Taking taylor expansion of -1 in delta 29.883 * [backup-simplify]: Simplify -1 into -1 29.883 * [taylor]: Taking taylor expansion of phi1 in delta 29.883 * [backup-simplify]: Simplify phi1 into phi1 29.883 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.883 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.883 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.884 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 29.884 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 29.884 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 29.884 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 29.884 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 29.884 * [taylor]: Taking taylor expansion of -1 in delta 29.884 * [backup-simplify]: Simplify -1 into -1 29.884 * [taylor]: Taking taylor expansion of theta in delta 29.884 * [backup-simplify]: Simplify theta into theta 29.884 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 29.884 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.884 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 29.884 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 29.884 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 29.884 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.884 * [taylor]: Taking taylor expansion of -1 in delta 29.884 * [backup-simplify]: Simplify -1 into -1 29.884 * [taylor]: Taking taylor expansion of phi1 in delta 29.884 * [backup-simplify]: Simplify phi1 into phi1 29.884 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.884 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.884 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.884 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 29.884 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 29.884 * [taylor]: Taking taylor expansion of -1 in delta 29.884 * [backup-simplify]: Simplify -1 into -1 29.884 * [taylor]: Taking taylor expansion of delta in delta 29.884 * [backup-simplify]: Simplify 0 into 0 29.884 * [backup-simplify]: Simplify 1 into 1 29.885 * [backup-simplify]: Simplify (/ -1 1) into -1 29.885 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.885 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 29.885 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 29.885 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.885 * [taylor]: Taking taylor expansion of -1 in delta 29.885 * [backup-simplify]: Simplify -1 into -1 29.885 * [taylor]: Taking taylor expansion of phi1 in delta 29.885 * [backup-simplify]: Simplify phi1 into phi1 29.885 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.885 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.885 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.885 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 29.885 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 29.885 * [taylor]: Taking taylor expansion of -1 in delta 29.885 * [backup-simplify]: Simplify -1 into -1 29.885 * [taylor]: Taking taylor expansion of delta in delta 29.885 * [backup-simplify]: Simplify 0 into 0 29.885 * [backup-simplify]: Simplify 1 into 1 29.886 * [backup-simplify]: Simplify (/ -1 1) into -1 29.886 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.886 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in delta 29.886 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 29.886 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 29.886 * [taylor]: Taking taylor expansion of -1 in delta 29.886 * [backup-simplify]: Simplify -1 into -1 29.886 * [taylor]: Taking taylor expansion of delta in delta 29.886 * [backup-simplify]: Simplify 0 into 0 29.886 * [backup-simplify]: Simplify 1 into 1 29.887 * [backup-simplify]: Simplify (/ -1 1) into -1 29.887 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.887 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 29.887 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 29.887 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.887 * [taylor]: Taking taylor expansion of -1 in delta 29.887 * [backup-simplify]: Simplify -1 into -1 29.887 * [taylor]: Taking taylor expansion of phi1 in delta 29.887 * [backup-simplify]: Simplify phi1 into phi1 29.887 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.887 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.887 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.887 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 29.887 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 29.887 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 29.887 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 29.887 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 29.887 * [taylor]: Taking taylor expansion of -1 in delta 29.887 * [backup-simplify]: Simplify -1 into -1 29.887 * [taylor]: Taking taylor expansion of theta in delta 29.887 * [backup-simplify]: Simplify theta into theta 29.887 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 29.887 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.888 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 29.888 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 29.888 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 29.888 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.888 * [taylor]: Taking taylor expansion of -1 in delta 29.888 * [backup-simplify]: Simplify -1 into -1 29.888 * [taylor]: Taking taylor expansion of phi1 in delta 29.888 * [backup-simplify]: Simplify phi1 into phi1 29.888 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.888 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.888 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.888 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 29.888 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 29.888 * [taylor]: Taking taylor expansion of -1 in delta 29.888 * [backup-simplify]: Simplify -1 into -1 29.888 * [taylor]: Taking taylor expansion of delta in delta 29.888 * [backup-simplify]: Simplify 0 into 0 29.888 * [backup-simplify]: Simplify 1 into 1 29.889 * [backup-simplify]: Simplify (/ -1 1) into -1 29.889 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.889 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 29.889 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 29.889 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.889 * [taylor]: Taking taylor expansion of -1 in delta 29.889 * [backup-simplify]: Simplify -1 into -1 29.889 * [taylor]: Taking taylor expansion of phi1 in delta 29.889 * [backup-simplify]: Simplify phi1 into phi1 29.889 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.889 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.889 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.889 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 29.889 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 29.889 * [taylor]: Taking taylor expansion of -1 in delta 29.889 * [backup-simplify]: Simplify -1 into -1 29.889 * [taylor]: Taking taylor expansion of delta in delta 29.889 * [backup-simplify]: Simplify 0 into 0 29.889 * [backup-simplify]: Simplify 1 into 1 29.890 * [backup-simplify]: Simplify (/ -1 1) into -1 29.890 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.890 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 29.890 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 29.890 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 29.890 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 29.890 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 29.891 * [backup-simplify]: Simplify (- 0) into 0 29.891 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 29.891 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 29.891 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 29.891 * [backup-simplify]: Simplify (- 0) into 0 29.891 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 29.892 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 29.892 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 29.892 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 29.892 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 29.892 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 29.892 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 29.892 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) into (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 29.893 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 29.893 * [backup-simplify]: Simplify (- (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 29.894 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 29.894 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) in phi1 29.894 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 29.894 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 29.894 * [taylor]: Taking taylor expansion of -1 in phi1 29.894 * [backup-simplify]: Simplify -1 into -1 29.894 * [taylor]: Taking taylor expansion of delta in phi1 29.894 * [backup-simplify]: Simplify delta into delta 29.894 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.894 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.894 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.894 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) in phi1 29.894 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in phi1 29.894 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 29.894 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 29.895 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.895 * [taylor]: Taking taylor expansion of -1 in phi1 29.895 * [backup-simplify]: Simplify -1 into -1 29.895 * [taylor]: Taking taylor expansion of phi1 in phi1 29.895 * [backup-simplify]: Simplify 0 into 0 29.895 * [backup-simplify]: Simplify 1 into 1 29.895 * [backup-simplify]: Simplify (/ -1 1) into -1 29.895 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.895 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 29.895 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 29.895 * [taylor]: Taking taylor expansion of -1 in phi1 29.895 * [backup-simplify]: Simplify -1 into -1 29.895 * [taylor]: Taking taylor expansion of delta in phi1 29.895 * [backup-simplify]: Simplify delta into delta 29.895 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.895 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.895 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.896 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) in phi1 29.896 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 29.896 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.896 * [taylor]: Taking taylor expansion of -1 in phi1 29.896 * [backup-simplify]: Simplify -1 into -1 29.896 * [taylor]: Taking taylor expansion of phi1 in phi1 29.896 * [backup-simplify]: Simplify 0 into 0 29.896 * [backup-simplify]: Simplify 1 into 1 29.896 * [backup-simplify]: Simplify (/ -1 1) into -1 29.896 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.896 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))) in phi1 29.896 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 29.896 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 29.896 * [taylor]: Taking taylor expansion of -1 in phi1 29.896 * [backup-simplify]: Simplify -1 into -1 29.896 * [taylor]: Taking taylor expansion of theta in phi1 29.896 * [backup-simplify]: Simplify theta into theta 29.897 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 29.897 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.897 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 29.897 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 phi1))) in phi1 29.897 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 29.897 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 29.897 * [taylor]: Taking taylor expansion of -1 in phi1 29.897 * [backup-simplify]: Simplify -1 into -1 29.897 * [taylor]: Taking taylor expansion of delta in phi1 29.897 * [backup-simplify]: Simplify delta into delta 29.897 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.897 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.897 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.897 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 29.897 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.897 * [taylor]: Taking taylor expansion of -1 in phi1 29.897 * [backup-simplify]: Simplify -1 into -1 29.897 * [taylor]: Taking taylor expansion of phi1 in phi1 29.897 * [backup-simplify]: Simplify 0 into 0 29.897 * [backup-simplify]: Simplify 1 into 1 29.898 * [backup-simplify]: Simplify (/ -1 1) into -1 29.898 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.898 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 29.898 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 29.898 * [backup-simplify]: Simplify (- 0) into 0 29.898 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 29.899 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 29.899 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 29.899 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 29.899 * [backup-simplify]: Simplify (- 0) into 0 29.899 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 29.899 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 29.899 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 29.900 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 29.903 * [backup-simplify]: Simplify (- 0) into 0 29.903 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 29.903 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 29.903 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 29.903 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 29.903 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 29.903 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 29.904 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) 29.904 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) 29.905 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 29.905 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 29.905 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) in theta 29.905 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 29.905 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 29.906 * [taylor]: Taking taylor expansion of -1 in theta 29.906 * [backup-simplify]: Simplify -1 into -1 29.906 * [taylor]: Taking taylor expansion of delta in theta 29.906 * [backup-simplify]: Simplify delta into delta 29.906 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.906 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.906 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.906 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) in theta 29.906 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in theta 29.906 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in theta 29.906 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 29.906 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.906 * [taylor]: Taking taylor expansion of -1 in theta 29.906 * [backup-simplify]: Simplify -1 into -1 29.906 * [taylor]: Taking taylor expansion of phi1 in theta 29.906 * [backup-simplify]: Simplify phi1 into phi1 29.906 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.906 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.906 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.906 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 29.906 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 29.907 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 29.907 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 29.907 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 29.907 * [taylor]: Taking taylor expansion of -1 in theta 29.907 * [backup-simplify]: Simplify -1 into -1 29.907 * [taylor]: Taking taylor expansion of delta in theta 29.907 * [backup-simplify]: Simplify delta into delta 29.907 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.907 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.907 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.907 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) in theta 29.907 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 29.907 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.907 * [taylor]: Taking taylor expansion of -1 in theta 29.907 * [backup-simplify]: Simplify -1 into -1 29.907 * [taylor]: Taking taylor expansion of phi1 in theta 29.907 * [backup-simplify]: Simplify phi1 into phi1 29.907 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.907 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.907 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.907 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))) in theta 29.907 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 29.907 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 29.907 * [taylor]: Taking taylor expansion of -1 in theta 29.907 * [backup-simplify]: Simplify -1 into -1 29.907 * [taylor]: Taking taylor expansion of theta in theta 29.907 * [backup-simplify]: Simplify 0 into 0 29.907 * [backup-simplify]: Simplify 1 into 1 29.908 * [backup-simplify]: Simplify (/ -1 1) into -1 29.908 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.908 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 phi1))) in theta 29.908 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 29.908 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 29.908 * [taylor]: Taking taylor expansion of -1 in theta 29.908 * [backup-simplify]: Simplify -1 into -1 29.908 * [taylor]: Taking taylor expansion of delta in theta 29.908 * [backup-simplify]: Simplify delta into delta 29.908 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.908 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.909 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.909 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 29.909 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.909 * [taylor]: Taking taylor expansion of -1 in theta 29.909 * [backup-simplify]: Simplify -1 into -1 29.909 * [taylor]: Taking taylor expansion of phi1 in theta 29.909 * [backup-simplify]: Simplify phi1 into phi1 29.909 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.909 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.909 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.909 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 29.909 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 29.909 * [backup-simplify]: Simplify (- 0) into 0 29.910 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 29.910 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 29.910 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 29.910 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 29.910 * [backup-simplify]: Simplify (- 0) into 0 29.910 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 29.910 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 29.911 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 29.911 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 29.911 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 29.911 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 29.911 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 29.911 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 29.911 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 29.911 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 29.912 * [backup-simplify]: Simplify (- 0) into 0 29.912 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 29.912 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 29.912 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 29.912 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) 29.913 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) 29.913 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 29.914 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 29.915 * [backup-simplify]: Simplify (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 29.915 * [backup-simplify]: Simplify (+ 0) into 0 29.916 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 29.916 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.917 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.917 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 29.918 * [backup-simplify]: Simplify (- 0) into 0 29.918 * [backup-simplify]: Simplify (+ 0 0) into 0 29.918 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 29.918 * [backup-simplify]: Simplify (+ 0) into 0 29.919 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 29.919 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 29.920 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.920 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 29.921 * [backup-simplify]: Simplify (- 0) into 0 29.921 * [backup-simplify]: Simplify (+ 0 0) into 0 29.921 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 29.922 * [backup-simplify]: Simplify (+ 0) into 0 29.922 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 29.922 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.923 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.924 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 29.924 * [backup-simplify]: Simplify (+ 0 0) into 0 29.924 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 29.925 * [backup-simplify]: Simplify (+ 0 0) into 0 29.925 * [backup-simplify]: Simplify (+ 0) into 0 29.925 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 29.926 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.926 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.927 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 29.927 * [backup-simplify]: Simplify (+ 0 0) into 0 29.928 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) into 0 29.928 * [backup-simplify]: Simplify (- 0) into 0 29.928 * [backup-simplify]: Simplify (+ 0 0) into 0 29.928 * [taylor]: Taking taylor expansion of 0 in phi1 29.928 * [backup-simplify]: Simplify 0 into 0 29.929 * [taylor]: Taking taylor expansion of 0 in theta 29.929 * [backup-simplify]: Simplify 0 into 0 29.929 * [backup-simplify]: Simplify 0 into 0 29.929 * [backup-simplify]: Simplify (+ 0) into 0 29.930 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 29.930 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.931 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.931 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 29.932 * [backup-simplify]: Simplify (- 0) into 0 29.932 * [backup-simplify]: Simplify (+ 0 0) into 0 29.932 * [backup-simplify]: Simplify (+ 0) into 0 29.933 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 29.933 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.934 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.934 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 29.935 * [backup-simplify]: Simplify (- 0) into 0 29.935 * [backup-simplify]: Simplify (+ 0 0) into 0 29.935 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 29.935 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 29.936 * [backup-simplify]: Simplify (+ 0) into 0 29.936 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 29.936 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.937 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.938 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 29.938 * [backup-simplify]: Simplify (+ 0 0) into 0 29.938 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 29.939 * [backup-simplify]: Simplify (+ 0) into 0 29.939 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 29.939 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 29.940 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.941 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 29.941 * [backup-simplify]: Simplify (- 0) into 0 29.941 * [backup-simplify]: Simplify (+ 0 0) into 0 29.942 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 29.942 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 29.942 * [backup-simplify]: Simplify (+ 0 0) into 0 29.943 * [backup-simplify]: Simplify (- 0) into 0 29.943 * [backup-simplify]: Simplify (+ 0 0) into 0 29.943 * [taylor]: Taking taylor expansion of 0 in theta 29.943 * [backup-simplify]: Simplify 0 into 0 29.943 * [backup-simplify]: Simplify 0 into 0 29.943 * [backup-simplify]: Simplify (+ 0) into 0 29.944 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 29.944 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.945 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.945 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 29.946 * [backup-simplify]: Simplify (- 0) into 0 29.946 * [backup-simplify]: Simplify (+ 0 0) into 0 29.946 * [backup-simplify]: Simplify (+ 0) into 0 29.947 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 29.947 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.948 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.948 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 29.949 * [backup-simplify]: Simplify (- 0) into 0 29.949 * [backup-simplify]: Simplify (+ 0 0) into 0 29.950 * [backup-simplify]: Simplify (+ 0) into 0 29.950 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 29.950 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.951 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.952 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 29.952 * [backup-simplify]: Simplify (+ 0 0) into 0 29.952 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 29.952 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 29.952 * [backup-simplify]: Simplify (+ 0) into 0 29.953 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 29.953 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.953 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.954 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 29.954 * [backup-simplify]: Simplify (- 0) into 0 29.954 * [backup-simplify]: Simplify (+ 0 0) into 0 29.954 * [backup-simplify]: Simplify (+ 0) into 0 29.955 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 29.955 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.955 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.956 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 29.956 * [backup-simplify]: Simplify (+ 0 0) into 0 29.956 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 29.956 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 29.956 * [backup-simplify]: Simplify (+ 0) into 0 29.957 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 29.957 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.957 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.957 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 29.958 * [backup-simplify]: Simplify (+ 0 0) into 0 29.958 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 29.958 * [backup-simplify]: Simplify (+ 0 0) into 0 29.958 * [backup-simplify]: Simplify (- 0) into 0 29.959 * [backup-simplify]: Simplify (+ 0 0) into 0 29.959 * [backup-simplify]: Simplify 0 into 0 29.959 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.960 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.960 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.960 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.960 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.961 * [backup-simplify]: Simplify (- 0) into 0 29.961 * [backup-simplify]: Simplify (+ 0 0) into 0 29.961 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 29.962 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.962 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.963 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 29.963 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.963 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.964 * [backup-simplify]: Simplify (- 0) into 0 29.964 * [backup-simplify]: Simplify (+ 0 0) into 0 29.964 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 29.965 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.965 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.965 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.966 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.966 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.966 * [backup-simplify]: Simplify (+ 0 0) into 0 29.967 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 29.967 * [backup-simplify]: Simplify (+ 0 0) into 0 29.967 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.968 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.968 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.968 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.969 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.969 * [backup-simplify]: Simplify (+ 0 0) into 0 29.970 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) into 0 29.970 * [backup-simplify]: Simplify (- 0) into 0 29.970 * [backup-simplify]: Simplify (+ 0 0) into 0 29.970 * [taylor]: Taking taylor expansion of 0 in phi1 29.970 * [backup-simplify]: Simplify 0 into 0 29.970 * [taylor]: Taking taylor expansion of 0 in theta 29.970 * [backup-simplify]: Simplify 0 into 0 29.970 * [backup-simplify]: Simplify 0 into 0 29.970 * [taylor]: Taking taylor expansion of 0 in theta 29.970 * [backup-simplify]: Simplify 0 into 0 29.970 * [backup-simplify]: Simplify 0 into 0 29.971 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.971 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.971 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.972 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.972 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.972 * [backup-simplify]: Simplify (- 0) into 0 29.973 * [backup-simplify]: Simplify (+ 0 0) into 0 29.973 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.974 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.974 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.974 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.974 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.975 * [backup-simplify]: Simplify (- 0) into 0 29.975 * [backup-simplify]: Simplify (+ 0 0) into 0 29.975 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 29.976 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 29.976 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.977 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.977 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.977 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.978 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.978 * [backup-simplify]: Simplify (+ 0 0) into 0 29.978 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 phi1))))) into 0 29.979 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.979 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.979 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 29.980 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.980 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.980 * [backup-simplify]: Simplify (- 0) into 0 29.981 * [backup-simplify]: Simplify (+ 0 0) into 0 29.981 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 29.982 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))))) into 0 29.982 * [backup-simplify]: Simplify (+ 0 0) into 0 29.983 * [backup-simplify]: Simplify (- 0) into 0 29.983 * [backup-simplify]: Simplify (+ 0 0) into 0 29.983 * [taylor]: Taking taylor expansion of 0 in theta 29.983 * [backup-simplify]: Simplify 0 into 0 29.983 * [backup-simplify]: Simplify 0 into 0 29.984 * [backup-simplify]: Simplify (- (cos (/ -1 (/ 1 (- delta)))) (+ (* (pow (sin (/ -1 (/ 1 (- phi1)))) 2) (cos (/ -1 (/ 1 (- delta))))) (* (sin (/ -1 (/ 1 (- phi1)))) (* (cos (/ -1 (/ 1 (- theta)))) (* (sin (/ -1 (/ 1 (- delta)))) (cos (/ -1 (/ 1 (- phi1))))))))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos theta) (* (sin delta) (cos phi1)))))) 29.984 * * * * [progress]: [ 2 / 4 ] generating series at (2 1 2 2 2 1) 29.984 * [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)))) 29.984 * [approximate]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in (theta phi1 delta) around 0 29.984 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 29.985 * [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)))) 29.985 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 29.985 * [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)))) 29.985 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 29.985 * [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)))) 29.985 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 29.985 * [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)))) 29.985 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 29.986 * [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)))) 29.986 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 29.986 * [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)))) 29.986 * [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)))) 29.986 * [taylor]: Taking taylor expansion of 0 in phi1 29.986 * [backup-simplify]: Simplify 0 into 0 29.986 * [taylor]: Taking taylor expansion of 0 in delta 29.986 * [backup-simplify]: Simplify 0 into 0 29.986 * [backup-simplify]: Simplify 0 into 0 29.986 * [taylor]: Taking taylor expansion of 0 in delta 29.986 * [backup-simplify]: Simplify 0 into 0 29.986 * [backup-simplify]: Simplify 0 into 0 29.986 * [backup-simplify]: Simplify 0 into 0 29.986 * [taylor]: Taking taylor expansion of 0 in phi1 29.986 * [backup-simplify]: Simplify 0 into 0 29.986 * [taylor]: Taking taylor expansion of 0 in delta 29.987 * [backup-simplify]: Simplify 0 into 0 29.987 * [backup-simplify]: Simplify 0 into 0 29.987 * [taylor]: Taking taylor expansion of 0 in delta 29.987 * [backup-simplify]: Simplify 0 into 0 29.987 * [backup-simplify]: Simplify 0 into 0 29.987 * [taylor]: Taking taylor expansion of 0 in delta 29.987 * [backup-simplify]: Simplify 0 into 0 29.987 * [backup-simplify]: Simplify 0 into 0 29.987 * [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)))) 29.987 * [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))))) 29.987 * [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 29.987 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in delta 29.988 * [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))))) 29.988 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in phi1 29.988 * [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))))) 29.988 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in theta 29.988 * [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))))) 29.988 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in theta 29.989 * [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))))) 29.989 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in phi1 29.989 * [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))))) 29.989 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in delta 29.989 * [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))))) 29.990 * [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))))) 29.990 * [taylor]: Taking taylor expansion of 0 in phi1 29.990 * [backup-simplify]: Simplify 0 into 0 29.990 * [taylor]: Taking taylor expansion of 0 in delta 29.990 * [backup-simplify]: Simplify 0 into 0 29.990 * [backup-simplify]: Simplify 0 into 0 29.990 * [taylor]: Taking taylor expansion of 0 in delta 29.990 * [backup-simplify]: Simplify 0 into 0 29.990 * [backup-simplify]: Simplify 0 into 0 29.990 * [backup-simplify]: Simplify 0 into 0 29.990 * [taylor]: Taking taylor expansion of 0 in phi1 29.990 * [backup-simplify]: Simplify 0 into 0 29.990 * [taylor]: Taking taylor expansion of 0 in delta 29.990 * [backup-simplify]: Simplify 0 into 0 29.990 * [backup-simplify]: Simplify 0 into 0 29.990 * [taylor]: Taking taylor expansion of 0 in delta 29.990 * [backup-simplify]: Simplify 0 into 0 29.990 * [backup-simplify]: Simplify 0 into 0 29.990 * [taylor]: Taking taylor expansion of 0 in delta 29.990 * [backup-simplify]: Simplify 0 into 0 29.990 * [backup-simplify]: Simplify 0 into 0 29.991 * [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)))) 29.991 * [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))))) 29.991 * [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 29.991 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 29.991 * [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))))) 29.991 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 29.992 * [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))))) 29.992 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 29.992 * [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))))) 29.992 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 29.992 * [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))))) 29.993 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 29.993 * [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))))) 29.993 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 29.993 * [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))))) 29.993 * [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))))) 29.994 * [taylor]: Taking taylor expansion of 0 in phi1 29.994 * [backup-simplify]: Simplify 0 into 0 29.994 * [taylor]: Taking taylor expansion of 0 in delta 29.994 * [backup-simplify]: Simplify 0 into 0 29.994 * [backup-simplify]: Simplify 0 into 0 29.994 * [taylor]: Taking taylor expansion of 0 in delta 29.994 * [backup-simplify]: Simplify 0 into 0 29.994 * [backup-simplify]: Simplify 0 into 0 29.994 * [backup-simplify]: Simplify 0 into 0 29.994 * [taylor]: Taking taylor expansion of 0 in phi1 29.994 * [backup-simplify]: Simplify 0 into 0 29.994 * [taylor]: Taking taylor expansion of 0 in delta 29.994 * [backup-simplify]: Simplify 0 into 0 29.994 * [backup-simplify]: Simplify 0 into 0 29.994 * [taylor]: Taking taylor expansion of 0 in delta 29.994 * [backup-simplify]: Simplify 0 into 0 29.994 * [backup-simplify]: Simplify 0 into 0 29.994 * [taylor]: Taking taylor expansion of 0 in delta 29.994 * [backup-simplify]: Simplify 0 into 0 29.994 * [backup-simplify]: Simplify 0 into 0 29.995 * [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)))) 29.995 * * * * [progress]: [ 3 / 4 ] generating series at (2 1 2 2 2 1 1) 29.995 * [backup-simplify]: Simplify (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))) into (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) 29.995 * [approximate]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in (theta phi1 delta) around 0 29.995 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 29.995 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 29.995 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 29.995 * [taylor]: Taking taylor expansion of (cos theta) in delta 29.995 * [taylor]: Taking taylor expansion of theta in delta 29.995 * [backup-simplify]: Simplify theta into theta 29.995 * [backup-simplify]: Simplify (cos theta) into (cos theta) 29.995 * [backup-simplify]: Simplify (sin theta) into (sin theta) 29.995 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 29.995 * [taylor]: Taking taylor expansion of (cos phi1) in delta 29.995 * [taylor]: Taking taylor expansion of phi1 in delta 29.995 * [backup-simplify]: Simplify phi1 into phi1 29.995 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.995 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.995 * [taylor]: Taking taylor expansion of (sin delta) in delta 29.996 * [taylor]: Taking taylor expansion of delta in delta 29.996 * [backup-simplify]: Simplify 0 into 0 29.996 * [backup-simplify]: Simplify 1 into 1 29.996 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 29.996 * [taylor]: Taking taylor expansion of (sin phi1) in delta 29.996 * [taylor]: Taking taylor expansion of phi1 in delta 29.996 * [backup-simplify]: Simplify phi1 into phi1 29.996 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.996 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.996 * [taylor]: Taking taylor expansion of (cos delta) in delta 29.996 * [taylor]: Taking taylor expansion of delta in delta 29.996 * [backup-simplify]: Simplify 0 into 0 29.996 * [backup-simplify]: Simplify 1 into 1 29.996 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 29.996 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 29.996 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 29.996 * [taylor]: Taking taylor expansion of (cos theta) in phi1 29.996 * [taylor]: Taking taylor expansion of theta in phi1 29.996 * [backup-simplify]: Simplify theta into theta 29.996 * [backup-simplify]: Simplify (cos theta) into (cos theta) 29.996 * [backup-simplify]: Simplify (sin theta) into (sin theta) 29.996 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 29.996 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 29.996 * [taylor]: Taking taylor expansion of phi1 in phi1 29.996 * [backup-simplify]: Simplify 0 into 0 29.996 * [backup-simplify]: Simplify 1 into 1 29.996 * [taylor]: Taking taylor expansion of (sin delta) in phi1 29.996 * [taylor]: Taking taylor expansion of delta in phi1 29.996 * [backup-simplify]: Simplify delta into delta 29.996 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.996 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.996 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 29.997 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 29.997 * [taylor]: Taking taylor expansion of phi1 in phi1 29.997 * [backup-simplify]: Simplify 0 into 0 29.997 * [backup-simplify]: Simplify 1 into 1 29.997 * [taylor]: Taking taylor expansion of (cos delta) in phi1 29.997 * [taylor]: Taking taylor expansion of delta in phi1 29.997 * [backup-simplify]: Simplify delta into delta 29.997 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.997 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.997 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 29.997 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 29.997 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 29.997 * [taylor]: Taking taylor expansion of (cos theta) in theta 29.997 * [taylor]: Taking taylor expansion of theta in theta 29.997 * [backup-simplify]: Simplify 0 into 0 29.997 * [backup-simplify]: Simplify 1 into 1 29.997 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 29.997 * [taylor]: Taking taylor expansion of (cos phi1) in theta 29.997 * [taylor]: Taking taylor expansion of phi1 in theta 29.997 * [backup-simplify]: Simplify phi1 into phi1 29.997 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.997 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.997 * [taylor]: Taking taylor expansion of (sin delta) in theta 29.997 * [taylor]: Taking taylor expansion of delta in theta 29.997 * [backup-simplify]: Simplify delta into delta 29.997 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.997 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.997 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 29.997 * [taylor]: Taking taylor expansion of (sin phi1) in theta 29.997 * [taylor]: Taking taylor expansion of phi1 in theta 29.997 * [backup-simplify]: Simplify phi1 into phi1 29.997 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.998 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.998 * [taylor]: Taking taylor expansion of (cos delta) in theta 29.998 * [taylor]: Taking taylor expansion of delta in theta 29.998 * [backup-simplify]: Simplify delta into delta 29.998 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.998 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.998 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 29.998 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 29.998 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 29.998 * [taylor]: Taking taylor expansion of (cos theta) in theta 29.998 * [taylor]: Taking taylor expansion of theta in theta 29.998 * [backup-simplify]: Simplify 0 into 0 29.998 * [backup-simplify]: Simplify 1 into 1 29.998 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 29.998 * [taylor]: Taking taylor expansion of (cos phi1) in theta 29.998 * [taylor]: Taking taylor expansion of phi1 in theta 29.998 * [backup-simplify]: Simplify phi1 into phi1 29.998 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.998 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.998 * [taylor]: Taking taylor expansion of (sin delta) in theta 29.998 * [taylor]: Taking taylor expansion of delta in theta 29.998 * [backup-simplify]: Simplify delta into delta 29.998 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.998 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.998 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 29.998 * [taylor]: Taking taylor expansion of (sin phi1) in theta 29.998 * [taylor]: Taking taylor expansion of phi1 in theta 29.998 * [backup-simplify]: Simplify phi1 into phi1 29.998 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.998 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.998 * [taylor]: Taking taylor expansion of (cos delta) in theta 29.998 * [taylor]: Taking taylor expansion of delta in theta 29.998 * [backup-simplify]: Simplify delta into delta 29.999 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.999 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.999 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 29.999 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 29.999 * [backup-simplify]: Simplify (- 0) into 0 29.999 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 30.000 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 30.000 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 30.000 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 30.000 * [backup-simplify]: Simplify (* (cos phi1) (sin delta)) into (* (cos phi1) (sin delta)) 30.000 * [backup-simplify]: Simplify (* 1 (* (cos phi1) (sin delta))) into (* (cos phi1) (sin delta)) 30.000 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 30.000 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 30.000 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 30.000 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 30.000 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 30.001 * [backup-simplify]: Simplify (- 0) into 0 30.001 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 30.001 * [backup-simplify]: Simplify (* (sin phi1) (cos delta)) into (* (sin phi1) (cos delta)) 30.001 * [backup-simplify]: Simplify (+ (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) into (+ (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) 30.001 * [taylor]: Taking taylor expansion of (+ (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 30.001 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 30.001 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 30.001 * [taylor]: Taking taylor expansion of phi1 in phi1 30.001 * [backup-simplify]: Simplify 0 into 0 30.001 * [backup-simplify]: Simplify 1 into 1 30.001 * [taylor]: Taking taylor expansion of (sin delta) in phi1 30.001 * [taylor]: Taking taylor expansion of delta in phi1 30.001 * [backup-simplify]: Simplify delta into delta 30.001 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.001 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.001 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 30.001 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 30.001 * [taylor]: Taking taylor expansion of phi1 in phi1 30.001 * [backup-simplify]: Simplify 0 into 0 30.001 * [backup-simplify]: Simplify 1 into 1 30.001 * [taylor]: Taking taylor expansion of (cos delta) in phi1 30.001 * [taylor]: Taking taylor expansion of delta in phi1 30.002 * [backup-simplify]: Simplify delta into delta 30.002 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.002 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.002 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 30.002 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 30.002 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 30.002 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 30.002 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 30.002 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 30.002 * [backup-simplify]: Simplify (- 0) into 0 30.003 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 30.003 * [backup-simplify]: Simplify (* 0 (cos delta)) into 0 30.003 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 30.003 * [taylor]: Taking taylor expansion of (sin delta) in delta 30.003 * [taylor]: Taking taylor expansion of delta in delta 30.003 * [backup-simplify]: Simplify 0 into 0 30.003 * [backup-simplify]: Simplify 1 into 1 30.003 * [backup-simplify]: Simplify 0 into 0 30.003 * [backup-simplify]: Simplify (+ 0) into 0 30.004 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 30.005 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.005 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 30.006 * [backup-simplify]: Simplify (+ 0 0) into 0 30.006 * [backup-simplify]: Simplify (+ 0) into 0 30.007 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 30.007 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.008 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 30.008 * [backup-simplify]: Simplify (- 0) into 0 30.009 * [backup-simplify]: Simplify (+ 0 0) into 0 30.009 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 (sin delta))) into 0 30.009 * [backup-simplify]: Simplify (+ 0) into 0 30.010 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (cos phi1) (sin delta)))) into 0 30.010 * [backup-simplify]: Simplify (+ 0) into 0 30.011 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 30.011 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.012 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 30.013 * [backup-simplify]: Simplify (- 0) into 0 30.013 * [backup-simplify]: Simplify (+ 0 0) into 0 30.014 * [backup-simplify]: Simplify (+ 0) into 0 30.014 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 30.015 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.016 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 30.016 * [backup-simplify]: Simplify (+ 0 0) into 0 30.016 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 (cos delta))) into 0 30.017 * [backup-simplify]: Simplify (+ 0 0) into 0 30.017 * [taylor]: Taking taylor expansion of 0 in phi1 30.017 * [backup-simplify]: Simplify 0 into 0 30.017 * [taylor]: Taking taylor expansion of 0 in delta 30.017 * [backup-simplify]: Simplify 0 into 0 30.017 * [backup-simplify]: Simplify 0 into 0 30.017 * [backup-simplify]: Simplify (+ 0) into 0 30.018 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 30.018 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.019 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 30.019 * [backup-simplify]: Simplify (+ 0 0) into 0 30.020 * [backup-simplify]: Simplify (+ 0) into 0 30.020 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin delta))) into 0 30.021 * [backup-simplify]: Simplify (+ 0) into 0 30.021 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 30.022 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.023 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 30.023 * [backup-simplify]: Simplify (- 0) into 0 30.023 * [backup-simplify]: Simplify (+ 0 0) into 0 30.024 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 30.025 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos delta))) into (cos delta) 30.025 * [backup-simplify]: Simplify (+ 0 (cos delta)) into (cos delta) 30.025 * [taylor]: Taking taylor expansion of (cos delta) in delta 30.025 * [taylor]: Taking taylor expansion of delta in delta 30.025 * [backup-simplify]: Simplify 0 into 0 30.025 * [backup-simplify]: Simplify 1 into 1 30.025 * [backup-simplify]: Simplify 1 into 1 30.026 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 30.026 * [backup-simplify]: Simplify 1 into 1 30.027 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.028 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 30.028 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.029 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 30.029 * [backup-simplify]: Simplify (+ 0 0) into 0 30.030 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.031 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 30.032 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.032 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 30.033 * [backup-simplify]: Simplify (- 0) into 0 30.033 * [backup-simplify]: Simplify (+ 0 0) into 0 30.034 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 (sin delta)))) into 0 30.038 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 30.040 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (* (cos phi1) (sin delta))))) into (- (* 1/2 (* (cos phi1) (sin delta)))) 30.041 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.041 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 1))) into 0 30.042 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.043 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 0))) into 0 30.043 * [backup-simplify]: Simplify (- 0) into 0 30.043 * [backup-simplify]: Simplify (+ 0 0) into 0 30.044 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.044 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 30.045 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.045 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 30.045 * [backup-simplify]: Simplify (+ 0 0) into 0 30.046 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 (cos delta)))) into 0 30.046 * [backup-simplify]: Simplify (+ (- (* 1/2 (* (cos phi1) (sin delta)))) 0) into (- (* 1/2 (* (cos phi1) (sin delta)))) 30.046 * [taylor]: Taking taylor expansion of (- (* 1/2 (* (cos phi1) (sin delta)))) in phi1 30.046 * [taylor]: Taking taylor expansion of (* 1/2 (* (cos phi1) (sin delta))) in phi1 30.046 * [taylor]: Taking taylor expansion of 1/2 in phi1 30.046 * [backup-simplify]: Simplify 1/2 into 1/2 30.046 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 30.046 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 30.046 * [taylor]: Taking taylor expansion of phi1 in phi1 30.046 * [backup-simplify]: Simplify 0 into 0 30.046 * [backup-simplify]: Simplify 1 into 1 30.046 * [taylor]: Taking taylor expansion of (sin delta) in phi1 30.046 * [taylor]: Taking taylor expansion of delta in phi1 30.046 * [backup-simplify]: Simplify delta into delta 30.046 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.046 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.046 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 30.046 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 30.046 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 30.046 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 30.046 * [backup-simplify]: Simplify (* 1/2 (sin delta)) into (* 1/2 (sin delta)) 30.046 * [backup-simplify]: Simplify (- (* 1/2 (sin delta))) into (- (* 1/2 (sin delta))) 30.046 * [taylor]: Taking taylor expansion of (- (* 1/2 (sin delta))) in delta 30.046 * [taylor]: Taking taylor expansion of (* 1/2 (sin delta)) in delta 30.046 * [taylor]: Taking taylor expansion of 1/2 in delta 30.047 * [backup-simplify]: Simplify 1/2 into 1/2 30.047 * [taylor]: Taking taylor expansion of (sin delta) in delta 30.047 * [taylor]: Taking taylor expansion of delta in delta 30.047 * [backup-simplify]: Simplify 0 into 0 30.047 * [backup-simplify]: Simplify 1 into 1 30.047 * [backup-simplify]: Simplify (* 1/2 0) into 0 30.047 * [backup-simplify]: Simplify (- 0) into 0 30.047 * [backup-simplify]: Simplify 0 into 0 30.047 * [taylor]: Taking taylor expansion of 0 in delta 30.047 * [backup-simplify]: Simplify 0 into 0 30.047 * [backup-simplify]: Simplify 0 into 0 30.048 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.048 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 30.049 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.049 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 30.049 * [backup-simplify]: Simplify (+ 0 0) into 0 30.050 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 30.050 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (sin delta)))) into (- (* 1/2 (sin delta))) 30.051 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.051 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 1))) into 0 30.052 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.052 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 0))) into 0 30.052 * [backup-simplify]: Simplify (- 0) into 0 30.053 * [backup-simplify]: Simplify (+ 0 0) into 0 30.053 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.054 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (cos delta)))) into 0 30.054 * [backup-simplify]: Simplify (+ (- (* 1/2 (sin delta))) 0) into (- (* 1/2 (sin delta))) 30.054 * [taylor]: Taking taylor expansion of (- (* 1/2 (sin delta))) in delta 30.054 * [taylor]: Taking taylor expansion of (* 1/2 (sin delta)) in delta 30.054 * [taylor]: Taking taylor expansion of 1/2 in delta 30.054 * [backup-simplify]: Simplify 1/2 into 1/2 30.054 * [taylor]: Taking taylor expansion of (sin delta) in delta 30.054 * [taylor]: Taking taylor expansion of delta in delta 30.054 * [backup-simplify]: Simplify 0 into 0 30.054 * [backup-simplify]: Simplify 1 into 1 30.054 * [backup-simplify]: Simplify (* 1/2 0) into 0 30.054 * [backup-simplify]: Simplify (- 0) into 0 30.054 * [backup-simplify]: Simplify 0 into 0 30.054 * [backup-simplify]: Simplify 0 into 0 30.055 * [backup-simplify]: Simplify (+ 0) into 0 30.055 * [backup-simplify]: Simplify 0 into 0 30.055 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.055 * [backup-simplify]: Simplify 0 into 0 30.055 * [backup-simplify]: Simplify (+ (* 1 (* delta (* 1 1))) (* 1 (* 1 (* phi1 1)))) into (+ phi1 delta) 30.056 * [backup-simplify]: Simplify (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) into (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 30.056 * [approximate]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in (theta phi1 delta) around 0 30.056 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 30.056 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 30.056 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 30.056 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 30.056 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 30.056 * [taylor]: Taking taylor expansion of theta in delta 30.056 * [backup-simplify]: Simplify theta into theta 30.056 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 30.056 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.056 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 30.056 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 30.056 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 30.056 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.056 * [taylor]: Taking taylor expansion of delta in delta 30.056 * [backup-simplify]: Simplify 0 into 0 30.056 * [backup-simplify]: Simplify 1 into 1 30.056 * [backup-simplify]: Simplify (/ 1 1) into 1 30.056 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.056 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 30.056 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.056 * [taylor]: Taking taylor expansion of phi1 in delta 30.056 * [backup-simplify]: Simplify phi1 into phi1 30.056 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.057 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.057 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.057 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 30.057 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 30.057 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.057 * [taylor]: Taking taylor expansion of phi1 in delta 30.057 * [backup-simplify]: Simplify phi1 into phi1 30.057 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.057 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.057 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.057 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 30.057 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.057 * [taylor]: Taking taylor expansion of delta in delta 30.057 * [backup-simplify]: Simplify 0 into 0 30.057 * [backup-simplify]: Simplify 1 into 1 30.057 * [backup-simplify]: Simplify (/ 1 1) into 1 30.057 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.057 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 30.057 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 30.057 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 30.057 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 30.057 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 30.057 * [taylor]: Taking taylor expansion of theta in phi1 30.057 * [backup-simplify]: Simplify theta into theta 30.057 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 30.057 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.057 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 30.057 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 30.057 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 30.057 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.057 * [taylor]: Taking taylor expansion of delta in phi1 30.057 * [backup-simplify]: Simplify delta into delta 30.057 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.058 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.058 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.058 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 30.058 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.058 * [taylor]: Taking taylor expansion of phi1 in phi1 30.058 * [backup-simplify]: Simplify 0 into 0 30.058 * [backup-simplify]: Simplify 1 into 1 30.058 * [backup-simplify]: Simplify (/ 1 1) into 1 30.058 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.058 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 30.058 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 30.058 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.058 * [taylor]: Taking taylor expansion of phi1 in phi1 30.058 * [backup-simplify]: Simplify 0 into 0 30.058 * [backup-simplify]: Simplify 1 into 1 30.058 * [backup-simplify]: Simplify (/ 1 1) into 1 30.058 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.058 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 30.058 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.058 * [taylor]: Taking taylor expansion of delta in phi1 30.058 * [backup-simplify]: Simplify delta into delta 30.058 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.058 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.059 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.059 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 30.059 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 30.059 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 30.059 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 30.059 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 30.059 * [taylor]: Taking taylor expansion of theta in theta 30.059 * [backup-simplify]: Simplify 0 into 0 30.059 * [backup-simplify]: Simplify 1 into 1 30.059 * [backup-simplify]: Simplify (/ 1 1) into 1 30.059 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.059 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 30.059 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 30.059 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.059 * [taylor]: Taking taylor expansion of delta in theta 30.059 * [backup-simplify]: Simplify delta into delta 30.059 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.059 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.059 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.059 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 30.059 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.059 * [taylor]: Taking taylor expansion of phi1 in theta 30.059 * [backup-simplify]: Simplify phi1 into phi1 30.059 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.059 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.059 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.059 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 30.059 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 30.059 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.059 * [taylor]: Taking taylor expansion of phi1 in theta 30.059 * [backup-simplify]: Simplify phi1 into phi1 30.059 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.059 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.060 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.060 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 30.060 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.060 * [taylor]: Taking taylor expansion of delta in theta 30.060 * [backup-simplify]: Simplify delta into delta 30.060 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.060 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.060 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.060 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 30.060 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 30.060 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 30.060 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 30.060 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 30.060 * [taylor]: Taking taylor expansion of theta in theta 30.060 * [backup-simplify]: Simplify 0 into 0 30.060 * [backup-simplify]: Simplify 1 into 1 30.060 * [backup-simplify]: Simplify (/ 1 1) into 1 30.060 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.060 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 30.060 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 30.060 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.060 * [taylor]: Taking taylor expansion of delta in theta 30.060 * [backup-simplify]: Simplify delta into delta 30.060 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.060 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.060 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.060 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 30.060 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.060 * [taylor]: Taking taylor expansion of phi1 in theta 30.060 * [backup-simplify]: Simplify phi1 into phi1 30.060 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.060 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.061 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.061 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 30.061 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 30.061 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.061 * [taylor]: Taking taylor expansion of phi1 in theta 30.061 * [backup-simplify]: Simplify phi1 into phi1 30.061 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.061 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.061 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.061 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 30.061 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.061 * [taylor]: Taking taylor expansion of delta in theta 30.061 * [backup-simplify]: Simplify delta into delta 30.061 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.061 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.061 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.061 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 30.061 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 30.061 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 30.061 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 30.061 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 30.061 * [backup-simplify]: Simplify (- 0) into 0 30.061 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 30.062 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (cos (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 delta))) 30.062 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 30.062 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 30.062 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 30.062 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 30.062 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 30.062 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 30.062 * [backup-simplify]: Simplify (- 0) into 0 30.062 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 30.062 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 30.062 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) into (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 30.063 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in phi1 30.063 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in phi1 30.063 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 30.063 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.063 * [taylor]: Taking taylor expansion of delta in phi1 30.063 * [backup-simplify]: Simplify delta into delta 30.063 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.063 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.063 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.063 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 30.063 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.063 * [taylor]: Taking taylor expansion of phi1 in phi1 30.063 * [backup-simplify]: Simplify 0 into 0 30.063 * [backup-simplify]: Simplify 1 into 1 30.063 * [backup-simplify]: Simplify (/ 1 1) into 1 30.063 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.063 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in phi1 30.063 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 30.063 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.063 * [taylor]: Taking taylor expansion of phi1 in phi1 30.063 * [backup-simplify]: Simplify 0 into 0 30.063 * [backup-simplify]: Simplify 1 into 1 30.063 * [backup-simplify]: Simplify (/ 1 1) into 1 30.063 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.063 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in phi1 30.063 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 30.064 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 30.064 * [taylor]: Taking taylor expansion of theta in phi1 30.064 * [backup-simplify]: Simplify theta into theta 30.064 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 30.064 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.064 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 30.064 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 30.064 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.064 * [taylor]: Taking taylor expansion of delta in phi1 30.064 * [backup-simplify]: Simplify delta into delta 30.064 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.064 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.064 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.064 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 30.064 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 30.064 * [backup-simplify]: Simplify (- 0) into 0 30.064 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 30.064 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 30.064 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 30.064 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 30.065 * [backup-simplify]: Simplify (- 0) into 0 30.065 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 30.065 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 30.065 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 30.065 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 30.065 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 30.065 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 30.065 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 30.065 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in delta 30.065 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 30.065 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 30.065 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.065 * [taylor]: Taking taylor expansion of phi1 in delta 30.065 * [backup-simplify]: Simplify phi1 into phi1 30.065 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.065 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.065 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.065 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 30.065 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.066 * [taylor]: Taking taylor expansion of delta in delta 30.066 * [backup-simplify]: Simplify 0 into 0 30.066 * [backup-simplify]: Simplify 1 into 1 30.066 * [backup-simplify]: Simplify (/ 1 1) into 1 30.066 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.066 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 30.066 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 30.066 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.066 * [taylor]: Taking taylor expansion of delta in delta 30.066 * [backup-simplify]: Simplify 0 into 0 30.066 * [backup-simplify]: Simplify 1 into 1 30.066 * [backup-simplify]: Simplify (/ 1 1) into 1 30.066 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.066 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 30.066 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 30.066 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 30.066 * [taylor]: Taking taylor expansion of theta in delta 30.066 * [backup-simplify]: Simplify theta into theta 30.066 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 30.066 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.066 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 30.066 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 30.066 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.066 * [taylor]: Taking taylor expansion of phi1 in delta 30.066 * [backup-simplify]: Simplify phi1 into phi1 30.067 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.067 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.067 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.067 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 30.067 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 30.067 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 30.067 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 30.067 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 30.067 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 30.067 * [backup-simplify]: Simplify (- 0) into 0 30.067 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 30.067 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 30.067 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 30.068 * [backup-simplify]: Simplify (- 0) into 0 30.068 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 30.068 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 30.068 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 30.068 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 30.068 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) into (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 30.068 * [backup-simplify]: Simplify (+ 0) into 0 30.069 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 30.069 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.069 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.070 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 30.070 * [backup-simplify]: Simplify (- 0) into 0 30.070 * [backup-simplify]: Simplify (+ 0 0) into 0 30.070 * [backup-simplify]: Simplify (+ 0) into 0 30.071 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 30.071 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.071 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.071 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 30.072 * [backup-simplify]: Simplify (+ 0 0) into 0 30.072 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 30.072 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta))))) into 0 30.072 * [backup-simplify]: Simplify (+ 0) into 0 30.073 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 30.073 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.074 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.075 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 30.075 * [backup-simplify]: Simplify (- 0) into 0 30.075 * [backup-simplify]: Simplify (+ 0 0) into 0 30.076 * [backup-simplify]: Simplify (+ 0) into 0 30.076 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 30.076 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.077 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.078 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 30.078 * [backup-simplify]: Simplify (+ 0 0) into 0 30.078 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 30.079 * [backup-simplify]: Simplify (+ 0 0) into 0 30.079 * [taylor]: Taking taylor expansion of 0 in phi1 30.079 * [backup-simplify]: Simplify 0 into 0 30.079 * [taylor]: Taking taylor expansion of 0 in delta 30.079 * [backup-simplify]: Simplify 0 into 0 30.079 * [backup-simplify]: Simplify 0 into 0 30.079 * [backup-simplify]: Simplify (+ 0) into 0 30.080 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 30.080 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.080 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.081 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 30.081 * [backup-simplify]: Simplify (- 0) into 0 30.081 * [backup-simplify]: Simplify (+ 0 0) into 0 30.081 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 30.081 * [backup-simplify]: Simplify (+ 0) into 0 30.082 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 30.082 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.082 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.083 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 30.083 * [backup-simplify]: Simplify (+ 0 0) into 0 30.083 * [backup-simplify]: Simplify (+ 0) into 0 30.083 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 30.083 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 30.084 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.084 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 30.084 * [backup-simplify]: Simplify (- 0) into 0 30.085 * [backup-simplify]: Simplify (+ 0 0) into 0 30.085 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 30.085 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 30.085 * [backup-simplify]: Simplify (+ 0 0) into 0 30.085 * [taylor]: Taking taylor expansion of 0 in delta 30.085 * [backup-simplify]: Simplify 0 into 0 30.085 * [backup-simplify]: Simplify 0 into 0 30.086 * [backup-simplify]: Simplify (+ 0) into 0 30.086 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 30.086 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.087 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.087 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 30.087 * [backup-simplify]: Simplify (+ 0 0) into 0 30.087 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 30.087 * [backup-simplify]: Simplify (+ 0) into 0 30.088 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 30.088 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.088 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.089 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 30.089 * [backup-simplify]: Simplify (- 0) into 0 30.089 * [backup-simplify]: Simplify (+ 0 0) into 0 30.089 * [backup-simplify]: Simplify (+ 0) into 0 30.090 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 30.090 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 30.090 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.090 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 30.091 * [backup-simplify]: Simplify (- 0) into 0 30.091 * [backup-simplify]: Simplify (+ 0 0) into 0 30.091 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 30.091 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 30.091 * [backup-simplify]: Simplify (+ 0 0) into 0 30.091 * [backup-simplify]: Simplify 0 into 0 30.092 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.092 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.093 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.093 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.093 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.094 * [backup-simplify]: Simplify (- 0) into 0 30.094 * [backup-simplify]: Simplify (+ 0 0) into 0 30.094 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.095 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.095 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.095 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.096 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.096 * [backup-simplify]: Simplify (+ 0 0) into 0 30.096 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 30.097 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta)))))) into 0 30.097 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.098 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.098 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.098 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.098 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.099 * [backup-simplify]: Simplify (- 0) into 0 30.099 * [backup-simplify]: Simplify (+ 0 0) into 0 30.099 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.100 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.100 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.100 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.101 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.101 * [backup-simplify]: Simplify (+ 0 0) into 0 30.101 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 30.102 * [backup-simplify]: Simplify (+ 0 0) into 0 30.102 * [taylor]: Taking taylor expansion of 0 in phi1 30.102 * [backup-simplify]: Simplify 0 into 0 30.102 * [taylor]: Taking taylor expansion of 0 in delta 30.102 * [backup-simplify]: Simplify 0 into 0 30.102 * [backup-simplify]: Simplify 0 into 0 30.102 * [taylor]: Taking taylor expansion of 0 in delta 30.102 * [backup-simplify]: Simplify 0 into 0 30.102 * [backup-simplify]: Simplify 0 into 0 30.102 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.103 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.103 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.103 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.104 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.104 * [backup-simplify]: Simplify (- 0) into 0 30.104 * [backup-simplify]: Simplify (+ 0 0) into 0 30.104 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 30.105 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.105 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.105 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.106 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.106 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.107 * [backup-simplify]: Simplify (+ 0 0) into 0 30.107 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.107 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.108 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 30.108 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.108 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.109 * [backup-simplify]: Simplify (- 0) into 0 30.109 * [backup-simplify]: Simplify (+ 0 0) into 0 30.109 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 30.110 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 30.110 * [backup-simplify]: Simplify (+ 0 0) into 0 30.110 * [taylor]: Taking taylor expansion of 0 in delta 30.110 * [backup-simplify]: Simplify 0 into 0 30.110 * [backup-simplify]: Simplify 0 into 0 30.110 * [backup-simplify]: Simplify (+ (* (cos (/ 1 (/ 1 delta))) (sin (/ 1 (/ 1 phi1)))) (* (cos (/ 1 (/ 1 phi1))) (* (cos (/ 1 (/ 1 theta))) (sin (/ 1 (/ 1 delta)))))) into (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta)))) 30.110 * [backup-simplify]: Simplify (fma (cos (/ 1 (- theta))) (* (cos (/ 1 (- phi1))) (sin (/ 1 (- delta)))) (* (cos (/ 1 (- delta))) (sin (/ 1 (- phi1))))) into (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.110 * [approximate]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in (theta phi1 delta) around 0 30.110 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 30.110 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.110 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 30.110 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 30.110 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 30.110 * [taylor]: Taking taylor expansion of -1 in delta 30.110 * [backup-simplify]: Simplify -1 into -1 30.110 * [taylor]: Taking taylor expansion of theta in delta 30.111 * [backup-simplify]: Simplify theta into theta 30.111 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 30.111 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.111 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.111 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 30.111 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 30.111 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.111 * [taylor]: Taking taylor expansion of -1 in delta 30.111 * [backup-simplify]: Simplify -1 into -1 30.111 * [taylor]: Taking taylor expansion of phi1 in delta 30.111 * [backup-simplify]: Simplify phi1 into phi1 30.111 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.111 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.111 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.111 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 30.111 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 30.111 * [taylor]: Taking taylor expansion of -1 in delta 30.111 * [backup-simplify]: Simplify -1 into -1 30.111 * [taylor]: Taking taylor expansion of delta in delta 30.111 * [backup-simplify]: Simplify 0 into 0 30.111 * [backup-simplify]: Simplify 1 into 1 30.111 * [backup-simplify]: Simplify (/ -1 1) into -1 30.111 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.111 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 30.111 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 30.111 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.111 * [taylor]: Taking taylor expansion of -1 in delta 30.111 * [backup-simplify]: Simplify -1 into -1 30.111 * [taylor]: Taking taylor expansion of phi1 in delta 30.111 * [backup-simplify]: Simplify phi1 into phi1 30.111 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.111 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.111 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.112 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 30.112 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 30.112 * [taylor]: Taking taylor expansion of -1 in delta 30.112 * [backup-simplify]: Simplify -1 into -1 30.112 * [taylor]: Taking taylor expansion of delta in delta 30.112 * [backup-simplify]: Simplify 0 into 0 30.112 * [backup-simplify]: Simplify 1 into 1 30.112 * [backup-simplify]: Simplify (/ -1 1) into -1 30.112 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.112 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 30.112 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.112 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 30.112 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 30.112 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 30.112 * [taylor]: Taking taylor expansion of -1 in phi1 30.112 * [backup-simplify]: Simplify -1 into -1 30.112 * [taylor]: Taking taylor expansion of theta in phi1 30.112 * [backup-simplify]: Simplify theta into theta 30.112 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 30.112 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.112 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.112 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 30.113 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 30.113 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 30.113 * [taylor]: Taking taylor expansion of -1 in phi1 30.113 * [backup-simplify]: Simplify -1 into -1 30.113 * [taylor]: Taking taylor expansion of phi1 in phi1 30.113 * [backup-simplify]: Simplify 0 into 0 30.113 * [backup-simplify]: Simplify 1 into 1 30.113 * [backup-simplify]: Simplify (/ -1 1) into -1 30.113 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.113 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 30.113 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 30.113 * [taylor]: Taking taylor expansion of -1 in phi1 30.113 * [backup-simplify]: Simplify -1 into -1 30.113 * [taylor]: Taking taylor expansion of delta in phi1 30.113 * [backup-simplify]: Simplify delta into delta 30.113 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.113 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.114 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.114 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 30.114 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 30.114 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 30.114 * [taylor]: Taking taylor expansion of -1 in phi1 30.114 * [backup-simplify]: Simplify -1 into -1 30.114 * [taylor]: Taking taylor expansion of phi1 in phi1 30.114 * [backup-simplify]: Simplify 0 into 0 30.114 * [backup-simplify]: Simplify 1 into 1 30.114 * [backup-simplify]: Simplify (/ -1 1) into -1 30.114 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.114 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 30.114 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 30.114 * [taylor]: Taking taylor expansion of -1 in phi1 30.114 * [backup-simplify]: Simplify -1 into -1 30.114 * [taylor]: Taking taylor expansion of delta in phi1 30.114 * [backup-simplify]: Simplify delta into delta 30.114 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.115 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.115 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.115 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 30.115 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.115 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 30.115 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 30.115 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 30.115 * [taylor]: Taking taylor expansion of -1 in theta 30.115 * [backup-simplify]: Simplify -1 into -1 30.115 * [taylor]: Taking taylor expansion of theta in theta 30.115 * [backup-simplify]: Simplify 0 into 0 30.115 * [backup-simplify]: Simplify 1 into 1 30.115 * [backup-simplify]: Simplify (/ -1 1) into -1 30.115 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.115 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 30.116 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 30.116 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.116 * [taylor]: Taking taylor expansion of -1 in theta 30.116 * [backup-simplify]: Simplify -1 into -1 30.116 * [taylor]: Taking taylor expansion of phi1 in theta 30.116 * [backup-simplify]: Simplify phi1 into phi1 30.116 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.116 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.116 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.116 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 30.116 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 30.116 * [taylor]: Taking taylor expansion of -1 in theta 30.116 * [backup-simplify]: Simplify -1 into -1 30.116 * [taylor]: Taking taylor expansion of delta in theta 30.116 * [backup-simplify]: Simplify delta into delta 30.116 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.116 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.116 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.116 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 30.116 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 30.116 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.116 * [taylor]: Taking taylor expansion of -1 in theta 30.116 * [backup-simplify]: Simplify -1 into -1 30.116 * [taylor]: Taking taylor expansion of phi1 in theta 30.116 * [backup-simplify]: Simplify phi1 into phi1 30.116 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.117 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.117 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.117 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 30.117 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 30.117 * [taylor]: Taking taylor expansion of -1 in theta 30.117 * [backup-simplify]: Simplify -1 into -1 30.117 * [taylor]: Taking taylor expansion of delta in theta 30.117 * [backup-simplify]: Simplify delta into delta 30.117 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.117 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.117 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.117 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 30.117 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.117 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 30.117 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 30.117 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 30.117 * [taylor]: Taking taylor expansion of -1 in theta 30.117 * [backup-simplify]: Simplify -1 into -1 30.117 * [taylor]: Taking taylor expansion of theta in theta 30.117 * [backup-simplify]: Simplify 0 into 0 30.117 * [backup-simplify]: Simplify 1 into 1 30.118 * [backup-simplify]: Simplify (/ -1 1) into -1 30.118 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.118 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 30.118 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 30.118 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.118 * [taylor]: Taking taylor expansion of -1 in theta 30.118 * [backup-simplify]: Simplify -1 into -1 30.118 * [taylor]: Taking taylor expansion of phi1 in theta 30.118 * [backup-simplify]: Simplify phi1 into phi1 30.118 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.118 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.118 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.118 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 30.118 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 30.118 * [taylor]: Taking taylor expansion of -1 in theta 30.118 * [backup-simplify]: Simplify -1 into -1 30.118 * [taylor]: Taking taylor expansion of delta in theta 30.118 * [backup-simplify]: Simplify delta into delta 30.118 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.118 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.119 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.119 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 30.119 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 30.119 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.119 * [taylor]: Taking taylor expansion of -1 in theta 30.119 * [backup-simplify]: Simplify -1 into -1 30.119 * [taylor]: Taking taylor expansion of phi1 in theta 30.119 * [backup-simplify]: Simplify phi1 into phi1 30.119 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.119 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.119 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.119 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 30.119 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 30.119 * [taylor]: Taking taylor expansion of -1 in theta 30.119 * [backup-simplify]: Simplify -1 into -1 30.119 * [taylor]: Taking taylor expansion of delta in theta 30.119 * [backup-simplify]: Simplify delta into delta 30.119 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.119 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.119 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.119 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 30.120 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 30.120 * [backup-simplify]: Simplify (- 0) into 0 30.120 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 30.120 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 30.120 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 30.120 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 30.120 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 30.121 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 30.121 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 30.121 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 30.121 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 30.121 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 30.121 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 30.121 * [backup-simplify]: Simplify (- 0) into 0 30.122 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 30.122 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 30.122 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) into (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.122 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 30.122 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) in phi1 30.122 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 30.122 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 30.122 * [taylor]: Taking taylor expansion of -1 in phi1 30.122 * [backup-simplify]: Simplify -1 into -1 30.122 * [taylor]: Taking taylor expansion of phi1 in phi1 30.122 * [backup-simplify]: Simplify 0 into 0 30.122 * [backup-simplify]: Simplify 1 into 1 30.123 * [backup-simplify]: Simplify (/ -1 1) into -1 30.123 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.123 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 theta))) in phi1 30.123 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 30.123 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 30.123 * [taylor]: Taking taylor expansion of -1 in phi1 30.123 * [backup-simplify]: Simplify -1 into -1 30.123 * [taylor]: Taking taylor expansion of delta in phi1 30.123 * [backup-simplify]: Simplify delta into delta 30.123 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.123 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.123 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.123 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 30.123 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 30.123 * [taylor]: Taking taylor expansion of -1 in phi1 30.123 * [backup-simplify]: Simplify -1 into -1 30.123 * [taylor]: Taking taylor expansion of theta in phi1 30.123 * [backup-simplify]: Simplify theta into theta 30.123 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 30.123 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.124 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.124 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 30.124 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 30.124 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 30.124 * [taylor]: Taking taylor expansion of -1 in phi1 30.124 * [backup-simplify]: Simplify -1 into -1 30.124 * [taylor]: Taking taylor expansion of phi1 in phi1 30.124 * [backup-simplify]: Simplify 0 into 0 30.124 * [backup-simplify]: Simplify 1 into 1 30.124 * [backup-simplify]: Simplify (/ -1 1) into -1 30.124 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.124 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 30.124 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 30.124 * [taylor]: Taking taylor expansion of -1 in phi1 30.124 * [backup-simplify]: Simplify -1 into -1 30.124 * [taylor]: Taking taylor expansion of delta in phi1 30.124 * [backup-simplify]: Simplify delta into delta 30.124 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.125 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.125 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.125 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 30.125 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 30.125 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 30.125 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 30.125 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 30.125 * [backup-simplify]: Simplify (- 0) into 0 30.126 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 30.126 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 theta))) into (* (cos (/ -1 theta)) (sin (/ -1 delta))) 30.126 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 30.126 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 30.126 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 30.126 * [backup-simplify]: Simplify (- 0) into 0 30.126 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 30.127 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 30.127 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) into (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) 30.127 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in delta 30.127 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 30.127 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 30.127 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.127 * [taylor]: Taking taylor expansion of -1 in delta 30.127 * [backup-simplify]: Simplify -1 into -1 30.127 * [taylor]: Taking taylor expansion of phi1 in delta 30.127 * [backup-simplify]: Simplify phi1 into phi1 30.127 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.127 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.127 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.127 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 30.127 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 30.127 * [taylor]: Taking taylor expansion of -1 in delta 30.128 * [backup-simplify]: Simplify -1 into -1 30.128 * [taylor]: Taking taylor expansion of delta in delta 30.128 * [backup-simplify]: Simplify 0 into 0 30.128 * [backup-simplify]: Simplify 1 into 1 30.128 * [backup-simplify]: Simplify (/ -1 1) into -1 30.128 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.128 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in delta 30.128 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 30.128 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.128 * [taylor]: Taking taylor expansion of -1 in delta 30.128 * [backup-simplify]: Simplify -1 into -1 30.128 * [taylor]: Taking taylor expansion of phi1 in delta 30.128 * [backup-simplify]: Simplify phi1 into phi1 30.128 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.128 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.129 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.129 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in delta 30.129 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 30.129 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 30.129 * [taylor]: Taking taylor expansion of -1 in delta 30.129 * [backup-simplify]: Simplify -1 into -1 30.129 * [taylor]: Taking taylor expansion of theta in delta 30.129 * [backup-simplify]: Simplify theta into theta 30.129 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 30.129 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.129 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.129 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 30.129 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 30.129 * [taylor]: Taking taylor expansion of -1 in delta 30.129 * [backup-simplify]: Simplify -1 into -1 30.129 * [taylor]: Taking taylor expansion of delta in delta 30.129 * [backup-simplify]: Simplify 0 into 0 30.129 * [backup-simplify]: Simplify 1 into 1 30.130 * [backup-simplify]: Simplify (/ -1 1) into -1 30.130 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.130 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 30.130 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 30.130 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 30.130 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 30.130 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 30.130 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 30.131 * [backup-simplify]: Simplify (- 0) into 0 30.131 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 30.131 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 30.131 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 30.131 * [backup-simplify]: Simplify (- 0) into 0 30.131 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 30.132 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (cos (/ -1 theta))) 30.132 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 30.132 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.132 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) into (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.133 * [backup-simplify]: Simplify (+ 0) into 0 30.134 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 30.134 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 30.135 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.135 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 30.135 * [backup-simplify]: Simplify (+ 0 0) into 0 30.136 * [backup-simplify]: Simplify (+ 0) into 0 30.136 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 30.137 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.137 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.138 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 30.138 * [backup-simplify]: Simplify (- 0) into 0 30.139 * [backup-simplify]: Simplify (+ 0 0) into 0 30.139 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 30.139 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 30.139 * [backup-simplify]: Simplify (+ 0) into 0 30.140 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 30.140 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 30.141 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.141 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 30.142 * [backup-simplify]: Simplify (- 0) into 0 30.142 * [backup-simplify]: Simplify (+ 0 0) into 0 30.142 * [backup-simplify]: Simplify (+ 0) into 0 30.143 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 30.143 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.144 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.144 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 30.145 * [backup-simplify]: Simplify (+ 0 0) into 0 30.145 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 30.145 * [backup-simplify]: Simplify (+ 0 0) into 0 30.145 * [taylor]: Taking taylor expansion of 0 in phi1 30.145 * [backup-simplify]: Simplify 0 into 0 30.145 * [taylor]: Taking taylor expansion of 0 in delta 30.145 * [backup-simplify]: Simplify 0 into 0 30.145 * [backup-simplify]: Simplify 0 into 0 30.146 * [backup-simplify]: Simplify (+ 0) into 0 30.146 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 30.146 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 30.147 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.148 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 30.148 * [backup-simplify]: Simplify (- 0) into 0 30.148 * [backup-simplify]: Simplify (+ 0 0) into 0 30.149 * [backup-simplify]: Simplify (+ 0) into 0 30.149 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 30.149 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 30.150 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.151 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 30.151 * [backup-simplify]: Simplify (+ 0 0) into 0 30.151 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 theta)))) into 0 30.151 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into 0 30.152 * [backup-simplify]: Simplify (+ 0) into 0 30.155 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 30.155 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 30.156 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.156 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 30.157 * [backup-simplify]: Simplify (- 0) into 0 30.157 * [backup-simplify]: Simplify (+ 0 0) into 0 30.157 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 30.158 * [backup-simplify]: Simplify (+ 0 0) into 0 30.158 * [taylor]: Taking taylor expansion of 0 in delta 30.158 * [backup-simplify]: Simplify 0 into 0 30.158 * [backup-simplify]: Simplify 0 into 0 30.158 * [backup-simplify]: Simplify (+ 0) into 0 30.159 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 30.159 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.160 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.160 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 30.160 * [backup-simplify]: Simplify (+ 0 0) into 0 30.160 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 30.161 * [backup-simplify]: Simplify (+ 0) into 0 30.161 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 30.161 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 30.161 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.162 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 30.162 * [backup-simplify]: Simplify (- 0) into 0 30.162 * [backup-simplify]: Simplify (+ 0 0) into 0 30.162 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 30.163 * [backup-simplify]: Simplify (+ 0) into 0 30.163 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 30.163 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.163 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.164 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 30.164 * [backup-simplify]: Simplify (- 0) into 0 30.164 * [backup-simplify]: Simplify (+ 0 0) into 0 30.164 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into 0 30.165 * [backup-simplify]: Simplify (+ 0 0) into 0 30.165 * [backup-simplify]: Simplify 0 into 0 30.165 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.166 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.166 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.166 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.167 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.167 * [backup-simplify]: Simplify (+ 0 0) into 0 30.167 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.168 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.168 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.168 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.169 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.169 * [backup-simplify]: Simplify (- 0) into 0 30.169 * [backup-simplify]: Simplify (+ 0 0) into 0 30.169 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 30.170 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 30.170 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.171 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.171 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.171 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.172 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.172 * [backup-simplify]: Simplify (- 0) into 0 30.172 * [backup-simplify]: Simplify (+ 0 0) into 0 30.173 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.173 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.173 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.174 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.174 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.174 * [backup-simplify]: Simplify (+ 0 0) into 0 30.175 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 30.175 * [backup-simplify]: Simplify (+ 0 0) into 0 30.175 * [taylor]: Taking taylor expansion of 0 in phi1 30.175 * [backup-simplify]: Simplify 0 into 0 30.175 * [taylor]: Taking taylor expansion of 0 in delta 30.175 * [backup-simplify]: Simplify 0 into 0 30.175 * [backup-simplify]: Simplify 0 into 0 30.175 * [taylor]: Taking taylor expansion of 0 in delta 30.175 * [backup-simplify]: Simplify 0 into 0 30.175 * [backup-simplify]: Simplify 0 into 0 30.175 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.176 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.176 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 30.177 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.177 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.177 * [backup-simplify]: Simplify (- 0) into 0 30.177 * [backup-simplify]: Simplify (+ 0 0) into 0 30.178 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.178 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.178 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.179 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.179 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.179 * [backup-simplify]: Simplify (+ 0 0) into 0 30.180 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 30.180 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 30.181 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.181 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.181 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.182 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.182 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.182 * [backup-simplify]: Simplify (- 0) into 0 30.183 * [backup-simplify]: Simplify (+ 0 0) into 0 30.183 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 30.183 * [backup-simplify]: Simplify (+ 0 0) into 0 30.183 * [taylor]: Taking taylor expansion of 0 in delta 30.183 * [backup-simplify]: Simplify 0 into 0 30.183 * [backup-simplify]: Simplify 0 into 0 30.183 * [backup-simplify]: Simplify (+ (* (cos (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- delta)))) (cos (/ -1 (/ 1 (- theta)))))) (* (sin (/ -1 (/ 1 (- phi1)))) (cos (/ -1 (/ 1 (- delta)))))) into (+ (* (cos phi1) (* (sin delta) (cos theta))) (* (sin phi1) (cos delta))) 30.183 * * * * [progress]: [ 4 / 4 ] generating series at (2 1 2 2) 30.184 * [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)))) 30.184 * [approximate]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in (phi1 theta delta) around 0 30.184 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 30.184 * [taylor]: Taking taylor expansion of (sin phi1) in delta 30.184 * [taylor]: Taking taylor expansion of phi1 in delta 30.184 * [backup-simplify]: Simplify phi1 into phi1 30.184 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.184 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.184 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 30.184 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 30.184 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 30.184 * [taylor]: Taking taylor expansion of (cos theta) in delta 30.184 * [taylor]: Taking taylor expansion of theta in delta 30.184 * [backup-simplify]: Simplify theta into theta 30.184 * [backup-simplify]: Simplify (cos theta) into (cos theta) 30.184 * [backup-simplify]: Simplify (sin theta) into (sin theta) 30.184 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 30.184 * [taylor]: Taking taylor expansion of (cos phi1) in delta 30.184 * [taylor]: Taking taylor expansion of phi1 in delta 30.184 * [backup-simplify]: Simplify phi1 into phi1 30.184 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.184 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.184 * [taylor]: Taking taylor expansion of (sin delta) in delta 30.184 * [taylor]: Taking taylor expansion of delta in delta 30.184 * [backup-simplify]: Simplify 0 into 0 30.184 * [backup-simplify]: Simplify 1 into 1 30.184 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 30.184 * [taylor]: Taking taylor expansion of (sin phi1) in delta 30.184 * [taylor]: Taking taylor expansion of phi1 in delta 30.184 * [backup-simplify]: Simplify phi1 into phi1 30.184 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.184 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.184 * [taylor]: Taking taylor expansion of (cos delta) in delta 30.184 * [taylor]: Taking taylor expansion of delta in delta 30.184 * [backup-simplify]: Simplify 0 into 0 30.184 * [backup-simplify]: Simplify 1 into 1 30.184 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 30.184 * [taylor]: Taking taylor expansion of (sin phi1) in theta 30.184 * [taylor]: Taking taylor expansion of phi1 in theta 30.184 * [backup-simplify]: Simplify phi1 into phi1 30.184 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.184 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.184 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 30.185 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 30.185 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 30.185 * [taylor]: Taking taylor expansion of (cos theta) in theta 30.185 * [taylor]: Taking taylor expansion of theta in theta 30.185 * [backup-simplify]: Simplify 0 into 0 30.185 * [backup-simplify]: Simplify 1 into 1 30.185 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 30.185 * [taylor]: Taking taylor expansion of (cos phi1) in theta 30.185 * [taylor]: Taking taylor expansion of phi1 in theta 30.185 * [backup-simplify]: Simplify phi1 into phi1 30.185 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.185 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.185 * [taylor]: Taking taylor expansion of (sin delta) in theta 30.185 * [taylor]: Taking taylor expansion of delta in theta 30.185 * [backup-simplify]: Simplify delta into delta 30.185 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.185 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.185 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 30.185 * [taylor]: Taking taylor expansion of (sin phi1) in theta 30.185 * [taylor]: Taking taylor expansion of phi1 in theta 30.185 * [backup-simplify]: Simplify phi1 into phi1 30.185 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.185 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.185 * [taylor]: Taking taylor expansion of (cos delta) in theta 30.185 * [taylor]: Taking taylor expansion of delta in theta 30.185 * [backup-simplify]: Simplify delta into delta 30.185 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.185 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.185 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 30.185 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 30.185 * [taylor]: Taking taylor expansion of phi1 in phi1 30.185 * [backup-simplify]: Simplify 0 into 0 30.185 * [backup-simplify]: Simplify 1 into 1 30.185 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 30.185 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 30.185 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 30.185 * [taylor]: Taking taylor expansion of (cos theta) in phi1 30.185 * [taylor]: Taking taylor expansion of theta in phi1 30.185 * [backup-simplify]: Simplify theta into theta 30.185 * [backup-simplify]: Simplify (cos theta) into (cos theta) 30.185 * [backup-simplify]: Simplify (sin theta) into (sin theta) 30.185 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 30.185 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 30.185 * [taylor]: Taking taylor expansion of phi1 in phi1 30.185 * [backup-simplify]: Simplify 0 into 0 30.185 * [backup-simplify]: Simplify 1 into 1 30.185 * [taylor]: Taking taylor expansion of (sin delta) in phi1 30.185 * [taylor]: Taking taylor expansion of delta in phi1 30.185 * [backup-simplify]: Simplify delta into delta 30.185 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.185 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.185 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 30.185 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 30.185 * [taylor]: Taking taylor expansion of phi1 in phi1 30.185 * [backup-simplify]: Simplify 0 into 0 30.185 * [backup-simplify]: Simplify 1 into 1 30.185 * [taylor]: Taking taylor expansion of (cos delta) in phi1 30.185 * [taylor]: Taking taylor expansion of delta in phi1 30.185 * [backup-simplify]: Simplify delta into delta 30.185 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.186 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.186 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 30.186 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 30.186 * [taylor]: Taking taylor expansion of phi1 in phi1 30.186 * [backup-simplify]: Simplify 0 into 0 30.186 * [backup-simplify]: Simplify 1 into 1 30.186 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 30.186 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 30.186 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 30.186 * [taylor]: Taking taylor expansion of (cos theta) in phi1 30.186 * [taylor]: Taking taylor expansion of theta in phi1 30.186 * [backup-simplify]: Simplify theta into theta 30.186 * [backup-simplify]: Simplify (cos theta) into (cos theta) 30.186 * [backup-simplify]: Simplify (sin theta) into (sin theta) 30.186 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 30.186 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 30.186 * [taylor]: Taking taylor expansion of phi1 in phi1 30.186 * [backup-simplify]: Simplify 0 into 0 30.186 * [backup-simplify]: Simplify 1 into 1 30.186 * [taylor]: Taking taylor expansion of (sin delta) in phi1 30.186 * [taylor]: Taking taylor expansion of delta in phi1 30.186 * [backup-simplify]: Simplify delta into delta 30.186 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.186 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.186 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 30.186 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 30.186 * [taylor]: Taking taylor expansion of phi1 in phi1 30.186 * [backup-simplify]: Simplify 0 into 0 30.186 * [backup-simplify]: Simplify 1 into 1 30.186 * [taylor]: Taking taylor expansion of (cos delta) in phi1 30.186 * [taylor]: Taking taylor expansion of delta in phi1 30.186 * [backup-simplify]: Simplify delta into delta 30.186 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.186 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.186 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 30.186 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 30.186 * [backup-simplify]: Simplify (- 0) into 0 30.187 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 30.187 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 30.187 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 30.187 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 30.187 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 30.187 * [backup-simplify]: Simplify (* (cos theta) (sin delta)) into (* (cos theta) (sin delta)) 30.187 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 30.187 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 30.187 * [backup-simplify]: Simplify (- 0) into 0 30.187 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 30.187 * [backup-simplify]: Simplify (* 0 (cos delta)) into 0 30.187 * [backup-simplify]: Simplify (+ (* (cos theta) (sin delta)) 0) into (* (cos theta) (sin delta)) 30.187 * [backup-simplify]: Simplify (* 0 (* (cos theta) (sin delta))) into 0 30.187 * [taylor]: Taking taylor expansion of 0 in theta 30.187 * [backup-simplify]: Simplify 0 into 0 30.187 * [taylor]: Taking taylor expansion of 0 in delta 30.187 * [backup-simplify]: Simplify 0 into 0 30.187 * [backup-simplify]: Simplify 0 into 0 30.188 * [backup-simplify]: Simplify (+ 0) into 0 30.188 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 30.189 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.189 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 30.190 * [backup-simplify]: Simplify (+ 0 0) into 0 30.190 * [backup-simplify]: Simplify (+ 0) into 0 30.190 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin delta))) into 0 30.191 * [backup-simplify]: Simplify (+ 0) into 0 30.191 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 30.192 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.193 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 30.193 * [backup-simplify]: Simplify (- 0) into 0 30.194 * [backup-simplify]: Simplify (+ 0 0) into 0 30.194 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 (sin delta))) into 0 30.194 * [backup-simplify]: Simplify (+ 0) into 0 30.195 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 30.196 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.196 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 30.196 * [backup-simplify]: Simplify (- 0) into 0 30.197 * [backup-simplify]: Simplify (+ 0 0) into 0 30.198 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 30.198 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos delta))) into (cos delta) 30.198 * [backup-simplify]: Simplify (+ 0 (cos delta)) into (cos delta) 30.199 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 30.199 * [backup-simplify]: Simplify (+ (* 0 (cos delta)) (* 1 (* (cos theta) (sin delta)))) into (* (cos theta) (sin delta)) 30.199 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in theta 30.199 * [taylor]: Taking taylor expansion of (cos theta) in theta 30.199 * [taylor]: Taking taylor expansion of theta in theta 30.199 * [backup-simplify]: Simplify 0 into 0 30.199 * [backup-simplify]: Simplify 1 into 1 30.199 * [taylor]: Taking taylor expansion of (sin delta) in theta 30.199 * [taylor]: Taking taylor expansion of delta in theta 30.199 * [backup-simplify]: Simplify delta into delta 30.199 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.199 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.199 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 30.200 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 30.200 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 30.200 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 30.200 * [taylor]: Taking taylor expansion of (sin delta) in delta 30.200 * [taylor]: Taking taylor expansion of delta in delta 30.200 * [backup-simplify]: Simplify 0 into 0 30.200 * [backup-simplify]: Simplify 1 into 1 30.200 * [backup-simplify]: Simplify 0 into 0 30.200 * [taylor]: Taking taylor expansion of 0 in delta 30.200 * [backup-simplify]: Simplify 0 into 0 30.200 * [backup-simplify]: Simplify 0 into 0 30.200 * [backup-simplify]: Simplify 0 into 0 30.201 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.202 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 30.203 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.203 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 30.203 * [backup-simplify]: Simplify (+ 0 0) into 0 30.204 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 30.205 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (sin delta)))) into (- (* 1/2 (sin delta))) 30.206 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.207 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 30.208 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.208 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 30.209 * [backup-simplify]: Simplify (- 0) into 0 30.209 * [backup-simplify]: Simplify (+ 0 0) into 0 30.210 * [backup-simplify]: Simplify (+ (* (cos theta) (- (* 1/2 (sin delta)))) (+ (* 0 0) (* 0 (sin delta)))) into (- (* 1/2 (* (cos theta) (sin delta)))) 30.211 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.211 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 1))) into 0 30.212 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.213 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 0))) into 0 30.213 * [backup-simplify]: Simplify (- 0) into 0 30.213 * [backup-simplify]: Simplify (+ 0 0) into 0 30.214 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.215 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (cos delta)))) into 0 30.215 * [backup-simplify]: Simplify (+ (- (* 1/2 (* (cos theta) (sin delta)))) 0) into (- (* 1/2 (* (cos theta) (sin delta)))) 30.216 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.216 * [backup-simplify]: Simplify (+ (* 0 (- (* 1/2 (* (cos theta) (sin delta))))) (+ (* 1 (cos delta)) (* 0 (* (cos theta) (sin delta))))) into (cos delta) 30.216 * [taylor]: Taking taylor expansion of (cos delta) in theta 30.217 * [taylor]: Taking taylor expansion of delta in theta 30.217 * [backup-simplify]: Simplify delta into delta 30.217 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.217 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.217 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 30.217 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 30.217 * [backup-simplify]: Simplify (- 0) into 0 30.217 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 30.217 * [taylor]: Taking taylor expansion of (cos delta) in delta 30.217 * [taylor]: Taking taylor expansion of delta in delta 30.217 * [backup-simplify]: Simplify 0 into 0 30.217 * [backup-simplify]: Simplify 1 into 1 30.217 * [backup-simplify]: Simplify 1 into 1 30.218 * [backup-simplify]: Simplify (+ 0) into 0 30.218 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 30.219 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.220 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 30.220 * [backup-simplify]: Simplify (+ 0 0) into 0 30.220 * [backup-simplify]: Simplify (+ 0) into 0 30.221 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin delta))) into 0 30.221 * [taylor]: Taking taylor expansion of 0 in delta 30.221 * [backup-simplify]: Simplify 0 into 0 30.221 * [backup-simplify]: Simplify 0 into 0 30.221 * [taylor]: Taking taylor expansion of 0 in delta 30.221 * [backup-simplify]: Simplify 0 into 0 30.221 * [backup-simplify]: Simplify 0 into 0 30.222 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 30.222 * [backup-simplify]: Simplify 1 into 1 30.222 * [backup-simplify]: Simplify 0 into 0 30.222 * [backup-simplify]: Simplify 0 into 0 30.223 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 30.224 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 30.225 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 30.226 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 30.226 * [backup-simplify]: Simplify (+ 0 0) into 0 30.227 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 1 1) 1) (/ (pow 0 1) 1)) 0) into 0 30.229 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* -1/2 0) (* 0 (sin delta))))) into 0 30.230 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 30.230 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 30.232 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 30.233 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 30.233 * [backup-simplify]: Simplify (- 0) into 0 30.233 * [backup-simplify]: Simplify (+ 0 0) into 0 30.234 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 (- (* 1/2 (sin delta)))) (+ (* 0 0) (* 0 (sin delta))))) into 0 30.235 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 30.236 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 30.237 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 30.238 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 30.238 * [backup-simplify]: Simplify (- 0) into 0 30.239 * [backup-simplify]: Simplify (+ 0 0) into 0 30.240 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into -1/6 30.242 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* -1/6 (cos delta))))) into (- (* 1/6 (cos delta))) 30.242 * [backup-simplify]: Simplify (+ 0 (- (* 1/6 (cos delta)))) into (- (* 1/6 (cos delta))) 30.243 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into -1/6 30.244 * [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)))) 30.244 * [taylor]: Taking taylor expansion of (- (* 2/3 (* (cos theta) (sin delta)))) in theta 30.244 * [taylor]: Taking taylor expansion of (* 2/3 (* (cos theta) (sin delta))) in theta 30.244 * [taylor]: Taking taylor expansion of 2/3 in theta 30.244 * [backup-simplify]: Simplify 2/3 into 2/3 30.244 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in theta 30.244 * [taylor]: Taking taylor expansion of (cos theta) in theta 30.244 * [taylor]: Taking taylor expansion of theta in theta 30.244 * [backup-simplify]: Simplify 0 into 0 30.244 * [backup-simplify]: Simplify 1 into 1 30.244 * [taylor]: Taking taylor expansion of (sin delta) in theta 30.244 * [taylor]: Taking taylor expansion of delta in theta 30.244 * [backup-simplify]: Simplify delta into delta 30.244 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.244 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.244 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 30.244 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 30.244 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 30.245 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 30.245 * [backup-simplify]: Simplify (* 2/3 (sin delta)) into (* 2/3 (sin delta)) 30.245 * [backup-simplify]: Simplify (- (* 2/3 (sin delta))) into (- (* 2/3 (sin delta))) 30.245 * [taylor]: Taking taylor expansion of (- (* 2/3 (sin delta))) in delta 30.245 * [taylor]: Taking taylor expansion of (* 2/3 (sin delta)) in delta 30.245 * [taylor]: Taking taylor expansion of 2/3 in delta 30.245 * [backup-simplify]: Simplify 2/3 into 2/3 30.245 * [taylor]: Taking taylor expansion of (sin delta) in delta 30.245 * [taylor]: Taking taylor expansion of delta in delta 30.245 * [backup-simplify]: Simplify 0 into 0 30.245 * [backup-simplify]: Simplify 1 into 1 30.245 * [backup-simplify]: Simplify (* 2/3 0) into 0 30.246 * [backup-simplify]: Simplify (- 0) into 0 30.246 * [backup-simplify]: Simplify 0 into 0 30.246 * [backup-simplify]: Simplify (+ 0) into 0 30.247 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 30.247 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.248 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 30.248 * [backup-simplify]: Simplify (- 0) into 0 30.249 * [backup-simplify]: Simplify (+ 0 0) into 0 30.249 * [taylor]: Taking taylor expansion of 0 in delta 30.249 * [backup-simplify]: Simplify 0 into 0 30.249 * [backup-simplify]: Simplify 0 into 0 30.250 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.250 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 30.251 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.252 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 30.252 * [backup-simplify]: Simplify (+ 0 0) into 0 30.253 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 30.254 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (sin delta)))) into (- (* 1/2 (sin delta))) 30.254 * [taylor]: Taking taylor expansion of (- (* 1/2 (sin delta))) in delta 30.254 * [taylor]: Taking taylor expansion of (* 1/2 (sin delta)) in delta 30.254 * [taylor]: Taking taylor expansion of 1/2 in delta 30.254 * [backup-simplify]: Simplify 1/2 into 1/2 30.254 * [taylor]: Taking taylor expansion of (sin delta) in delta 30.254 * [taylor]: Taking taylor expansion of delta in delta 30.254 * [backup-simplify]: Simplify 0 into 0 30.254 * [backup-simplify]: Simplify 1 into 1 30.255 * [backup-simplify]: Simplify (* 1/2 0) into 0 30.255 * [backup-simplify]: Simplify (- 0) into 0 30.255 * [backup-simplify]: Simplify 0 into 0 30.255 * [taylor]: Taking taylor expansion of 0 in delta 30.255 * [backup-simplify]: Simplify 0 into 0 30.255 * [backup-simplify]: Simplify 0 into 0 30.256 * [backup-simplify]: Simplify (+ (* 1 (* delta (* 1 phi1))) (* 1 (pow (* 1 (* 1 phi1)) 2))) into (+ (* phi1 delta) (pow phi1 2)) 30.256 * [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))) 30.256 * [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 30.256 * [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 30.256 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 30.256 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 30.256 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 30.256 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 30.256 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 30.256 * [taylor]: Taking taylor expansion of theta in delta 30.256 * [backup-simplify]: Simplify theta into theta 30.256 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 30.257 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.257 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 30.257 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 30.257 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 30.257 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.257 * [taylor]: Taking taylor expansion of delta in delta 30.257 * [backup-simplify]: Simplify 0 into 0 30.257 * [backup-simplify]: Simplify 1 into 1 30.257 * [backup-simplify]: Simplify (/ 1 1) into 1 30.257 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.257 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 30.257 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.257 * [taylor]: Taking taylor expansion of phi1 in delta 30.257 * [backup-simplify]: Simplify phi1 into phi1 30.257 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.257 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.258 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.258 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 30.258 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 30.258 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.258 * [taylor]: Taking taylor expansion of phi1 in delta 30.258 * [backup-simplify]: Simplify phi1 into phi1 30.258 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.258 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.258 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.258 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 30.258 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.258 * [taylor]: Taking taylor expansion of delta in delta 30.258 * [backup-simplify]: Simplify 0 into 0 30.258 * [backup-simplify]: Simplify 1 into 1 30.258 * [backup-simplify]: Simplify (/ 1 1) into 1 30.258 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.259 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 30.259 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.259 * [taylor]: Taking taylor expansion of phi1 in delta 30.259 * [backup-simplify]: Simplify phi1 into phi1 30.259 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.259 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.259 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.259 * [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 30.259 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 30.259 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 30.259 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 30.259 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 30.259 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 30.259 * [taylor]: Taking taylor expansion of theta in theta 30.259 * [backup-simplify]: Simplify 0 into 0 30.259 * [backup-simplify]: Simplify 1 into 1 30.259 * [backup-simplify]: Simplify (/ 1 1) into 1 30.260 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.260 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 30.260 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 30.260 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.260 * [taylor]: Taking taylor expansion of delta in theta 30.260 * [backup-simplify]: Simplify delta into delta 30.260 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.260 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.260 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.260 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 30.260 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.260 * [taylor]: Taking taylor expansion of phi1 in theta 30.260 * [backup-simplify]: Simplify phi1 into phi1 30.260 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.260 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.260 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.260 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 30.260 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 30.260 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.260 * [taylor]: Taking taylor expansion of phi1 in theta 30.260 * [backup-simplify]: Simplify phi1 into phi1 30.260 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.261 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.261 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.261 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 30.261 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.261 * [taylor]: Taking taylor expansion of delta in theta 30.261 * [backup-simplify]: Simplify delta into delta 30.261 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.261 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.261 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.261 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 30.261 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.261 * [taylor]: Taking taylor expansion of phi1 in theta 30.261 * [backup-simplify]: Simplify phi1 into phi1 30.261 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.261 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.261 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.261 * [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 30.261 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 30.261 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 30.261 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 30.261 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 30.261 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 30.261 * [taylor]: Taking taylor expansion of theta in phi1 30.261 * [backup-simplify]: Simplify theta into theta 30.262 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 30.262 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.262 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 30.262 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 30.262 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 30.262 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.262 * [taylor]: Taking taylor expansion of delta in phi1 30.262 * [backup-simplify]: Simplify delta into delta 30.262 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.262 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.262 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.262 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 30.262 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.262 * [taylor]: Taking taylor expansion of phi1 in phi1 30.262 * [backup-simplify]: Simplify 0 into 0 30.262 * [backup-simplify]: Simplify 1 into 1 30.263 * [backup-simplify]: Simplify (/ 1 1) into 1 30.263 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.263 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 30.263 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 30.263 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.263 * [taylor]: Taking taylor expansion of phi1 in phi1 30.263 * [backup-simplify]: Simplify 0 into 0 30.263 * [backup-simplify]: Simplify 1 into 1 30.263 * [backup-simplify]: Simplify (/ 1 1) into 1 30.263 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.263 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 30.263 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.263 * [taylor]: Taking taylor expansion of delta in phi1 30.263 * [backup-simplify]: Simplify delta into delta 30.263 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.264 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.264 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.264 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 30.264 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.264 * [taylor]: Taking taylor expansion of phi1 in phi1 30.264 * [backup-simplify]: Simplify 0 into 0 30.264 * [backup-simplify]: Simplify 1 into 1 30.264 * [backup-simplify]: Simplify (/ 1 1) into 1 30.264 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.264 * [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 30.264 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 30.264 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 30.264 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 30.264 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 30.264 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 30.264 * [taylor]: Taking taylor expansion of theta in phi1 30.264 * [backup-simplify]: Simplify theta into theta 30.265 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 30.265 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.265 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 30.265 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 30.265 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 30.265 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.265 * [taylor]: Taking taylor expansion of delta in phi1 30.265 * [backup-simplify]: Simplify delta into delta 30.265 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.265 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.265 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.265 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 30.265 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.265 * [taylor]: Taking taylor expansion of phi1 in phi1 30.265 * [backup-simplify]: Simplify 0 into 0 30.265 * [backup-simplify]: Simplify 1 into 1 30.265 * [backup-simplify]: Simplify (/ 1 1) into 1 30.266 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.266 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 30.266 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 30.266 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.266 * [taylor]: Taking taylor expansion of phi1 in phi1 30.266 * [backup-simplify]: Simplify 0 into 0 30.266 * [backup-simplify]: Simplify 1 into 1 30.266 * [backup-simplify]: Simplify (/ 1 1) into 1 30.266 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.266 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 30.266 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.266 * [taylor]: Taking taylor expansion of delta in phi1 30.266 * [backup-simplify]: Simplify delta into delta 30.266 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.266 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.266 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.266 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 30.266 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.266 * [taylor]: Taking taylor expansion of phi1 in phi1 30.266 * [backup-simplify]: Simplify 0 into 0 30.267 * [backup-simplify]: Simplify 1 into 1 30.267 * [backup-simplify]: Simplify (/ 1 1) into 1 30.267 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.267 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 30.267 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 30.268 * [backup-simplify]: Simplify (- 0) into 0 30.268 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 30.268 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 30.268 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 30.268 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 30.268 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (cos (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 delta))) 30.268 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 30.268 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 30.268 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 30.269 * [backup-simplify]: Simplify (- 0) into 0 30.269 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 30.269 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 30.269 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) into (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 30.270 * [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))) 30.270 * [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 30.270 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in theta 30.270 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in theta 30.270 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 30.270 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.270 * [taylor]: Taking taylor expansion of phi1 in theta 30.270 * [backup-simplify]: Simplify phi1 into phi1 30.270 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.270 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.270 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.270 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in theta 30.270 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 30.270 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 30.270 * [taylor]: Taking taylor expansion of theta in theta 30.270 * [backup-simplify]: Simplify 0 into 0 30.270 * [backup-simplify]: Simplify 1 into 1 30.271 * [backup-simplify]: Simplify (/ 1 1) into 1 30.271 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.271 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 30.271 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.271 * [taylor]: Taking taylor expansion of delta in theta 30.271 * [backup-simplify]: Simplify delta into delta 30.271 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.271 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.271 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.271 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in theta 30.271 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 30.271 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.271 * [taylor]: Taking taylor expansion of delta in theta 30.271 * [backup-simplify]: Simplify delta into delta 30.271 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.271 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.271 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.271 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 30.271 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.271 * [taylor]: Taking taylor expansion of phi1 in theta 30.271 * [backup-simplify]: Simplify phi1 into phi1 30.271 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.272 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.272 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.272 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 30.272 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.272 * [taylor]: Taking taylor expansion of phi1 in theta 30.272 * [backup-simplify]: Simplify phi1 into phi1 30.272 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.272 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.272 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.272 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 30.272 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 30.273 * [backup-simplify]: Simplify (- 0) into 0 30.273 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 30.273 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 30.273 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 30.273 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 30.273 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 30.273 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 30.273 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 30.273 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 30.274 * [backup-simplify]: Simplify (- 0) into 0 30.274 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 30.274 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 30.274 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 30.274 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 30.274 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 30.275 * [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))))) 30.275 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 30.275 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 30.275 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 30.275 * [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))) 30.275 * [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 30.275 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in delta 30.275 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 30.275 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 30.275 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.275 * [taylor]: Taking taylor expansion of phi1 in delta 30.275 * [backup-simplify]: Simplify phi1 into phi1 30.275 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.276 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.276 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.276 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 30.276 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.276 * [taylor]: Taking taylor expansion of delta in delta 30.276 * [backup-simplify]: Simplify 0 into 0 30.276 * [backup-simplify]: Simplify 1 into 1 30.276 * [backup-simplify]: Simplify (/ 1 1) into 1 30.276 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.276 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 30.276 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 30.276 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.276 * [taylor]: Taking taylor expansion of delta in delta 30.276 * [backup-simplify]: Simplify 0 into 0 30.276 * [backup-simplify]: Simplify 1 into 1 30.277 * [backup-simplify]: Simplify (/ 1 1) into 1 30.277 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.277 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 30.277 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 30.277 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 30.277 * [taylor]: Taking taylor expansion of theta in delta 30.277 * [backup-simplify]: Simplify theta into theta 30.277 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 30.277 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.277 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 30.277 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 30.277 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.277 * [taylor]: Taking taylor expansion of phi1 in delta 30.277 * [backup-simplify]: Simplify phi1 into phi1 30.277 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.277 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.277 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.277 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 30.277 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.277 * [taylor]: Taking taylor expansion of phi1 in delta 30.277 * [backup-simplify]: Simplify phi1 into phi1 30.277 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.278 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.278 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.278 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 30.278 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 30.278 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 30.278 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 30.278 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 30.278 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 30.278 * [backup-simplify]: Simplify (- 0) into 0 30.279 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 30.279 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 30.279 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 30.279 * [backup-simplify]: Simplify (- 0) into 0 30.279 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 30.279 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 30.280 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 30.280 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 30.280 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 30.280 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 30.280 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 30.281 * [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))) 30.281 * [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))) 30.281 * [backup-simplify]: Simplify (+ 0) into 0 30.282 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 30.282 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.283 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.283 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 30.284 * [backup-simplify]: Simplify (+ 0 0) into 0 30.284 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 30.284 * [backup-simplify]: Simplify (+ 0) into 0 30.285 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 30.285 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 30.288 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.289 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 30.289 * [backup-simplify]: Simplify (- 0) into 0 30.290 * [backup-simplify]: Simplify (+ 0 0) into 0 30.290 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta))))) into 0 30.290 * [backup-simplify]: Simplify (+ 0) into 0 30.291 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 30.291 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.291 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.292 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 30.292 * [backup-simplify]: Simplify (- 0) into 0 30.293 * [backup-simplify]: Simplify (+ 0 0) into 0 30.293 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 30.293 * [backup-simplify]: Simplify (+ 0 0) into 0 30.294 * [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 30.294 * [taylor]: Taking taylor expansion of 0 in theta 30.294 * [backup-simplify]: Simplify 0 into 0 30.294 * [taylor]: Taking taylor expansion of 0 in delta 30.294 * [backup-simplify]: Simplify 0 into 0 30.294 * [backup-simplify]: Simplify 0 into 0 30.294 * [backup-simplify]: Simplify (+ 0) into 0 30.295 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 30.295 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.296 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.296 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 30.297 * [backup-simplify]: Simplify (+ 0 0) into 0 30.297 * [backup-simplify]: Simplify (+ 0) into 0 30.297 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 30.298 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.298 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.299 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 30.299 * [backup-simplify]: Simplify (+ 0 0) into 0 30.299 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 30.300 * [backup-simplify]: Simplify (+ 0) into 0 30.300 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 30.300 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.301 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.302 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 30.302 * [backup-simplify]: Simplify (- 0) into 0 30.303 * [backup-simplify]: Simplify (+ 0 0) into 0 30.303 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 30.303 * [backup-simplify]: Simplify (+ 0) into 0 30.304 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 30.304 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.305 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.306 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 30.306 * [backup-simplify]: Simplify (+ 0 0) into 0 30.307 * [backup-simplify]: Simplify (+ 0) into 0 30.307 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 30.307 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.308 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.309 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 30.309 * [backup-simplify]: Simplify (- 0) into 0 30.309 * [backup-simplify]: Simplify (+ 0 0) into 0 30.309 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 30.310 * [backup-simplify]: Simplify (+ 0 0) into 0 30.310 * [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 30.310 * [taylor]: Taking taylor expansion of 0 in delta 30.310 * [backup-simplify]: Simplify 0 into 0 30.310 * [backup-simplify]: Simplify 0 into 0 30.311 * [backup-simplify]: Simplify (+ 0) into 0 30.311 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 30.311 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.312 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.313 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 30.313 * [backup-simplify]: Simplify (+ 0 0) into 0 30.313 * [backup-simplify]: Simplify (+ 0) into 0 30.314 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 30.314 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.315 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.315 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 30.316 * [backup-simplify]: Simplify (+ 0 0) into 0 30.316 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 30.316 * [backup-simplify]: Simplify (+ 0) into 0 30.317 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 30.317 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.318 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.318 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 30.319 * [backup-simplify]: Simplify (- 0) into 0 30.319 * [backup-simplify]: Simplify (+ 0 0) into 0 30.319 * [backup-simplify]: Simplify (+ 0) into 0 30.320 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 30.320 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 30.321 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.321 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 30.322 * [backup-simplify]: Simplify (- 0) into 0 30.322 * [backup-simplify]: Simplify (+ 0 0) into 0 30.322 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 30.322 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 30.323 * [backup-simplify]: Simplify (+ 0 0) into 0 30.323 * [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 30.323 * [backup-simplify]: Simplify 0 into 0 30.324 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.325 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.325 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.326 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.326 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.327 * [backup-simplify]: Simplify (+ 0 0) into 0 30.327 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 30.328 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.329 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.329 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 30.330 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.330 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.331 * [backup-simplify]: Simplify (- 0) into 0 30.331 * [backup-simplify]: Simplify (+ 0 0) into 0 30.332 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta)))))) into 0 30.333 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.333 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.334 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.334 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.335 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.335 * [backup-simplify]: Simplify (- 0) into 0 30.336 * [backup-simplify]: Simplify (+ 0 0) into 0 30.336 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 30.337 * [backup-simplify]: Simplify (+ 0 0) into 0 30.337 * [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 30.337 * [taylor]: Taking taylor expansion of 0 in theta 30.338 * [backup-simplify]: Simplify 0 into 0 30.338 * [taylor]: Taking taylor expansion of 0 in delta 30.338 * [backup-simplify]: Simplify 0 into 0 30.338 * [backup-simplify]: Simplify 0 into 0 30.338 * [taylor]: Taking taylor expansion of 0 in delta 30.338 * [backup-simplify]: Simplify 0 into 0 30.338 * [backup-simplify]: Simplify 0 into 0 30.339 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.339 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.340 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.340 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.341 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.341 * [backup-simplify]: Simplify (+ 0 0) into 0 30.342 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.343 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.343 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.344 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.344 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.345 * [backup-simplify]: Simplify (+ 0 0) into 0 30.345 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 30.346 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.347 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.347 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.348 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.349 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.349 * [backup-simplify]: Simplify (- 0) into 0 30.349 * [backup-simplify]: Simplify (+ 0 0) into 0 30.350 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 30.351 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.352 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.352 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.352 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.353 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.353 * [backup-simplify]: Simplify (+ 0 0) into 0 30.354 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.355 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.355 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.356 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.357 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.357 * [backup-simplify]: Simplify (- 0) into 0 30.357 * [backup-simplify]: Simplify (+ 0 0) into 0 30.358 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 30.358 * [backup-simplify]: Simplify (+ 0 0) into 0 30.359 * [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 30.359 * [taylor]: Taking taylor expansion of 0 in delta 30.359 * [backup-simplify]: Simplify 0 into 0 30.359 * [backup-simplify]: Simplify 0 into 0 30.360 * [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))))) 30.360 * [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))))) 30.360 * [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 30.360 * [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 30.360 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 30.360 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.360 * [taylor]: Taking taylor expansion of -1 in delta 30.360 * [backup-simplify]: Simplify -1 into -1 30.360 * [taylor]: Taking taylor expansion of phi1 in delta 30.360 * [backup-simplify]: Simplify phi1 into phi1 30.360 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.360 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.360 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.360 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 30.360 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.360 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 30.360 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 30.360 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 30.360 * [taylor]: Taking taylor expansion of -1 in delta 30.360 * [backup-simplify]: Simplify -1 into -1 30.360 * [taylor]: Taking taylor expansion of theta in delta 30.360 * [backup-simplify]: Simplify theta into theta 30.361 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 30.361 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.361 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.361 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 30.361 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 30.361 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.361 * [taylor]: Taking taylor expansion of -1 in delta 30.361 * [backup-simplify]: Simplify -1 into -1 30.361 * [taylor]: Taking taylor expansion of phi1 in delta 30.361 * [backup-simplify]: Simplify phi1 into phi1 30.361 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.361 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.361 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.361 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 30.361 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 30.361 * [taylor]: Taking taylor expansion of -1 in delta 30.361 * [backup-simplify]: Simplify -1 into -1 30.361 * [taylor]: Taking taylor expansion of delta in delta 30.361 * [backup-simplify]: Simplify 0 into 0 30.361 * [backup-simplify]: Simplify 1 into 1 30.361 * [backup-simplify]: Simplify (/ -1 1) into -1 30.361 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.361 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 30.361 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 30.361 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.361 * [taylor]: Taking taylor expansion of -1 in delta 30.361 * [backup-simplify]: Simplify -1 into -1 30.361 * [taylor]: Taking taylor expansion of phi1 in delta 30.361 * [backup-simplify]: Simplify phi1 into phi1 30.361 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.361 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.361 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.362 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 30.362 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 30.362 * [taylor]: Taking taylor expansion of -1 in delta 30.362 * [backup-simplify]: Simplify -1 into -1 30.362 * [taylor]: Taking taylor expansion of delta in delta 30.362 * [backup-simplify]: Simplify 0 into 0 30.362 * [backup-simplify]: Simplify 1 into 1 30.362 * [backup-simplify]: Simplify (/ -1 1) into -1 30.362 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.362 * [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 30.362 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 30.362 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.362 * [taylor]: Taking taylor expansion of -1 in theta 30.362 * [backup-simplify]: Simplify -1 into -1 30.362 * [taylor]: Taking taylor expansion of phi1 in theta 30.362 * [backup-simplify]: Simplify phi1 into phi1 30.362 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.362 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.362 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.362 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 30.362 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.362 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 30.362 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 30.362 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 30.362 * [taylor]: Taking taylor expansion of -1 in theta 30.362 * [backup-simplify]: Simplify -1 into -1 30.362 * [taylor]: Taking taylor expansion of theta in theta 30.362 * [backup-simplify]: Simplify 0 into 0 30.362 * [backup-simplify]: Simplify 1 into 1 30.363 * [backup-simplify]: Simplify (/ -1 1) into -1 30.363 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.363 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 30.363 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 30.363 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.363 * [taylor]: Taking taylor expansion of -1 in theta 30.363 * [backup-simplify]: Simplify -1 into -1 30.363 * [taylor]: Taking taylor expansion of phi1 in theta 30.363 * [backup-simplify]: Simplify phi1 into phi1 30.363 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.363 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.363 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.363 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 30.363 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 30.363 * [taylor]: Taking taylor expansion of -1 in theta 30.363 * [backup-simplify]: Simplify -1 into -1 30.363 * [taylor]: Taking taylor expansion of delta in theta 30.363 * [backup-simplify]: Simplify delta into delta 30.363 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.363 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.363 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.363 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 30.363 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 30.363 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.363 * [taylor]: Taking taylor expansion of -1 in theta 30.363 * [backup-simplify]: Simplify -1 into -1 30.363 * [taylor]: Taking taylor expansion of phi1 in theta 30.363 * [backup-simplify]: Simplify phi1 into phi1 30.363 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.363 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.363 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.363 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 30.363 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 30.363 * [taylor]: Taking taylor expansion of -1 in theta 30.363 * [backup-simplify]: Simplify -1 into -1 30.363 * [taylor]: Taking taylor expansion of delta in theta 30.363 * [backup-simplify]: Simplify delta into delta 30.363 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.363 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.364 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.364 * [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 30.364 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 30.364 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 30.364 * [taylor]: Taking taylor expansion of -1 in phi1 30.364 * [backup-simplify]: Simplify -1 into -1 30.364 * [taylor]: Taking taylor expansion of phi1 in phi1 30.364 * [backup-simplify]: Simplify 0 into 0 30.364 * [backup-simplify]: Simplify 1 into 1 30.364 * [backup-simplify]: Simplify (/ -1 1) into -1 30.364 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.364 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 30.364 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.364 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 30.364 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 30.364 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 30.364 * [taylor]: Taking taylor expansion of -1 in phi1 30.364 * [backup-simplify]: Simplify -1 into -1 30.364 * [taylor]: Taking taylor expansion of theta in phi1 30.364 * [backup-simplify]: Simplify theta into theta 30.364 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 30.364 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.364 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.364 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 30.364 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 30.364 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 30.365 * [taylor]: Taking taylor expansion of -1 in phi1 30.365 * [backup-simplify]: Simplify -1 into -1 30.365 * [taylor]: Taking taylor expansion of phi1 in phi1 30.365 * [backup-simplify]: Simplify 0 into 0 30.365 * [backup-simplify]: Simplify 1 into 1 30.365 * [backup-simplify]: Simplify (/ -1 1) into -1 30.365 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.365 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 30.365 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 30.365 * [taylor]: Taking taylor expansion of -1 in phi1 30.365 * [backup-simplify]: Simplify -1 into -1 30.365 * [taylor]: Taking taylor expansion of delta in phi1 30.365 * [backup-simplify]: Simplify delta into delta 30.365 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.365 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.365 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.365 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 30.365 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 30.365 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 30.365 * [taylor]: Taking taylor expansion of -1 in phi1 30.365 * [backup-simplify]: Simplify -1 into -1 30.365 * [taylor]: Taking taylor expansion of phi1 in phi1 30.365 * [backup-simplify]: Simplify 0 into 0 30.365 * [backup-simplify]: Simplify 1 into 1 30.365 * [backup-simplify]: Simplify (/ -1 1) into -1 30.366 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.366 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 30.366 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 30.366 * [taylor]: Taking taylor expansion of -1 in phi1 30.366 * [backup-simplify]: Simplify -1 into -1 30.366 * [taylor]: Taking taylor expansion of delta in phi1 30.366 * [backup-simplify]: Simplify delta into delta 30.366 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.366 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.366 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.366 * [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 30.366 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 30.366 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 30.366 * [taylor]: Taking taylor expansion of -1 in phi1 30.366 * [backup-simplify]: Simplify -1 into -1 30.366 * [taylor]: Taking taylor expansion of phi1 in phi1 30.366 * [backup-simplify]: Simplify 0 into 0 30.366 * [backup-simplify]: Simplify 1 into 1 30.366 * [backup-simplify]: Simplify (/ -1 1) into -1 30.366 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.366 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 30.366 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.366 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 30.366 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 30.366 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 30.366 * [taylor]: Taking taylor expansion of -1 in phi1 30.366 * [backup-simplify]: Simplify -1 into -1 30.366 * [taylor]: Taking taylor expansion of theta in phi1 30.366 * [backup-simplify]: Simplify theta into theta 30.366 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 30.366 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.366 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.367 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 30.367 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 30.367 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 30.367 * [taylor]: Taking taylor expansion of -1 in phi1 30.367 * [backup-simplify]: Simplify -1 into -1 30.367 * [taylor]: Taking taylor expansion of phi1 in phi1 30.367 * [backup-simplify]: Simplify 0 into 0 30.367 * [backup-simplify]: Simplify 1 into 1 30.367 * [backup-simplify]: Simplify (/ -1 1) into -1 30.367 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.367 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 30.367 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 30.367 * [taylor]: Taking taylor expansion of -1 in phi1 30.367 * [backup-simplify]: Simplify -1 into -1 30.367 * [taylor]: Taking taylor expansion of delta in phi1 30.367 * [backup-simplify]: Simplify delta into delta 30.367 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.367 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.367 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.367 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 30.367 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 30.367 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 30.367 * [taylor]: Taking taylor expansion of -1 in phi1 30.367 * [backup-simplify]: Simplify -1 into -1 30.367 * [taylor]: Taking taylor expansion of phi1 in phi1 30.367 * [backup-simplify]: Simplify 0 into 0 30.367 * [backup-simplify]: Simplify 1 into 1 30.368 * [backup-simplify]: Simplify (/ -1 1) into -1 30.368 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.368 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 30.368 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 30.368 * [taylor]: Taking taylor expansion of -1 in phi1 30.368 * [backup-simplify]: Simplify -1 into -1 30.368 * [taylor]: Taking taylor expansion of delta in phi1 30.368 * [backup-simplify]: Simplify delta into delta 30.368 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.368 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.368 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.368 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 30.368 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 30.368 * [backup-simplify]: Simplify (- 0) into 0 30.368 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 30.368 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 30.368 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 30.368 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 30.369 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 30.369 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 30.369 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 30.369 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 30.369 * [backup-simplify]: Simplify (- 0) into 0 30.369 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 30.369 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 30.369 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) into (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.369 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 30.370 * [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 30.370 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 30.370 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.370 * [taylor]: Taking taylor expansion of -1 in theta 30.370 * [backup-simplify]: Simplify -1 into -1 30.370 * [taylor]: Taking taylor expansion of phi1 in theta 30.370 * [backup-simplify]: Simplify phi1 into phi1 30.370 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.370 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.370 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.370 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 30.370 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) in theta 30.370 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 30.370 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.370 * [taylor]: Taking taylor expansion of -1 in theta 30.370 * [backup-simplify]: Simplify -1 into -1 30.370 * [taylor]: Taking taylor expansion of phi1 in theta 30.370 * [backup-simplify]: Simplify phi1 into phi1 30.370 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.370 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.370 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.370 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 theta))) in theta 30.370 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 30.370 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 30.370 * [taylor]: Taking taylor expansion of -1 in theta 30.370 * [backup-simplify]: Simplify -1 into -1 30.370 * [taylor]: Taking taylor expansion of delta in theta 30.370 * [backup-simplify]: Simplify delta into delta 30.370 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.370 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.370 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.370 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 30.370 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 30.370 * [taylor]: Taking taylor expansion of -1 in theta 30.370 * [backup-simplify]: Simplify -1 into -1 30.370 * [taylor]: Taking taylor expansion of theta in theta 30.370 * [backup-simplify]: Simplify 0 into 0 30.370 * [backup-simplify]: Simplify 1 into 1 30.371 * [backup-simplify]: Simplify (/ -1 1) into -1 30.371 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.371 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 30.371 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 30.371 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.371 * [taylor]: Taking taylor expansion of -1 in theta 30.371 * [backup-simplify]: Simplify -1 into -1 30.371 * [taylor]: Taking taylor expansion of phi1 in theta 30.371 * [backup-simplify]: Simplify phi1 into phi1 30.371 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.371 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.371 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.371 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 30.371 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 30.371 * [taylor]: Taking taylor expansion of -1 in theta 30.371 * [backup-simplify]: Simplify -1 into -1 30.371 * [taylor]: Taking taylor expansion of delta in theta 30.371 * [backup-simplify]: Simplify delta into delta 30.371 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.371 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.371 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.371 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 30.371 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 30.371 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 30.371 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 30.371 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 30.372 * [backup-simplify]: Simplify (- 0) into 0 30.372 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 30.372 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 30.372 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 30.372 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 30.372 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 theta))) into (* (cos (/ -1 theta)) (sin (/ -1 delta))) 30.372 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 30.372 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 30.372 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 30.372 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 30.372 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 30.372 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 30.372 * [backup-simplify]: Simplify (- 0) into 0 30.373 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 30.373 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 30.373 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) into (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) 30.373 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 30.373 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in delta 30.373 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 30.373 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.373 * [taylor]: Taking taylor expansion of -1 in delta 30.373 * [backup-simplify]: Simplify -1 into -1 30.373 * [taylor]: Taking taylor expansion of phi1 in delta 30.373 * [backup-simplify]: Simplify phi1 into phi1 30.373 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.373 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.373 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.373 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in delta 30.373 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 30.373 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 30.373 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.373 * [taylor]: Taking taylor expansion of -1 in delta 30.373 * [backup-simplify]: Simplify -1 into -1 30.373 * [taylor]: Taking taylor expansion of phi1 in delta 30.373 * [backup-simplify]: Simplify phi1 into phi1 30.373 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.373 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.373 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.373 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 30.373 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 30.373 * [taylor]: Taking taylor expansion of -1 in delta 30.374 * [backup-simplify]: Simplify -1 into -1 30.374 * [taylor]: Taking taylor expansion of delta in delta 30.374 * [backup-simplify]: Simplify 0 into 0 30.374 * [backup-simplify]: Simplify 1 into 1 30.374 * [backup-simplify]: Simplify (/ -1 1) into -1 30.374 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.374 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in delta 30.374 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 30.374 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.374 * [taylor]: Taking taylor expansion of -1 in delta 30.374 * [backup-simplify]: Simplify -1 into -1 30.374 * [taylor]: Taking taylor expansion of phi1 in delta 30.374 * [backup-simplify]: Simplify phi1 into phi1 30.374 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.374 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.374 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.374 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in delta 30.374 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 30.374 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 30.374 * [taylor]: Taking taylor expansion of -1 in delta 30.374 * [backup-simplify]: Simplify -1 into -1 30.374 * [taylor]: Taking taylor expansion of theta in delta 30.374 * [backup-simplify]: Simplify theta into theta 30.374 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 30.374 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.374 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.374 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 30.374 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 30.374 * [taylor]: Taking taylor expansion of -1 in delta 30.374 * [backup-simplify]: Simplify -1 into -1 30.374 * [taylor]: Taking taylor expansion of delta in delta 30.374 * [backup-simplify]: Simplify 0 into 0 30.374 * [backup-simplify]: Simplify 1 into 1 30.375 * [backup-simplify]: Simplify (/ -1 1) into -1 30.375 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.375 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 30.375 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 30.375 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 30.375 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 30.375 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 30.375 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 30.375 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 30.375 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 30.375 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 30.376 * [backup-simplify]: Simplify (- 0) into 0 30.376 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 30.376 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 30.376 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 30.376 * [backup-simplify]: Simplify (- 0) into 0 30.376 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 30.376 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (cos (/ -1 theta))) 30.376 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 30.376 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.377 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 30.377 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 30.377 * [backup-simplify]: Simplify (+ 0) into 0 30.378 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 30.378 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 30.378 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.378 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 30.379 * [backup-simplify]: Simplify (+ 0 0) into 0 30.379 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 30.379 * [backup-simplify]: Simplify (+ 0) into 0 30.379 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 30.379 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 30.380 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.380 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 30.380 * [backup-simplify]: Simplify (- 0) into 0 30.381 * [backup-simplify]: Simplify (+ 0 0) into 0 30.381 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 30.381 * [backup-simplify]: Simplify (+ 0) into 0 30.381 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 30.382 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 30.382 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.382 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 30.383 * [backup-simplify]: Simplify (- 0) into 0 30.383 * [backup-simplify]: Simplify (+ 0 0) into 0 30.383 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 30.383 * [backup-simplify]: Simplify (+ 0 0) into 0 30.383 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) into 0 30.383 * [taylor]: Taking taylor expansion of 0 in theta 30.383 * [backup-simplify]: Simplify 0 into 0 30.383 * [taylor]: Taking taylor expansion of 0 in delta 30.383 * [backup-simplify]: Simplify 0 into 0 30.383 * [backup-simplify]: Simplify 0 into 0 30.384 * [backup-simplify]: Simplify (+ 0) into 0 30.384 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 30.384 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 30.385 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.385 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 30.385 * [backup-simplify]: Simplify (+ 0 0) into 0 30.385 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 theta)))) into 0 30.386 * [backup-simplify]: Simplify (+ 0) into 0 30.386 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 30.386 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.386 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.387 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 30.387 * [backup-simplify]: Simplify (- 0) into 0 30.387 * [backup-simplify]: Simplify (+ 0 0) into 0 30.387 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into 0 30.388 * [backup-simplify]: Simplify (+ 0) into 0 30.388 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 30.388 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 30.389 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.389 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 30.390 * [backup-simplify]: Simplify (- 0) into 0 30.390 * [backup-simplify]: Simplify (+ 0 0) into 0 30.391 * [backup-simplify]: Simplify (+ 0) into 0 30.391 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 30.391 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.392 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.392 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 30.393 * [backup-simplify]: Simplify (+ 0 0) into 0 30.393 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 30.394 * [backup-simplify]: Simplify (+ 0 0) into 0 30.394 * [backup-simplify]: Simplify (+ 0) into 0 30.395 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 30.395 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.396 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.396 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 30.396 * [backup-simplify]: Simplify (+ 0 0) into 0 30.397 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 30.397 * [taylor]: Taking taylor expansion of 0 in delta 30.397 * [backup-simplify]: Simplify 0 into 0 30.397 * [backup-simplify]: Simplify 0 into 0 30.397 * [backup-simplify]: Simplify (+ 0) into 0 30.398 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 30.398 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.398 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.399 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 30.399 * [backup-simplify]: Simplify (+ 0 0) into 0 30.399 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 30.399 * [backup-simplify]: Simplify (+ 0) into 0 30.399 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 30.400 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 30.400 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.400 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 30.401 * [backup-simplify]: Simplify (- 0) into 0 30.401 * [backup-simplify]: Simplify (+ 0 0) into 0 30.401 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 30.401 * [backup-simplify]: Simplify (+ 0) into 0 30.401 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 30.402 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.402 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.402 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 30.403 * [backup-simplify]: Simplify (- 0) into 0 30.403 * [backup-simplify]: Simplify (+ 0 0) into 0 30.403 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into 0 30.403 * [backup-simplify]: Simplify (+ 0 0) into 0 30.403 * [backup-simplify]: Simplify (+ 0) into 0 30.404 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 30.404 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.404 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.405 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 30.405 * [backup-simplify]: Simplify (+ 0 0) into 0 30.405 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) into 0 30.406 * [backup-simplify]: Simplify 0 into 0 30.406 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.407 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.407 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.407 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.408 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.408 * [backup-simplify]: Simplify (+ 0 0) into 0 30.408 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 30.409 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.409 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.409 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 30.410 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.410 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.411 * [backup-simplify]: Simplify (- 0) into 0 30.411 * [backup-simplify]: Simplify (+ 0 0) into 0 30.411 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 30.413 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.414 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.414 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.415 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.415 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.415 * [backup-simplify]: Simplify (- 0) into 0 30.416 * [backup-simplify]: Simplify (+ 0 0) into 0 30.416 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 30.416 * [backup-simplify]: Simplify (+ 0 0) into 0 30.417 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) into 0 30.417 * [taylor]: Taking taylor expansion of 0 in theta 30.417 * [backup-simplify]: Simplify 0 into 0 30.417 * [taylor]: Taking taylor expansion of 0 in delta 30.417 * [backup-simplify]: Simplify 0 into 0 30.417 * [backup-simplify]: Simplify 0 into 0 30.417 * [taylor]: Taking taylor expansion of 0 in delta 30.417 * [backup-simplify]: Simplify 0 into 0 30.417 * [backup-simplify]: Simplify 0 into 0 30.417 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.418 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.418 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.419 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.419 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.419 * [backup-simplify]: Simplify (+ 0 0) into 0 30.419 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 30.420 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.420 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.421 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.421 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.421 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.422 * [backup-simplify]: Simplify (- 0) into 0 30.422 * [backup-simplify]: Simplify (+ 0 0) into 0 30.422 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 30.423 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.423 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.423 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.424 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.424 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.425 * [backup-simplify]: Simplify (- 0) into 0 30.425 * [backup-simplify]: Simplify (+ 0 0) into 0 30.426 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.426 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.427 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.427 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.428 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.428 * [backup-simplify]: Simplify (+ 0 0) into 0 30.429 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 30.429 * [backup-simplify]: Simplify (+ 0 0) into 0 30.430 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.431 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.431 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.432 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.432 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.433 * [backup-simplify]: Simplify (+ 0 0) into 0 30.433 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))))) into 0 30.433 * [taylor]: Taking taylor expansion of 0 in delta 30.434 * [backup-simplify]: Simplify 0 into 0 30.434 * [backup-simplify]: Simplify 0 into 0 30.434 * [backup-simplify]: Simplify (* (sin (/ -1 (/ 1 (- phi1)))) (+ (* (cos (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- delta)))) (cos (/ -1 (/ 1 (- theta)))))) (* (sin (/ -1 (/ 1 (- phi1)))) (cos (/ -1 (/ 1 (- delta))))))) into (* (sin phi1) (+ (* (cos phi1) (* (sin delta) (cos theta))) (* (sin phi1) (cos delta)))) 30.434 * * * [progress]: simplifying candidates 30.434 * * * * [progress]: [ 1 / 77 ] simplifiying candidate # 30.434 * * * * [progress]: [ 2 / 77 ] simplifiying candidate # 30.434 * * * * [progress]: [ 3 / 77 ] simplifiying candidate # 30.435 * * * * [progress]: [ 4 / 77 ] simplifiying candidate # 30.435 * * * * [progress]: [ 5 / 77 ] simplifiying candidate # 30.435 * * * * [progress]: [ 6 / 77 ] simplifiying candidate # 30.435 * * * * [progress]: [ 7 / 77 ] simplifiying candidate # 30.435 * * * * [progress]: [ 8 / 77 ] simplifiying candidate # 30.435 * * * * [progress]: [ 9 / 77 ] simplifiying candidate # 30.435 * * * * [progress]: [ 10 / 77 ] simplifiying candidate # 30.435 * * * * [progress]: [ 11 / 77 ] simplifiying candidate # 30.435 * * * * [progress]: [ 12 / 77 ] simplifiying candidate # 30.435 * * * * [progress]: [ 13 / 77 ] simplifiying candidate # 30.435 * * * * [progress]: [ 14 / 77 ] simplifiying candidate # 30.435 * * * * [progress]: [ 15 / 77 ] simplifiying candidate # 30.436 * * * * [progress]: [ 16 / 77 ] simplifiying candidate # 30.436 * * * * [progress]: [ 17 / 77 ] simplifiying candidate # 30.436 * * * * [progress]: [ 18 / 77 ] simplifiying candidate # 30.436 * * * * [progress]: [ 19 / 77 ] simplifiying candidate # 30.436 * * * * [progress]: [ 20 / 77 ] simplifiying candidate # 30.436 * * * * [progress]: [ 21 / 77 ] simplifiying candidate #real (real->posit16 (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 30.436 * * * * [progress]: [ 22 / 77 ] simplifiying candidate # 30.436 * * * * [progress]: [ 23 / 77 ] simplifiying candidate # 30.436 * * * * [progress]: [ 24 / 77 ] simplifiying candidate # 30.436 * * * * [progress]: [ 25 / 77 ] simplifiying candidate # 30.436 * * * * [progress]: [ 26 / 77 ] simplifiying candidate # 30.436 * * * * [progress]: [ 27 / 77 ] simplifiying candidate # 30.437 * * * * [progress]: [ 28 / 77 ] simplifiying candidate # 30.437 * * * * [progress]: [ 29 / 77 ] simplifiying candidate # 30.437 * * * * [progress]: [ 30 / 77 ] simplifiying candidate # 30.437 * * * * [progress]: [ 31 / 77 ] simplifiying candidate # 30.437 * * * * [progress]: [ 32 / 77 ] simplifiying candidate #real (real->posit16 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 30.437 * * * * [progress]: [ 33 / 77 ] simplifiying candidate # 30.437 * * * * [progress]: [ 34 / 77 ] simplifiying candidate # 30.437 * * * * [progress]: [ 35 / 77 ] simplifiying candidate # 30.437 * * * * [progress]: [ 36 / 77 ] simplifiying candidate # 30.437 * * * * [progress]: [ 37 / 77 ] simplifiying candidate # 30.437 * * * * [progress]: [ 38 / 77 ] simplifiying candidate # 30.437 * * * * [progress]: [ 39 / 77 ] simplifiying candidate # 30.438 * * * * [progress]: [ 40 / 77 ] simplifiying candidate # 30.438 * * * * [progress]: [ 41 / 77 ] simplifiying candidate # 30.438 * * * * [progress]: [ 42 / 77 ] simplifiying candidate # 30.438 * * * * [progress]: [ 43 / 77 ] simplifiying candidate #real (real->posit16 (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 30.438 * * * * [progress]: [ 44 / 77 ] simplifiying candidate # 30.438 * * * * [progress]: [ 45 / 77 ] simplifiying candidate # 30.438 * * * * [progress]: [ 46 / 77 ] simplifiying candidate # 30.438 * * * * [progress]: [ 47 / 77 ] simplifiying candidate # 30.438 * * * * [progress]: [ 48 / 77 ] simplifiying candidate # 30.438 * * * * [progress]: [ 49 / 77 ] simplifiying candidate # 30.438 * * * * [progress]: [ 50 / 77 ] simplifiying candidate # 30.438 * * * * [progress]: [ 51 / 77 ] simplifiying candidate # 30.438 * * * * [progress]: [ 52 / 77 ] simplifiying candidate # 30.439 * * * * [progress]: [ 53 / 77 ] simplifiying candidate # 30.439 * * * * [progress]: [ 54 / 77 ] simplifiying candidate # 30.439 * * * * [progress]: [ 55 / 77 ] simplifiying candidate # 30.439 * * * * [progress]: [ 56 / 77 ] simplifiying candidate # 30.439 * * * * [progress]: [ 57 / 77 ] simplifiying candidate # 30.439 * * * * [progress]: [ 58 / 77 ] simplifiying candidate # 30.439 * * * * [progress]: [ 59 / 77 ] simplifiying candidate # 30.439 * * * * [progress]: [ 60 / 77 ] simplifiying candidate # 30.439 * * * * [progress]: [ 61 / 77 ] simplifiying candidate # 30.439 * * * * [progress]: [ 62 / 77 ] simplifiying candidate # 30.439 * * * * [progress]: [ 63 / 77 ] simplifiying candidate # 30.439 * * * * [progress]: [ 64 / 77 ] simplifiying candidate #real (real->posit16 (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 30.440 * * * * [progress]: [ 65 / 77 ] simplifiying candidate # 30.440 * * * * [progress]: [ 66 / 77 ] simplifiying candidate # 30.440 * * * * [progress]: [ 67 / 77 ] simplifiying candidate # 30.440 * * * * [progress]: [ 68 / 77 ] simplifiying candidate # 30.440 * * * * [progress]: [ 69 / 77 ] simplifiying candidate # 30.440 * * * * [progress]: [ 70 / 77 ] simplifiying candidate # 30.440 * * * * [progress]: [ 71 / 77 ] simplifiying candidate # 30.440 * * * * [progress]: [ 72 / 77 ] simplifiying candidate # 30.440 * * * * [progress]: [ 73 / 77 ] simplifiying candidate # 30.440 * * * * [progress]: [ 74 / 77 ] simplifiying candidate # 30.440 * * * * [progress]: [ 75 / 77 ] simplifiying candidate # 30.440 * * * * [progress]: [ 76 / 77 ] simplifiying candidate # 30.440 * * * * [progress]: [ 77 / 77 ] simplifiying candidate # 30.442 * [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)))), (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))), (fma (sqrt (cos delta)) (sqrt (cos delta)) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (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))), (fma 1 (cos delta) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (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))), (expm1 (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))), (log1p (- (cos delta) (* (sin phi1) (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) (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))))))), (/ (exp (cos delta)) (exp (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))), (log (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))), (exp (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))), (* (cbrt (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) (cbrt (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))))), (cbrt (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))), (* (* (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))), (sqrt (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))), (sqrt (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))), (- (pow (cos delta) 3) (pow (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) 3)), (+ (* (cos delta) (cos delta)) (+ (* (* (sin phi1) (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))))))) (* (cos delta) (* (sin phi1) (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))))))), (- (* (cos delta) (cos delta)) (* (* (sin phi1) (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)))))))), (+ (cos delta) (* (sin phi1) (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))))))), (real->posit16 (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))), (expm1 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))), (log1p (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))), (/ PI 2), (acos (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))), (log (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))), (exp (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))), (* (cbrt (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (cbrt (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))), (cbrt (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))), (* (* (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))) (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))), (sqrt (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))), (sqrt (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))), (real->posit16 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))), (expm1 (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))), (log1p (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))), (* (cos theta) (* (cos phi1) (sin delta))), (log (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))), (exp (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))), (* (cbrt (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))) (cbrt (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))), (cbrt (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))), (* (* (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))) (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))) (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))), (sqrt (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))), (sqrt (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))), (real->posit16 (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))), (expm1 (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (log1p (* (sin phi1) (sin (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)))))) (cos (+ phi1 (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)))))), (+ (log (sin phi1)) (log (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (log (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (exp (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (* (* (* (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))))))), (* (cbrt (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (cbrt (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))), (cbrt (* (sin phi1) (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) (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))))))), (sqrt (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (sqrt (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (* (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)))))))), (* (sin phi1) (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (* (sin phi1) 1), (* (cbrt (sin phi1)) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))), (* (sqrt (sin phi1)) (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)))))), (real->posit16 (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))), (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (sin phi1) (* (cos theta) (cos phi1)))))), (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos theta) (* (sin delta) (cos phi1)))))), (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))), (asin (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta)))), (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))), (+ phi1 delta), (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta)))), (+ (* (cos phi1) (* (sin delta) (cos theta))) (* (sin phi1) (cos delta))), (+ (* phi1 delta) (pow phi1 2)), (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta))))), (* (sin phi1) (+ (* (cos phi1) (* (sin delta) (cos theta))) (* (sin phi1) (cos delta)))) 30.445 * * [simplify]: iteration 1: (142 enodes) 30.488 * * [simplify]: iteration 2: (558 enodes) 30.653 * * [simplify]: iteration 3: (997 enodes) 31.100 * * [simplify]: Extracting #0: cost 62 inf + 0 31.102 * * [simplify]: Extracting #1: cost 253 inf + 0 31.106 * * [simplify]: Extracting #2: cost 463 inf + 1374 31.112 * * [simplify]: Extracting #3: cost 417 inf + 11723 31.125 * * [simplify]: Extracting #4: cost 332 inf + 33929 31.164 * * [simplify]: Extracting #5: cost 183 inf + 123961 31.248 * * [simplify]: Extracting #6: cost 17 inf + 248358 31.327 * * [simplify]: Extracting #7: cost 0 inf + 261075 31.408 * * [simplify]: Extracting #8: cost 0 inf + 260660 31.502 * [simplify]: Simplified to (- (* (cbrt (cos delta)) (* (cbrt (cos delta)) (cbrt (cos delta)))) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))), (* (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))) (+ (- (sin phi1)) (sin phi1))), (- (cos delta) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))), (* (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))) (+ (- (sin phi1)) (sin phi1))), (- (cos delta) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))), (* (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))) (+ (- (sin phi1)) (sin phi1))), (expm1 (- (cos delta) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))), (log1p (- (cos delta) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))), (- (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))), (- (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))), (- (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))), (exp (- (cos delta) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))), (log (- (cos delta) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))), (exp (- (cos delta) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))), (* (cbrt (- (cos delta) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))) (cbrt (- (cos delta) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))))), (cbrt (- (cos delta) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))), (* (* (- (cos delta) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))), (sqrt (- (cos delta) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))), (sqrt (- (cos delta) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))), (- (* (cos delta) (* (cos delta) (cos delta))) (* (* (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))), (fma (* (sin phi1) (cos delta)) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))) (fma (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))) (* (cos delta) (cos delta)))), (- (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))), (- (* (cos delta) (cos delta)) (* (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))), (fma (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1) (cos delta)), (- (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))), (real->posit16 (- (cos delta) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))), (expm1 (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))), (log1p (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))), (/ PI 2), (acos (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))), (log (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))), (exp (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))), (* (cbrt (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))) (cbrt (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))), (cbrt (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))), (* (* (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))) (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))) (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))), (sqrt (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))), (sqrt (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))), (real->posit16 (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))), (expm1 (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))), (log1p (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))), (* (* (cos phi1) (sin delta)) (cos theta)), (log (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))), (exp (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))), (* (cbrt (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))) (cbrt (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))), (cbrt (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))), (* (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))) (* (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))) (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))), (sqrt (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))), (sqrt (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))), (real->posit16 (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))), (expm1 (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))), (log1p (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))), (- (cos (- phi1 (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))) (cos (+ phi1 (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))), (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))), (log (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))), (log (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))), (exp (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))), (* (* (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))), (* (cbrt (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))) (cbrt (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))), (cbrt (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))), (* (* (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))), (sqrt (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))), (sqrt (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))), (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))), (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))), (* (* (cbrt (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))) (cbrt (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))) (sin phi1)), (* (sqrt (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))) (sin phi1)), (sin phi1), (* (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))) (cbrt (sin phi1))), (* (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))) (sqrt (sin phi1))), (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))), (real->posit16 (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))), (- 1 (* delta (+ (* delta 1/2) phi1))), (- (cos delta) (* (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1))), (- (cos delta) (* (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1))), (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))), (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))), (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))), (+ delta phi1), (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))), (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))), (* (+ delta phi1) phi1), (* (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1)), (* (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1)) 31.503 * * * * [progress]: [ 1 / 77 ] simplifiying candidate # 31.503 * [simplify]: Simplified (2 1 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (+ (- (* (cbrt (cos delta)) (* (cbrt (cos delta)) (cbrt (cos delta)))) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))) (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)) 31.503 * [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)))) (* (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))) (+ (- (sin phi1)) (sin phi1))))) lambda1)) 31.504 * * * * [progress]: [ 2 / 77 ] simplifiying candidate # 31.504 * [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) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))) (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)) 31.504 * [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)))) (* (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))) (+ (- (sin phi1)) (sin phi1))))) lambda1)) 31.505 * * * * [progress]: [ 3 / 77 ] simplifiying candidate # 31.505 * [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) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))) (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)) 31.505 * [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)))) (* (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))) (+ (- (sin phi1)) (sin phi1))))) lambda1)) 31.505 * * * * [progress]: [ 4 / 77 ] simplifiying candidate # 31.505 * [simplify]: Simplified (2 1 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (log1p (expm1 (- (cos delta) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.506 * * * * [progress]: [ 5 / 77 ] simplifiying candidate # 31.506 * [simplify]: Simplified (2 1 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (expm1 (log1p (- (cos delta) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.506 * * * * [progress]: [ 6 / 77 ] simplifiying candidate # 31.506 * [simplify]: Simplified (2 1 2 3) 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 phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))))) lambda1)) 31.506 * * * * [progress]: [ 7 / 77 ] simplifiying candidate # 31.506 * [simplify]: Simplified (2 1 2 3) 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 phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))))) lambda1)) 31.507 * * * * [progress]: [ 8 / 77 ] simplifiying candidate # 31.507 * [simplify]: Simplified (2 1 2 3) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (fma 1 (cos delta) (- (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))))) lambda1)) 31.507 * * * * [progress]: [ 9 / 77 ] simplifiying candidate # 31.507 * [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 phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.507 * * * * [progress]: [ 10 / 77 ] simplifiying candidate # 31.507 * * * * [progress]: [ 11 / 77 ] simplifiying candidate # 31.507 * [simplify]: Simplified (2 1 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (exp (log (- (cos delta) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.508 * * * * [progress]: [ 12 / 77 ] simplifiying candidate # 31.508 * [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 phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.508 * * * * [progress]: [ 13 / 77 ] simplifiying candidate # 31.508 * [simplify]: Simplified (2 1 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (* (* (cbrt (- (cos delta) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))) (cbrt (- (cos delta) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))))) (cbrt (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1)) 31.508 * [simplify]: Simplified (2 1 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (* (* (cbrt (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) (cbrt (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))))) (cbrt (- (cos delta) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.509 * * * * [progress]: [ 14 / 77 ] simplifiying candidate # 31.509 * [simplify]: Simplified (2 1 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (cbrt (* (* (- (cos delta) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.509 * * * * [progress]: [ 15 / 77 ] simplifiying candidate # 31.509 * [simplify]: Simplified (2 1 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (* (sqrt (- (cos delta) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))) (sqrt (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1)) 31.510 * [simplify]: Simplified (2 1 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (* (sqrt (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) (sqrt (- (cos delta) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.510 * * * * [progress]: [ 16 / 77 ] simplifiying candidate # 31.510 * [simplify]: Simplified (2 1 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (/ (- (* (cos delta) (* (cos delta) (cos delta))) (* (* (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))) (+ (* (cos delta) (cos delta)) (+ (* (* (sin phi1) (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))))))) (* (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))))))) lambda1)) 31.511 * [simplify]: Simplified (2 1 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (/ (- (pow (cos delta) 3) (pow (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) 3)) (fma (* (sin phi1) (cos delta)) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))) (fma (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))) (* (cos delta) (cos delta)))))) lambda1)) 31.511 * * * * [progress]: [ 17 / 77 ] simplifiying candidate # 31.511 * [simplify]: Simplified (2 1 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (+ (cos delta) (- (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))))) lambda1)) 31.512 * * * * [progress]: [ 18 / 77 ] simplifiying candidate # 31.512 * * * * [progress]: [ 19 / 77 ] simplifiying candidate # 31.512 * [simplify]: Simplified (2 1 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (/ (- (* (cos delta) (cos delta)) (* (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))) (+ (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))))) lambda1)) 31.512 * [simplify]: Simplified (2 1 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (/ (- (* (cos delta) (cos delta)) (* (* (sin phi1) (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)))))))) (fma (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))) (sin phi1) (cos delta)))) lambda1)) 31.513 * * * * [progress]: [ 20 / 77 ] simplifiying candidate # 31.513 * [simplify]: Simplified (2 1 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (+ (cos delta) (- (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))))) lambda1)) 31.513 * * * * [progress]: [ 21 / 77 ] simplifiying candidate #real (real->posit16 (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 31.513 * [simplify]: Simplified (2 1 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (posit16->real (real->posit16 (- (cos delta) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.513 * * * * [progress]: [ 22 / 77 ] simplifiying candidate # 31.513 * [simplify]: Simplified (2 1 2 2 2 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (log1p (expm1 (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.514 * * * * [progress]: [ 23 / 77 ] simplifiying candidate # 31.514 * [simplify]: Simplified (2 1 2 2 2 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (expm1 (log1p (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.514 * * * * [progress]: [ 24 / 77 ] simplifiying candidate # 31.514 * [simplify]: Simplified (2 1 2 2 2 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (- (/ PI 2) (acos (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))))) lambda1)) 31.514 * [simplify]: Simplified (2 1 2 2 2 1 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (- (/ PI 2) (acos (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))))) lambda1)) 31.515 * * * * [progress]: [ 25 / 77 ] simplifiying candidate # 31.515 * * * * [progress]: [ 26 / 77 ] simplifiying candidate # 31.515 * [simplify]: Simplified (2 1 2 2 2 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (exp (log (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.515 * * * * [progress]: [ 27 / 77 ] simplifiying candidate # 31.515 * [simplify]: Simplified (2 1 2 2 2 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (log (exp (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.515 * * * * [progress]: [ 28 / 77 ] simplifiying candidate # 31.515 * [simplify]: Simplified (2 1 2 2 2 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (* (* (cbrt (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))) (cbrt (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))) (cbrt (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1)) 31.516 * [simplify]: Simplified (2 1 2 2 2 1 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (* (* (cbrt (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (cbrt (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (cbrt (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.516 * * * * [progress]: [ 29 / 77 ] simplifiying candidate # 31.516 * [simplify]: Simplified (2 1 2 2 2 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (cbrt (* (* (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))) (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))) (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.517 * * * * [progress]: [ 30 / 77 ] simplifiying candidate # 31.517 * [simplify]: Simplified (2 1 2 2 2 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (* (sqrt (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))) (sqrt (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1)) 31.517 * [simplify]: Simplified (2 1 2 2 2 1 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (* (sqrt (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sqrt (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.517 * * * * [progress]: [ 31 / 77 ] simplifiying candidate # 31.517 * * * * [progress]: [ 32 / 77 ] simplifiying candidate #real (real->posit16 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 31.517 * [simplify]: Simplified (2 1 2 2 2 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (posit16->real (real->posit16 (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.518 * * * * [progress]: [ 33 / 77 ] simplifiying candidate # 31.518 * [simplify]: Simplified (2 1 2 2 2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (log1p (expm1 (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.518 * * * * [progress]: [ 34 / 77 ] simplifiying candidate # 31.518 * [simplify]: Simplified (2 1 2 2 2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (expm1 (log1p (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.518 * * * * [progress]: [ 35 / 77 ] simplifiying candidate # 31.518 * [simplify]: Simplified (2 1 2 2 2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (* (cos phi1) (sin delta)) (cos theta)) (* (cos delta) (sin phi1)))))))) lambda1)) 31.519 * * * * [progress]: [ 36 / 77 ] simplifiying candidate # 31.519 * * * * [progress]: [ 37 / 77 ] simplifiying candidate # 31.519 * [simplify]: Simplified (2 1 2 2 2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (exp (log (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.519 * * * * [progress]: [ 38 / 77 ] simplifiying candidate # 31.519 * [simplify]: Simplified (2 1 2 2 2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (log (exp (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.519 * * * * [progress]: [ 39 / 77 ] simplifiying candidate # 31.519 * [simplify]: Simplified (2 1 2 2 2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (* (* (cbrt (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))) (cbrt (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))) (cbrt (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1)) 31.520 * [simplify]: Simplified (2 1 2 2 2 1 1 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (* (* (cbrt (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))) (cbrt (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (cbrt (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.520 * * * * [progress]: [ 40 / 77 ] simplifiying candidate # 31.520 * [simplify]: Simplified (2 1 2 2 2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (cbrt (* (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))) (* (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))) (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))))))) lambda1)) 31.521 * * * * [progress]: [ 41 / 77 ] simplifiying candidate # 31.521 * [simplify]: Simplified (2 1 2 2 2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (* (sqrt (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))) (sqrt (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1)) 31.521 * [simplify]: Simplified (2 1 2 2 2 1 1 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (* (sqrt (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))) (sqrt (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.521 * * * * [progress]: [ 42 / 77 ] simplifiying candidate # 31.521 * * * * [progress]: [ 43 / 77 ] simplifiying candidate #real (real->posit16 (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 31.521 * [simplify]: Simplified (2 1 2 2 2 1 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (posit16->real (real->posit16 (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.522 * * * * [progress]: [ 44 / 77 ] simplifiying candidate # 31.522 * [simplify]: Simplified (2 1 2 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (log1p (expm1 (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.522 * * * * [progress]: [ 45 / 77 ] simplifiying candidate # 31.522 * [simplify]: Simplified (2 1 2 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (expm1 (log1p (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.522 * * * * [progress]: [ 46 / 77 ] simplifiying candidate # 31.522 * [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 phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))) (cos (+ phi1 (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))) 2))) lambda1)) 31.523 * * * * [progress]: [ 47 / 77 ] simplifiying candidate # 31.523 * [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 phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))) 1))) lambda1)) 31.523 * * * * [progress]: [ 48 / 77 ] simplifiying candidate # 31.523 * * * * [progress]: [ 49 / 77 ] simplifiying candidate # 31.523 * [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 phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.523 * * * * [progress]: [ 50 / 77 ] simplifiying candidate # 31.524 * [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 phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.524 * * * * [progress]: [ 51 / 77 ] simplifiying candidate # 31.524 * [simplify]: Simplified (2 1 2 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (log (exp (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.524 * * * * [progress]: [ 52 / 77 ] simplifiying candidate # 31.524 * [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)) (* (sin phi1) (cos delta)))))) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.525 * * * * [progress]: [ 53 / 77 ] simplifiying candidate # 31.525 * [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)) (* (sin phi1) (cos delta))))))) (cbrt (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))) (cbrt (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1)) 31.525 * [simplify]: Simplified (2 1 2 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (* (cbrt (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (cbrt (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) (cbrt (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.525 * * * * [progress]: [ 54 / 77 ] simplifiying candidate # 31.525 * [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)) (* (sin phi1) (cos delta)))))) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.526 * * * * [progress]: [ 55 / 77 ] simplifiying candidate # 31.526 * [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) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))) (sqrt (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1)) 31.526 * [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) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (sqrt (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.527 * * * * [progress]: [ 56 / 77 ] simplifiying candidate # 31.527 * * * * [progress]: [ 57 / 77 ] simplifiying candidate # 31.527 * [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 (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))) (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1)) 31.527 * [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 (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.527 * * * * [progress]: [ 58 / 77 ] simplifiying candidate # 31.527 * [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 (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))) (cbrt (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))) (sin phi1)) (cbrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))))) lambda1)) 31.528 * * * * [progress]: [ 59 / 77 ] simplifiying candidate # 31.528 * [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 (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))) (sin phi1)) (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))))) lambda1)) 31.528 * * * * [progress]: [ 60 / 77 ] simplifiying candidate # 31.528 * [simplify]: Simplified (2 1 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)) (* (cos delta) (sin phi1)))))))) lambda1)) 31.528 * * * * [progress]: [ 61 / 77 ] simplifiying candidate # 31.529 * [simplify]: Simplified (2 1 2 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (* (cbrt (sin phi1)) (cbrt (sin phi1))) (* (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))) (cbrt (sin phi1)))))) lambda1)) 31.529 * * * * [progress]: [ 62 / 77 ] simplifiying candidate # 31.529 * [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)) (* (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))) (sqrt (sin phi1)))))) lambda1)) 31.529 * * * * [progress]: [ 63 / 77 ] simplifiying candidate # 31.529 * [simplify]: Simplified (2 1 2 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* 1 (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))))))))) lambda1)) 31.529 * * * * [progress]: [ 64 / 77 ] simplifiying candidate #real (real->posit16 (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 31.530 * [simplify]: Simplified (2 1 2 2 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (posit16->real (real->posit16 (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))))) lambda1)) 31.530 * * * * [progress]: [ 65 / 77 ] simplifiying candidate # 31.530 * * * * [progress]: [ 66 / 77 ] simplifiying candidate # 31.530 * [simplify]: Simplified (2 1 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- 1 (* delta (+ (* delta 1/2) phi1)))) lambda1)) 31.530 * * * * [progress]: [ 67 / 77 ] simplifiying candidate # 31.530 * [simplify]: Simplified (2 1 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1)))) lambda1)) 31.530 * * * * [progress]: [ 68 / 77 ] simplifiying candidate # 31.530 * [simplify]: Simplified (2 1 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1)))) lambda1)) 31.531 * * * * [progress]: [ 69 / 77 ] simplifiying candidate # 31.531 * [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 phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))) lambda1)) 31.531 * * * * [progress]: [ 70 / 77 ] simplifiying candidate # 31.531 * [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 phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))) lambda1)) 31.531 * * * * [progress]: [ 71 / 77 ] simplifiying candidate # 31.531 * [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 phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))) lambda1)) 31.531 * * * * [progress]: [ 72 / 77 ] simplifiying candidate # 31.532 * [simplify]: Simplified (2 1 2 2 2 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (+ delta phi1)))))) lambda1)) 31.532 * * * * [progress]: [ 73 / 77 ] simplifiying candidate # 31.532 * [simplify]: Simplified (2 1 2 2 2 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))) lambda1)) 31.532 * * * * [progress]: [ 74 / 77 ] simplifiying candidate # 31.532 * [simplify]: Simplified (2 1 2 2 2 1 1) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta)))))))) lambda1)) 31.532 * * * * [progress]: [ 75 / 77 ] simplifiying candidate # 31.532 * [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)) 31.532 * * * * [progress]: [ 76 / 77 ] simplifiying candidate # 31.533 * [simplify]: Simplified (2 1 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1)))) lambda1)) 31.533 * * * * [progress]: [ 77 / 77 ] simplifiying candidate # 31.533 * [simplify]: Simplified (2 1 2 2) to (λ (lambda1 phi1 phi2 delta theta) (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (fma (cos phi1) (* (sin delta) (cos theta)) (* (sin phi1) (cos delta))) (sin phi1)))) lambda1)) 31.533 * * * [progress]: adding candidates to table 33.275 * [progress]: [Phase 3 of 3] Extracting. 33.287 * [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) 33.288 * * [simplify]: iteration 1: (21 enodes) 33.289 * * [simplify]: iteration 2: (27 enodes) 33.291 * * [simplify]: Extracting #0: cost 1 inf + 0 33.291 * * [simplify]: Extracting #1: cost 3 inf + 0 33.291 * * [simplify]: Extracting #2: cost 4 inf + 1 33.291 * * [simplify]: Extracting #3: cost 8 inf + 1 33.291 * * [simplify]: Extracting #4: cost 13 inf + 1 33.291 * * [simplify]: Extracting #5: cost 15 inf + 2 33.291 * * [simplify]: Extracting #6: cost 9 inf + 309 33.292 * * [simplify]: Extracting #7: cost 10 inf + 734 33.292 * * [simplify]: Extracting #8: cost 6 inf + 1557 33.293 * * [simplify]: Extracting #9: cost 4 inf + 2703 33.293 * * [simplify]: Extracting #10: cost 3 inf + 3346 33.294 * * [simplify]: Extracting #11: cost 0 inf + 5996 33.295 * [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)))))))))