0.002 * [progress]: [Phase 1 of 3] Setting up. 0.002 * * * [progress]: [1/2] Preparing points 29.366 * * * [progress]: [2/2] Setting up program. 29.381 * [progress]: [Phase 2 of 3] Improving. 29.381 * * * * [progress]: [ 1 / 1 ] simplifiying candidate # 29.381 * [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))))))))) 29.381 * * [simplify]: iteration 1: (22 enodes) 29.387 * * [simplify]: iteration 2: (80 enodes) 29.398 * * [simplify]: iteration 3: (107 enodes) 29.456 * * [simplify]: iteration 4: (125 enodes) 29.485 * * [simplify]: Extracting #0: cost 1 inf + 0 29.485 * * [simplify]: Extracting #1: cost 4 inf + 0 29.485 * * [simplify]: Extracting #2: cost 6 inf + 1 29.485 * * [simplify]: Extracting #3: cost 21 inf + 1 29.485 * * [simplify]: Extracting #4: cost 38 inf + 1 29.485 * * [simplify]: Extracting #5: cost 28 inf + 734 29.486 * * [simplify]: Extracting #6: cost 24 inf + 1889 29.487 * * [simplify]: Extracting #7: cost 25 inf + 2537 29.488 * * [simplify]: Extracting #8: cost 18 inf + 4766 29.490 * * [simplify]: Extracting #9: cost 12 inf + 7142 29.493 * * [simplify]: Extracting #10: cost 3 inf + 13414 29.498 * * [simplify]: Extracting #11: cost 0 inf + 16385 29.502 * * [simplify]: Extracting #12: cost 0 inf + 16340 29.506 * [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) 29.535 * * [progress]: iteration 1 / 4 29.535 * * * [progress]: picking best candidate 29.541 * * * * [pick]: Picked # 29.541 * * * [progress]: localizing error 29.651 * * * [progress]: generating rewritten candidates 29.651 * * * * [progress]: [ 1 / 4 ] rewriting at (2 1 2) 29.664 * * * * [progress]: [ 2 / 4 ] rewriting at (2 1 2 2 2 1) 29.665 * * * * [progress]: [ 3 / 4 ] rewriting at (2 1 1) 29.693 * * * * [progress]: [ 4 / 4 ] rewriting at (2 1 2 2 2 1 1) 29.694 * * * [progress]: generating series expansions 29.694 * * * * [progress]: [ 1 / 4 ] generating series at (2 1 2) 29.694 * [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))))) 29.694 * [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 29.694 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in theta 29.694 * [taylor]: Taking taylor expansion of (cos delta) in theta 29.694 * [taylor]: Taking taylor expansion of delta in theta 29.694 * [backup-simplify]: Simplify delta into delta 29.694 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.694 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.694 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 29.694 * [taylor]: Taking taylor expansion of (sin phi1) in theta 29.694 * [taylor]: Taking taylor expansion of phi1 in theta 29.694 * [backup-simplify]: Simplify phi1 into phi1 29.695 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.695 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.695 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 29.695 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 29.695 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 29.695 * [taylor]: Taking taylor expansion of (cos theta) in theta 29.695 * [taylor]: Taking taylor expansion of theta in theta 29.695 * [backup-simplify]: Simplify 0 into 0 29.695 * [backup-simplify]: Simplify 1 into 1 29.695 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 29.695 * [taylor]: Taking taylor expansion of (cos phi1) in theta 29.695 * [taylor]: Taking taylor expansion of phi1 in theta 29.695 * [backup-simplify]: Simplify phi1 into phi1 29.695 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.695 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.695 * [taylor]: Taking taylor expansion of (sin delta) in theta 29.695 * [taylor]: Taking taylor expansion of delta in theta 29.695 * [backup-simplify]: Simplify delta into delta 29.695 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.695 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.695 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 29.695 * [taylor]: Taking taylor expansion of (sin phi1) in theta 29.695 * [taylor]: Taking taylor expansion of phi1 in theta 29.695 * [backup-simplify]: Simplify phi1 into phi1 29.695 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.695 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.695 * [taylor]: Taking taylor expansion of (cos delta) in theta 29.695 * [taylor]: Taking taylor expansion of delta in theta 29.695 * [backup-simplify]: Simplify delta into delta 29.695 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.695 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.695 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in phi1 29.695 * [taylor]: Taking taylor expansion of (cos delta) in phi1 29.695 * [taylor]: Taking taylor expansion of delta in phi1 29.695 * [backup-simplify]: Simplify delta into delta 29.695 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.695 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.695 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 29.695 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 29.695 * [taylor]: Taking taylor expansion of phi1 in phi1 29.695 * [backup-simplify]: Simplify 0 into 0 29.695 * [backup-simplify]: Simplify 1 into 1 29.695 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 29.695 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 29.695 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 29.695 * [taylor]: Taking taylor expansion of (cos theta) in phi1 29.696 * [taylor]: Taking taylor expansion of theta in phi1 29.696 * [backup-simplify]: Simplify theta into theta 29.696 * [backup-simplify]: Simplify (cos theta) into (cos theta) 29.696 * [backup-simplify]: Simplify (sin theta) into (sin theta) 29.696 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 29.696 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 29.696 * [taylor]: Taking taylor expansion of phi1 in phi1 29.696 * [backup-simplify]: Simplify 0 into 0 29.696 * [backup-simplify]: Simplify 1 into 1 29.696 * [taylor]: Taking taylor expansion of (sin delta) in phi1 29.696 * [taylor]: Taking taylor expansion of delta in phi1 29.696 * [backup-simplify]: Simplify delta into delta 29.696 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.696 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.696 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 29.696 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 29.696 * [taylor]: Taking taylor expansion of phi1 in phi1 29.696 * [backup-simplify]: Simplify 0 into 0 29.696 * [backup-simplify]: Simplify 1 into 1 29.696 * [taylor]: Taking taylor expansion of (cos delta) in phi1 29.696 * [taylor]: Taking taylor expansion of delta in phi1 29.696 * [backup-simplify]: Simplify delta into delta 29.696 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.696 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.696 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in delta 29.696 * [taylor]: Taking taylor expansion of (cos delta) in delta 29.696 * [taylor]: Taking taylor expansion of delta in delta 29.696 * [backup-simplify]: Simplify 0 into 0 29.696 * [backup-simplify]: Simplify 1 into 1 29.696 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 29.696 * [taylor]: Taking taylor expansion of (sin phi1) in delta 29.696 * [taylor]: Taking taylor expansion of phi1 in delta 29.696 * [backup-simplify]: Simplify phi1 into phi1 29.696 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.696 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.696 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 29.696 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 29.696 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 29.696 * [taylor]: Taking taylor expansion of (cos theta) in delta 29.696 * [taylor]: Taking taylor expansion of theta in delta 29.696 * [backup-simplify]: Simplify theta into theta 29.696 * [backup-simplify]: Simplify (cos theta) into (cos theta) 29.696 * [backup-simplify]: Simplify (sin theta) into (sin theta) 29.696 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 29.696 * [taylor]: Taking taylor expansion of (cos phi1) in delta 29.696 * [taylor]: Taking taylor expansion of phi1 in delta 29.696 * [backup-simplify]: Simplify phi1 into phi1 29.696 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.696 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.696 * [taylor]: Taking taylor expansion of (sin delta) in delta 29.696 * [taylor]: Taking taylor expansion of delta in delta 29.696 * [backup-simplify]: Simplify 0 into 0 29.696 * [backup-simplify]: Simplify 1 into 1 29.696 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 29.696 * [taylor]: Taking taylor expansion of (sin phi1) in delta 29.696 * [taylor]: Taking taylor expansion of phi1 in delta 29.697 * [backup-simplify]: Simplify phi1 into phi1 29.697 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.697 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.697 * [taylor]: Taking taylor expansion of (cos delta) in delta 29.697 * [taylor]: Taking taylor expansion of delta in delta 29.697 * [backup-simplify]: Simplify 0 into 0 29.697 * [backup-simplify]: Simplify 1 into 1 29.697 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in delta 29.697 * [taylor]: Taking taylor expansion of (cos delta) in delta 29.697 * [taylor]: Taking taylor expansion of delta in delta 29.697 * [backup-simplify]: Simplify 0 into 0 29.697 * [backup-simplify]: Simplify 1 into 1 29.697 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 29.697 * [taylor]: Taking taylor expansion of (sin phi1) in delta 29.697 * [taylor]: Taking taylor expansion of phi1 in delta 29.697 * [backup-simplify]: Simplify phi1 into phi1 29.697 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.697 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.697 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 29.697 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 29.697 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 29.697 * [taylor]: Taking taylor expansion of (cos theta) in delta 29.697 * [taylor]: Taking taylor expansion of theta in delta 29.697 * [backup-simplify]: Simplify theta into theta 29.697 * [backup-simplify]: Simplify (cos theta) into (cos theta) 29.697 * [backup-simplify]: Simplify (sin theta) into (sin theta) 29.697 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 29.697 * [taylor]: Taking taylor expansion of (cos phi1) in delta 29.697 * [taylor]: Taking taylor expansion of phi1 in delta 29.697 * [backup-simplify]: Simplify phi1 into phi1 29.697 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.697 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.697 * [taylor]: Taking taylor expansion of (sin delta) in delta 29.697 * [taylor]: Taking taylor expansion of delta in delta 29.697 * [backup-simplify]: Simplify 0 into 0 29.697 * [backup-simplify]: Simplify 1 into 1 29.697 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 29.697 * [taylor]: Taking taylor expansion of (sin phi1) in delta 29.697 * [taylor]: Taking taylor expansion of phi1 in delta 29.697 * [backup-simplify]: Simplify phi1 into phi1 29.697 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.697 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.697 * [taylor]: Taking taylor expansion of (cos delta) in delta 29.697 * [taylor]: Taking taylor expansion of delta in delta 29.697 * [backup-simplify]: Simplify 0 into 0 29.697 * [backup-simplify]: Simplify 1 into 1 29.698 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 29.698 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 29.698 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 29.698 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 29.698 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 29.699 * [backup-simplify]: Simplify (- 0) into 0 29.699 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 29.699 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 29.699 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 29.699 * [backup-simplify]: Simplify (- 0) into 0 29.699 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 29.699 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 29.699 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 29.699 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 29.699 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 29.700 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 29.700 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 29.700 * [backup-simplify]: Simplify (+ 0 (sin phi1)) into (sin phi1) 29.700 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 29.700 * [backup-simplify]: Simplify (- (pow (sin phi1) 2)) into (- (pow (sin phi1) 2)) 29.700 * [backup-simplify]: Simplify (+ 1 (- (pow (sin phi1) 2))) into (- 1 (pow (sin phi1) 2)) 29.700 * [taylor]: Taking taylor expansion of (- 1 (pow (sin phi1) 2)) in phi1 29.700 * [taylor]: Taking taylor expansion of 1 in phi1 29.700 * [backup-simplify]: Simplify 1 into 1 29.700 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 29.700 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 29.700 * [taylor]: Taking taylor expansion of phi1 in phi1 29.700 * [backup-simplify]: Simplify 0 into 0 29.700 * [backup-simplify]: Simplify 1 into 1 29.701 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 29.701 * [backup-simplify]: Simplify (+ 1 0) into 1 29.701 * [taylor]: Taking taylor expansion of 1 in theta 29.701 * [backup-simplify]: Simplify 1 into 1 29.701 * [backup-simplify]: Simplify 1 into 1 29.702 * [backup-simplify]: Simplify (+ 0) into 0 29.702 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 29.703 * [backup-simplify]: Simplify (+ 0) into 0 29.703 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 29.704 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.704 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 29.704 * [backup-simplify]: Simplify (- 0) into 0 29.704 * [backup-simplify]: Simplify (+ 0 0) into 0 29.705 * [backup-simplify]: Simplify (+ (* (cos phi1) 1) (* 0 0)) into (cos phi1) 29.705 * [backup-simplify]: Simplify (+ 0) into 0 29.706 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 29.706 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.707 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 29.707 * [backup-simplify]: Simplify (- 0) into 0 29.707 * [backup-simplify]: Simplify (+ 0 0) into 0 29.707 * [backup-simplify]: Simplify (+ (* (cos theta) (cos phi1)) (* 0 0)) into (* (cos theta) (cos phi1)) 29.708 * [backup-simplify]: Simplify (+ 0) into 0 29.708 * [backup-simplify]: Simplify (+ 0) into 0 29.708 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 29.709 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.709 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 29.709 * [backup-simplify]: Simplify (+ 0 0) into 0 29.710 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 29.710 * [backup-simplify]: Simplify (+ (* (cos theta) (cos phi1)) 0) into (* (cos theta) (cos phi1)) 29.710 * [backup-simplify]: Simplify (+ 0) into 0 29.710 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 29.711 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.711 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 29.711 * [backup-simplify]: Simplify (+ 0 0) into 0 29.712 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos theta) (cos phi1))) (* 0 (sin phi1))) into (* (sin phi1) (* (cos theta) (cos phi1))) 29.712 * [backup-simplify]: Simplify (- (* (sin phi1) (* (cos theta) (cos phi1)))) into (- (* (sin phi1) (* (cos theta) (cos phi1)))) 29.712 * [backup-simplify]: Simplify (+ 0 (- (* (sin phi1) (* (cos theta) (cos phi1))))) into (- (* (sin phi1) (* (cos theta) (cos phi1)))) 29.712 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (* (cos theta) (cos phi1)))) in phi1 29.712 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos theta) (cos phi1))) 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 theta) (cos phi1)) 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) 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 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 29.712 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 29.712 * [backup-simplify]: Simplify (- 0) into 0 29.713 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 29.713 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 29.713 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 29.713 * [backup-simplify]: Simplify (- 0) into 0 29.713 * [taylor]: Taking taylor expansion of 0 in theta 29.713 * [backup-simplify]: Simplify 0 into 0 29.713 * [backup-simplify]: Simplify 0 into 0 29.713 * [backup-simplify]: Simplify (+ 0 0) into 0 29.713 * [taylor]: Taking taylor expansion of 0 in theta 29.713 * [backup-simplify]: Simplify 0 into 0 29.713 * [backup-simplify]: Simplify 0 into 0 29.713 * [backup-simplify]: Simplify 0 into 0 29.714 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 29.714 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.715 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.715 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 29.716 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.716 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 29.717 * [backup-simplify]: Simplify (- 0) into 0 29.717 * [backup-simplify]: Simplify (+ 0 0) into 0 29.717 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 1) (* 0 0))) into 0 29.718 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.718 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 29.719 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.719 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 29.720 * [backup-simplify]: Simplify (- 0) into 0 29.720 * [backup-simplify]: Simplify (+ 0 0) into 0 29.720 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 (cos phi1)) (* 0 0))) into 0 29.721 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 29.722 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.722 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 29.723 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.723 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 29.723 * [backup-simplify]: Simplify (+ 0 0) into 0 29.724 * [backup-simplify]: Simplify (+ (* (sin phi1) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (sin phi1))) 29.724 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (sin phi1)))) into (- (* 1/2 (sin phi1))) 29.724 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.725 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 29.725 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.726 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 29.726 * [backup-simplify]: Simplify (+ 0 0) into 0 29.726 * [backup-simplify]: Simplify (+ (* (sin phi1) (- (* 1/2 (sin phi1)))) (+ (* 0 (* (cos theta) (cos phi1))) (* 0 (sin phi1)))) into (- (* 1/2 (pow (sin phi1) 2))) 29.726 * [backup-simplify]: Simplify (- (- (* 1/2 (pow (sin phi1) 2)))) into (* 1/2 (pow (sin phi1) 2)) 29.726 * [backup-simplify]: Simplify (+ -1/2 (* 1/2 (pow (sin phi1) 2))) into (- (* 1/2 (pow (sin phi1) 2)) 1/2) 29.726 * [taylor]: Taking taylor expansion of (- (* 1/2 (pow (sin phi1) 2)) 1/2) in phi1 29.726 * [taylor]: Taking taylor expansion of (* 1/2 (pow (sin phi1) 2)) in phi1 29.726 * [taylor]: Taking taylor expansion of 1/2 in phi1 29.726 * [backup-simplify]: Simplify 1/2 into 1/2 29.726 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 29.726 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 29.726 * [taylor]: Taking taylor expansion of phi1 in phi1 29.726 * [backup-simplify]: Simplify 0 into 0 29.726 * [backup-simplify]: Simplify 1 into 1 29.727 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 29.727 * [taylor]: Taking taylor expansion of 1/2 in phi1 29.727 * [backup-simplify]: Simplify 1/2 into 1/2 29.728 * [backup-simplify]: Simplify (- 1/2) into -1/2 29.728 * [backup-simplify]: Simplify (+ 0 -1/2) into -1/2 29.728 * [taylor]: Taking taylor expansion of -1/2 in theta 29.728 * [backup-simplify]: Simplify -1/2 into -1/2 29.728 * [backup-simplify]: Simplify -1/2 into -1/2 29.729 * [backup-simplify]: Simplify (+ 0) into 0 29.729 * [backup-simplify]: Simplify (+ 0) into 0 29.730 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 29.731 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.731 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 29.732 * [backup-simplify]: Simplify (- 0) into 0 29.732 * [backup-simplify]: Simplify (+ 0 0) into 0 29.733 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 29.734 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 29.734 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos theta))) into (cos theta) 29.734 * [backup-simplify]: Simplify (- (cos theta)) into (- (cos theta)) 29.734 * [taylor]: Taking taylor expansion of (- (cos theta)) in theta 29.734 * [taylor]: Taking taylor expansion of (cos theta) in theta 29.734 * [taylor]: Taking taylor expansion of theta in theta 29.734 * [backup-simplify]: Simplify 0 into 0 29.734 * [backup-simplify]: Simplify 1 into 1 29.735 * [backup-simplify]: Simplify (- 1) into -1 29.735 * [backup-simplify]: Simplify -1 into -1 29.735 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* phi1 delta))) (+ (* -1/2 (pow (* 1 (* 1 delta)) 2)) 1)) into (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) 29.736 * [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)))) 29.736 * [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 29.736 * [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 29.736 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 29.736 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.736 * [taylor]: Taking taylor expansion of delta in theta 29.736 * [backup-simplify]: Simplify delta into delta 29.736 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.736 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.736 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.736 * [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 29.736 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 29.736 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 29.736 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 29.736 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 29.736 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 29.736 * [taylor]: Taking taylor expansion of theta in theta 29.736 * [backup-simplify]: Simplify 0 into 0 29.736 * [backup-simplify]: Simplify 1 into 1 29.737 * [backup-simplify]: Simplify (/ 1 1) into 1 29.737 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.737 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 29.737 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 29.737 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.737 * [taylor]: Taking taylor expansion of delta in theta 29.737 * [backup-simplify]: Simplify delta into delta 29.737 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.737 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.737 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.737 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 29.737 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.737 * [taylor]: Taking taylor expansion of phi1 in theta 29.737 * [backup-simplify]: Simplify phi1 into phi1 29.737 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.737 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.737 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.738 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 29.738 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 29.738 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.738 * [taylor]: Taking taylor expansion of phi1 in theta 29.738 * [backup-simplify]: Simplify phi1 into phi1 29.738 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.738 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.738 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.738 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 29.738 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.738 * [taylor]: Taking taylor expansion of delta in theta 29.738 * [backup-simplify]: Simplify delta into delta 29.738 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.738 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.738 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.738 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 29.738 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.738 * [taylor]: Taking taylor expansion of phi1 in theta 29.738 * [backup-simplify]: Simplify phi1 into phi1 29.738 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.738 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.739 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.739 * [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 29.739 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 29.739 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.739 * [taylor]: Taking taylor expansion of delta in phi1 29.739 * [backup-simplify]: Simplify delta into delta 29.739 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.739 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.739 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.739 * [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 29.739 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 29.739 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 29.739 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 29.739 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 29.739 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 29.739 * [taylor]: Taking taylor expansion of theta in phi1 29.739 * [backup-simplify]: Simplify theta into theta 29.739 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 29.739 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.739 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 29.739 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 29.739 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 29.739 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.739 * [taylor]: Taking taylor expansion of delta in phi1 29.740 * [backup-simplify]: Simplify delta into delta 29.740 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.740 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.740 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.740 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 29.740 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.740 * [taylor]: Taking taylor expansion of phi1 in phi1 29.740 * [backup-simplify]: Simplify 0 into 0 29.740 * [backup-simplify]: Simplify 1 into 1 29.740 * [backup-simplify]: Simplify (/ 1 1) into 1 29.740 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.740 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 29.740 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 29.740 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.741 * [taylor]: Taking taylor expansion of phi1 in phi1 29.741 * [backup-simplify]: Simplify 0 into 0 29.741 * [backup-simplify]: Simplify 1 into 1 29.741 * [backup-simplify]: Simplify (/ 1 1) into 1 29.741 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.741 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 29.741 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.741 * [taylor]: Taking taylor expansion of delta in phi1 29.741 * [backup-simplify]: Simplify delta into delta 29.741 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.741 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.741 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.741 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 29.741 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.741 * [taylor]: Taking taylor expansion of phi1 in phi1 29.742 * [backup-simplify]: Simplify 0 into 0 29.742 * [backup-simplify]: Simplify 1 into 1 29.742 * [backup-simplify]: Simplify (/ 1 1) into 1 29.742 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.742 * [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 29.742 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 29.742 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.742 * [taylor]: Taking taylor expansion of delta in delta 29.742 * [backup-simplify]: Simplify 0 into 0 29.742 * [backup-simplify]: Simplify 1 into 1 29.743 * [backup-simplify]: Simplify (/ 1 1) into 1 29.743 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.743 * [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 29.743 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 29.743 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 29.743 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 29.743 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 29.743 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 29.743 * [taylor]: Taking taylor expansion of theta in delta 29.743 * [backup-simplify]: Simplify theta into theta 29.743 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 29.743 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.743 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 29.743 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 29.743 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 29.743 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.743 * [taylor]: Taking taylor expansion of delta in delta 29.743 * [backup-simplify]: Simplify 0 into 0 29.743 * [backup-simplify]: Simplify 1 into 1 29.744 * [backup-simplify]: Simplify (/ 1 1) into 1 29.744 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.744 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 29.744 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.744 * [taylor]: Taking taylor expansion of phi1 in delta 29.744 * [backup-simplify]: Simplify phi1 into phi1 29.744 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.744 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.744 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.744 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 29.744 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 29.744 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.744 * [taylor]: Taking taylor expansion of phi1 in delta 29.744 * [backup-simplify]: Simplify phi1 into phi1 29.744 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.744 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.745 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.745 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 29.745 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.745 * [taylor]: Taking taylor expansion of delta in delta 29.745 * [backup-simplify]: Simplify 0 into 0 29.745 * [backup-simplify]: Simplify 1 into 1 29.745 * [backup-simplify]: Simplify (/ 1 1) into 1 29.745 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.745 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 29.745 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.745 * [taylor]: Taking taylor expansion of phi1 in delta 29.745 * [backup-simplify]: Simplify phi1 into phi1 29.745 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.745 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.745 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.746 * [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 29.746 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 29.746 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.746 * [taylor]: Taking taylor expansion of delta in delta 29.746 * [backup-simplify]: Simplify 0 into 0 29.746 * [backup-simplify]: Simplify 1 into 1 29.746 * [backup-simplify]: Simplify (/ 1 1) into 1 29.746 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.746 * [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 29.746 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 29.746 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 29.746 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 29.746 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 29.746 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 29.746 * [taylor]: Taking taylor expansion of theta in delta 29.746 * [backup-simplify]: Simplify theta into theta 29.747 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 29.747 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.747 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 29.747 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 29.747 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 29.747 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.747 * [taylor]: Taking taylor expansion of delta in delta 29.747 * [backup-simplify]: Simplify 0 into 0 29.747 * [backup-simplify]: Simplify 1 into 1 29.747 * [backup-simplify]: Simplify (/ 1 1) into 1 29.747 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.747 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 29.747 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.747 * [taylor]: Taking taylor expansion of phi1 in delta 29.747 * [backup-simplify]: Simplify phi1 into phi1 29.748 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.748 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.748 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.748 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 29.748 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 29.748 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.748 * [taylor]: Taking taylor expansion of phi1 in delta 29.748 * [backup-simplify]: Simplify phi1 into phi1 29.748 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.748 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.748 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.748 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 29.748 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.748 * [taylor]: Taking taylor expansion of delta in delta 29.748 * [backup-simplify]: Simplify 0 into 0 29.748 * [backup-simplify]: Simplify 1 into 1 29.749 * [backup-simplify]: Simplify (/ 1 1) into 1 29.749 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.749 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 29.749 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.749 * [taylor]: Taking taylor expansion of phi1 in delta 29.749 * [backup-simplify]: Simplify phi1 into phi1 29.749 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.749 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.749 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.749 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 29.749 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 29.750 * [backup-simplify]: Simplify (- 0) into 0 29.750 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 29.750 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 29.750 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 29.750 * [backup-simplify]: Simplify (- 0) into 0 29.751 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 29.751 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (cos (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 delta))) 29.751 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 29.751 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 29.751 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 29.751 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 29.751 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 29.752 * [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))))) 29.752 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 29.752 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 29.752 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 29.752 * [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))) 29.753 * [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)))) 29.754 * [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)))) 29.754 * [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 29.754 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 29.754 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.754 * [taylor]: Taking taylor expansion of delta in phi1 29.754 * [backup-simplify]: Simplify delta into delta 29.754 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.754 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.754 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.754 * [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 29.754 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in phi1 29.754 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 29.755 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.755 * [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 1) into 1 29.755 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.755 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in phi1 29.755 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 29.755 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.755 * [taylor]: Taking taylor expansion of phi1 in phi1 29.755 * [backup-simplify]: Simplify 0 into 0 29.755 * [backup-simplify]: Simplify 1 into 1 29.756 * [backup-simplify]: Simplify (/ 1 1) into 1 29.756 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.756 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in phi1 29.756 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 29.756 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 29.756 * [taylor]: Taking taylor expansion of theta in phi1 29.756 * [backup-simplify]: Simplify theta into theta 29.756 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 29.756 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.756 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 29.756 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 29.756 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.756 * [taylor]: Taking taylor expansion of delta in phi1 29.756 * [backup-simplify]: Simplify delta into delta 29.756 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.756 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.756 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.757 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in phi1 29.757 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 29.757 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.757 * [taylor]: Taking taylor expansion of delta in phi1 29.757 * [backup-simplify]: Simplify delta into delta 29.757 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.757 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.757 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.757 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 29.757 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 29.757 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.757 * [taylor]: Taking taylor expansion of phi1 in phi1 29.757 * [backup-simplify]: Simplify 0 into 0 29.757 * [backup-simplify]: Simplify 1 into 1 29.757 * [backup-simplify]: Simplify (/ 1 1) into 1 29.757 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.758 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 29.758 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 29.758 * [backup-simplify]: Simplify (- 0) into 0 29.758 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 29.758 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 29.758 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 29.759 * [backup-simplify]: Simplify (- 0) into 0 29.759 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 29.759 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 29.759 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 29.759 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 29.759 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 29.759 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) 29.760 * [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))))) 29.760 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 29.760 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 29.760 * [backup-simplify]: Simplify (- 0) into 0 29.760 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 29.761 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 29.761 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 29.761 * [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)))) 29.762 * [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)))) 29.763 * [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)))) 29.763 * [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 29.763 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 29.763 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.763 * [taylor]: Taking taylor expansion of delta in theta 29.763 * [backup-simplify]: Simplify delta into delta 29.763 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.763 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.763 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.763 * [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 29.763 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) in theta 29.763 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 29.763 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.763 * [taylor]: Taking taylor expansion of phi1 in theta 29.763 * [backup-simplify]: Simplify phi1 into phi1 29.763 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.764 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.764 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.764 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) in theta 29.764 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 29.764 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.764 * [taylor]: Taking taylor expansion of delta in theta 29.764 * [backup-simplify]: Simplify delta into delta 29.764 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.764 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.764 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.764 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 phi1))) in theta 29.764 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 29.764 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 29.764 * [taylor]: Taking taylor expansion of theta in theta 29.764 * [backup-simplify]: Simplify 0 into 0 29.764 * [backup-simplify]: Simplify 1 into 1 29.765 * [backup-simplify]: Simplify (/ 1 1) into 1 29.765 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.765 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 29.765 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.765 * [taylor]: Taking taylor expansion of phi1 in theta 29.765 * [backup-simplify]: Simplify phi1 into phi1 29.765 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.765 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.765 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.765 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in theta 29.765 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 29.765 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.765 * [taylor]: Taking taylor expansion of delta in theta 29.765 * [backup-simplify]: Simplify delta into delta 29.765 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.766 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.766 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.766 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 29.766 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 29.766 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.766 * [taylor]: Taking taylor expansion of phi1 in theta 29.766 * [backup-simplify]: Simplify phi1 into phi1 29.766 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.766 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.766 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.766 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 29.766 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 29.766 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 29.766 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 29.766 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 29.767 * [backup-simplify]: Simplify (- 0) into 0 29.767 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 29.767 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 29.767 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 29.768 * [backup-simplify]: Simplify (- 0) into 0 29.768 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 29.768 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 29.768 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 29.768 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 29.768 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 29.768 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 29.768 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 29.768 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 phi1))) into (* (cos (/ 1 theta)) (sin (/ 1 phi1))) 29.769 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) into (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 29.769 * [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))))) 29.769 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 29.769 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 29.769 * [backup-simplify]: Simplify (- 0) into 0 29.770 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 29.770 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 29.770 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 29.770 * [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)))) 29.771 * [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))))))) 29.772 * [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))))))) 29.772 * [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))))) 29.773 * [backup-simplify]: Simplify (+ 0) into 0 29.774 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 29.774 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.774 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.775 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 29.775 * [backup-simplify]: Simplify (+ 0 0) into 0 29.776 * [backup-simplify]: Simplify (+ 0) into 0 29.776 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 29.776 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.777 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.778 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 29.778 * [backup-simplify]: Simplify (- 0) into 0 29.779 * [backup-simplify]: Simplify (+ 0 0) into 0 29.779 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 29.779 * [backup-simplify]: Simplify (+ 0) into 0 29.780 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 29.780 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 29.781 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.781 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 29.781 * [backup-simplify]: Simplify (- 0) into 0 29.782 * [backup-simplify]: Simplify (+ 0 0) into 0 29.782 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta))))) into 0 29.782 * [backup-simplify]: Simplify (+ 0) into 0 29.783 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 29.783 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.784 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.784 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 29.785 * [backup-simplify]: Simplify (+ 0 0) into 0 29.785 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 29.785 * [backup-simplify]: Simplify (+ 0 0) into 0 29.786 * [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 29.786 * [backup-simplify]: Simplify (- 0) into 0 29.786 * [backup-simplify]: Simplify (+ 0 0) into 0 29.786 * [taylor]: Taking taylor expansion of 0 in phi1 29.786 * [backup-simplify]: Simplify 0 into 0 29.786 * [taylor]: Taking taylor expansion of 0 in theta 29.786 * [backup-simplify]: Simplify 0 into 0 29.787 * [backup-simplify]: Simplify 0 into 0 29.787 * [backup-simplify]: Simplify (+ 0) into 0 29.787 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 29.787 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.788 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.788 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 29.788 * [backup-simplify]: Simplify (- 0) into 0 29.788 * [backup-simplify]: Simplify (+ 0 0) into 0 29.789 * [backup-simplify]: Simplify (+ 0) into 0 29.789 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 29.789 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.790 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.790 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 29.790 * [backup-simplify]: Simplify (+ 0 0) into 0 29.790 * [backup-simplify]: Simplify (+ 0) into 0 29.791 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 29.791 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 29.791 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.792 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 29.792 * [backup-simplify]: Simplify (- 0) into 0 29.792 * [backup-simplify]: Simplify (+ 0 0) into 0 29.792 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 29.792 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 29.792 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))))) into 0 29.793 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 29.793 * [backup-simplify]: Simplify (+ 0) into 0 29.793 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 29.793 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.794 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.794 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 29.794 * [backup-simplify]: Simplify (- 0) into 0 29.795 * [backup-simplify]: Simplify (+ 0 0) into 0 29.795 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 29.795 * [backup-simplify]: Simplify (+ 0 0) into 0 29.795 * [backup-simplify]: Simplify (- 0) into 0 29.795 * [backup-simplify]: Simplify (+ 0 0) into 0 29.795 * [taylor]: Taking taylor expansion of 0 in theta 29.795 * [backup-simplify]: Simplify 0 into 0 29.796 * [backup-simplify]: Simplify 0 into 0 29.796 * [backup-simplify]: Simplify (+ 0) into 0 29.796 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 29.796 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.797 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.797 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 29.797 * [backup-simplify]: Simplify (- 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 (+ (* (sin (/ 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 (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 29.799 * [backup-simplify]: Simplify (+ 0 0) into 0 29.799 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 29.800 * [backup-simplify]: Simplify (+ 0) into 0 29.800 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 29.800 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.800 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.801 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 29.801 * [backup-simplify]: Simplify (+ 0 0) into 0 29.801 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) into 0 29.801 * [backup-simplify]: Simplify (+ 0) into 0 29.802 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 29.802 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.802 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.803 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 29.803 * [backup-simplify]: Simplify (- 0) into 0 29.803 * [backup-simplify]: Simplify (+ 0 0) into 0 29.803 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 29.803 * [backup-simplify]: Simplify (+ 0) into 0 29.804 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 29.804 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.804 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.805 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 29.805 * [backup-simplify]: Simplify (+ 0 0) into 0 29.805 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 29.805 * [backup-simplify]: Simplify (+ 0) into 0 29.806 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 29.806 * [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 29.807 * [backup-simplify]: Simplify (- 0) into 0 29.807 * [backup-simplify]: Simplify (+ 0 0) into 0 29.807 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 29.808 * [backup-simplify]: Simplify (+ 0 0) into 0 29.808 * [backup-simplify]: Simplify (- 0) into 0 29.811 * [backup-simplify]: Simplify (+ 0 0) into 0 29.811 * [backup-simplify]: Simplify 0 into 0 29.812 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.813 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.813 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.813 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.814 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.814 * [backup-simplify]: Simplify (+ 0 0) into 0 29.814 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.815 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.815 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.816 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.816 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.816 * [backup-simplify]: Simplify (- 0) into 0 29.816 * [backup-simplify]: Simplify (+ 0 0) into 0 29.817 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 29.817 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.818 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.818 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 29.818 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.819 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.819 * [backup-simplify]: Simplify (- 0) into 0 29.819 * [backup-simplify]: Simplify (+ 0 0) into 0 29.820 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta)))))) into 0 29.820 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.821 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.821 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.821 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.821 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.822 * [backup-simplify]: Simplify (+ 0 0) into 0 29.822 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 29.822 * [backup-simplify]: Simplify (+ 0 0) into 0 29.823 * [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 29.823 * [backup-simplify]: Simplify (- 0) into 0 29.823 * [backup-simplify]: Simplify (+ 0 0) into 0 29.823 * [taylor]: Taking taylor expansion of 0 in phi1 29.823 * [backup-simplify]: Simplify 0 into 0 29.823 * [taylor]: Taking taylor expansion of 0 in theta 29.823 * [backup-simplify]: Simplify 0 into 0 29.823 * [backup-simplify]: Simplify 0 into 0 29.823 * [taylor]: Taking taylor expansion of 0 in theta 29.823 * [backup-simplify]: Simplify 0 into 0 29.823 * [backup-simplify]: Simplify 0 into 0 29.824 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.824 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.824 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.825 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.825 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.826 * [backup-simplify]: Simplify (- 0) into 0 29.826 * [backup-simplify]: Simplify (+ 0 0) into 0 29.826 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.827 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.827 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.827 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.828 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.828 * [backup-simplify]: Simplify (+ 0 0) into 0 29.828 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.829 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.829 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 29.829 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.830 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.830 * [backup-simplify]: Simplify (- 0) into 0 29.830 * [backup-simplify]: Simplify (+ 0 0) into 0 29.831 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 29.831 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 29.831 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))))) into 0 29.832 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 29.832 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.833 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.833 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.833 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.833 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.834 * [backup-simplify]: Simplify (- 0) into 0 29.834 * [backup-simplify]: Simplify (+ 0 0) into 0 29.834 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 1 phi1)) 2)))) into 0 29.835 * [backup-simplify]: Simplify (+ 0 0) into 0 29.835 * [backup-simplify]: Simplify (- 0) into 0 29.835 * [backup-simplify]: Simplify (+ 0 0) into 0 29.835 * [taylor]: Taking taylor expansion of 0 in theta 29.835 * [backup-simplify]: Simplify 0 into 0 29.835 * [backup-simplify]: Simplify 0 into 0 29.835 * [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)))))) 29.836 * [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)))))) 29.836 * [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 29.836 * [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 29.836 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 29.836 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 29.836 * [taylor]: Taking taylor expansion of -1 in theta 29.836 * [backup-simplify]: Simplify -1 into -1 29.836 * [taylor]: Taking taylor expansion of delta in theta 29.836 * [backup-simplify]: Simplify delta into delta 29.836 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.836 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.836 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.836 * [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 29.836 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 29.836 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.836 * [taylor]: Taking taylor expansion of -1 in theta 29.836 * [backup-simplify]: Simplify -1 into -1 29.836 * [taylor]: Taking taylor expansion of phi1 in theta 29.836 * [backup-simplify]: Simplify phi1 into phi1 29.836 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.836 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.836 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.836 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 29.836 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 29.836 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 29.836 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 29.836 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 29.836 * [taylor]: Taking taylor expansion of -1 in theta 29.836 * [backup-simplify]: Simplify -1 into -1 29.836 * [taylor]: Taking taylor expansion of theta in theta 29.837 * [backup-simplify]: Simplify 0 into 0 29.837 * [backup-simplify]: Simplify 1 into 1 29.837 * [backup-simplify]: Simplify (/ -1 1) into -1 29.837 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.837 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 29.837 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 29.837 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.837 * [taylor]: Taking taylor expansion of -1 in theta 29.837 * [backup-simplify]: Simplify -1 into -1 29.837 * [taylor]: Taking taylor expansion of phi1 in theta 29.837 * [backup-simplify]: Simplify phi1 into phi1 29.837 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.837 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.837 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.837 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 29.837 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 29.837 * [taylor]: Taking taylor expansion of -1 in theta 29.837 * [backup-simplify]: Simplify -1 into -1 29.837 * [taylor]: Taking taylor expansion of delta in theta 29.837 * [backup-simplify]: Simplify delta into delta 29.837 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.837 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.837 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.837 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 29.837 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 29.837 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.837 * [taylor]: Taking taylor expansion of -1 in theta 29.837 * [backup-simplify]: Simplify -1 into -1 29.837 * [taylor]: Taking taylor expansion of phi1 in theta 29.837 * [backup-simplify]: Simplify phi1 into phi1 29.837 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.837 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.837 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.838 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 29.838 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 29.838 * [taylor]: Taking taylor expansion of -1 in theta 29.838 * [backup-simplify]: Simplify -1 into -1 29.838 * [taylor]: Taking taylor expansion of delta in theta 29.838 * [backup-simplify]: Simplify delta into delta 29.838 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.838 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.838 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.838 * [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 29.838 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 29.838 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 29.838 * [taylor]: Taking taylor expansion of -1 in phi1 29.838 * [backup-simplify]: Simplify -1 into -1 29.838 * [taylor]: Taking taylor expansion of delta in phi1 29.838 * [backup-simplify]: Simplify delta into delta 29.838 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.838 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.838 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.838 * [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 29.838 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 29.838 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.838 * [taylor]: Taking taylor expansion of -1 in phi1 29.838 * [backup-simplify]: Simplify -1 into -1 29.838 * [taylor]: Taking taylor expansion of phi1 in phi1 29.838 * [backup-simplify]: Simplify 0 into 0 29.838 * [backup-simplify]: Simplify 1 into 1 29.838 * [backup-simplify]: Simplify (/ -1 1) into -1 29.838 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.838 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 29.838 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 29.838 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 29.838 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 29.838 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 29.839 * [taylor]: Taking taylor expansion of -1 in phi1 29.839 * [backup-simplify]: Simplify -1 into -1 29.839 * [taylor]: Taking taylor expansion of theta in phi1 29.839 * [backup-simplify]: Simplify theta into theta 29.839 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 29.839 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.839 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 29.839 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 29.839 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 29.839 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.839 * [taylor]: Taking taylor expansion of -1 in phi1 29.839 * [backup-simplify]: Simplify -1 into -1 29.839 * [taylor]: Taking taylor expansion of phi1 in phi1 29.839 * [backup-simplify]: Simplify 0 into 0 29.839 * [backup-simplify]: Simplify 1 into 1 29.839 * [backup-simplify]: Simplify (/ -1 1) into -1 29.839 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.839 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 29.839 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 29.839 * [taylor]: Taking taylor expansion of -1 in phi1 29.839 * [backup-simplify]: Simplify -1 into -1 29.839 * [taylor]: Taking taylor expansion of delta in phi1 29.839 * [backup-simplify]: Simplify delta into delta 29.839 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.839 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.839 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.839 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 29.839 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 29.839 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.840 * [taylor]: Taking taylor expansion of -1 in phi1 29.840 * [backup-simplify]: Simplify -1 into -1 29.840 * [taylor]: Taking taylor expansion of phi1 in phi1 29.840 * [backup-simplify]: Simplify 0 into 0 29.840 * [backup-simplify]: Simplify 1 into 1 29.840 * [backup-simplify]: Simplify (/ -1 1) into -1 29.840 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.840 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 29.840 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 29.840 * [taylor]: Taking taylor expansion of -1 in phi1 29.840 * [backup-simplify]: Simplify -1 into -1 29.840 * [taylor]: Taking taylor expansion of delta in phi1 29.840 * [backup-simplify]: Simplify delta into delta 29.840 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.840 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.840 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.840 * [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 29.840 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 29.840 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 29.840 * [taylor]: Taking taylor expansion of -1 in delta 29.840 * [backup-simplify]: Simplify -1 into -1 29.840 * [taylor]: Taking taylor expansion of delta in delta 29.840 * [backup-simplify]: Simplify 0 into 0 29.840 * [backup-simplify]: Simplify 1 into 1 29.841 * [backup-simplify]: Simplify (/ -1 1) into -1 29.841 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.841 * [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 29.841 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 29.841 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.841 * [taylor]: Taking taylor expansion of -1 in delta 29.841 * [backup-simplify]: Simplify -1 into -1 29.841 * [taylor]: Taking taylor expansion of phi1 in delta 29.841 * [backup-simplify]: Simplify phi1 into phi1 29.841 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.841 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.841 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.841 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 29.841 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 29.841 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 29.841 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 29.841 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 29.841 * [taylor]: Taking taylor expansion of -1 in delta 29.841 * [backup-simplify]: Simplify -1 into -1 29.841 * [taylor]: Taking taylor expansion of theta in delta 29.841 * [backup-simplify]: Simplify theta into theta 29.841 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 29.841 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.841 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 29.841 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 29.841 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 29.841 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.841 * [taylor]: Taking taylor expansion of -1 in delta 29.841 * [backup-simplify]: Simplify -1 into -1 29.841 * [taylor]: Taking taylor expansion of phi1 in delta 29.841 * [backup-simplify]: Simplify phi1 into phi1 29.841 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.841 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.841 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.841 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 29.841 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 29.841 * [taylor]: Taking taylor expansion of -1 in delta 29.841 * [backup-simplify]: Simplify -1 into -1 29.841 * [taylor]: Taking taylor expansion of delta in delta 29.841 * [backup-simplify]: Simplify 0 into 0 29.841 * [backup-simplify]: Simplify 1 into 1 29.842 * [backup-simplify]: Simplify (/ -1 1) into -1 29.842 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.842 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 29.842 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 29.842 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.842 * [taylor]: Taking taylor expansion of -1 in delta 29.842 * [backup-simplify]: Simplify -1 into -1 29.842 * [taylor]: Taking taylor expansion of phi1 in delta 29.842 * [backup-simplify]: Simplify phi1 into phi1 29.842 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.842 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.842 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.842 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 29.842 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 29.842 * [taylor]: Taking taylor expansion of -1 in delta 29.842 * [backup-simplify]: Simplify -1 into -1 29.842 * [taylor]: Taking taylor expansion of delta in delta 29.842 * [backup-simplify]: Simplify 0 into 0 29.842 * [backup-simplify]: Simplify 1 into 1 29.842 * [backup-simplify]: Simplify (/ -1 1) into -1 29.842 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.842 * [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 29.842 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 29.842 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 29.842 * [taylor]: Taking taylor expansion of -1 in delta 29.842 * [backup-simplify]: Simplify -1 into -1 29.843 * [taylor]: Taking taylor expansion of delta in delta 29.843 * [backup-simplify]: Simplify 0 into 0 29.843 * [backup-simplify]: Simplify 1 into 1 29.843 * [backup-simplify]: Simplify (/ -1 1) into -1 29.843 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.843 * [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 29.843 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 29.843 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.843 * [taylor]: Taking taylor expansion of -1 in delta 29.843 * [backup-simplify]: Simplify -1 into -1 29.843 * [taylor]: Taking taylor expansion of phi1 in delta 29.843 * [backup-simplify]: Simplify phi1 into phi1 29.843 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.843 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.843 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.843 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 29.843 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 29.843 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 29.843 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 29.843 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 29.843 * [taylor]: Taking taylor expansion of -1 in delta 29.844 * [backup-simplify]: Simplify -1 into -1 29.844 * [taylor]: Taking taylor expansion of theta in delta 29.844 * [backup-simplify]: Simplify theta into theta 29.844 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 29.844 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.844 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 29.844 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 29.844 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 29.844 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.844 * [taylor]: Taking taylor expansion of -1 in delta 29.844 * [backup-simplify]: Simplify -1 into -1 29.844 * [taylor]: Taking taylor expansion of phi1 in delta 29.844 * [backup-simplify]: Simplify phi1 into phi1 29.844 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.844 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.844 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.844 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 29.844 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 29.844 * [taylor]: Taking taylor expansion of -1 in delta 29.844 * [backup-simplify]: Simplify -1 into -1 29.844 * [taylor]: Taking taylor expansion of delta in delta 29.844 * [backup-simplify]: Simplify 0 into 0 29.844 * [backup-simplify]: Simplify 1 into 1 29.845 * [backup-simplify]: Simplify (/ -1 1) into -1 29.845 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.845 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 29.845 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 29.845 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 29.845 * [taylor]: Taking taylor expansion of -1 in delta 29.845 * [backup-simplify]: Simplify -1 into -1 29.845 * [taylor]: Taking taylor expansion of phi1 in delta 29.845 * [backup-simplify]: Simplify phi1 into phi1 29.845 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.845 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.845 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.845 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 29.845 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 29.845 * [taylor]: Taking taylor expansion of -1 in delta 29.845 * [backup-simplify]: Simplify -1 into -1 29.845 * [taylor]: Taking taylor expansion of delta in delta 29.845 * [backup-simplify]: Simplify 0 into 0 29.846 * [backup-simplify]: Simplify 1 into 1 29.846 * [backup-simplify]: Simplify (/ -1 1) into -1 29.846 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.846 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 29.846 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 29.846 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 29.847 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 29.847 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 29.847 * [backup-simplify]: Simplify (- 0) into 0 29.847 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 29.847 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 29.847 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 29.848 * [backup-simplify]: Simplify (- 0) into 0 29.848 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 29.848 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 29.848 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 29.848 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 29.848 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 29.848 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 29.849 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 29.849 * [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)))) 29.849 * [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))))) 29.850 * [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))))))) 29.851 * [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))))))) 29.851 * [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 29.851 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 29.851 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 29.851 * [taylor]: Taking taylor expansion of -1 in phi1 29.851 * [backup-simplify]: Simplify -1 into -1 29.851 * [taylor]: Taking taylor expansion of delta in phi1 29.851 * [backup-simplify]: Simplify delta into delta 29.851 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.851 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.851 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.851 * [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 29.851 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in phi1 29.851 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 29.851 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 29.851 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.851 * [taylor]: Taking taylor expansion of -1 in phi1 29.851 * [backup-simplify]: Simplify -1 into -1 29.851 * [taylor]: Taking taylor expansion of phi1 in phi1 29.851 * [backup-simplify]: Simplify 0 into 0 29.851 * [backup-simplify]: Simplify 1 into 1 29.852 * [backup-simplify]: Simplify (/ -1 1) into -1 29.852 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.852 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 29.852 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 29.852 * [taylor]: Taking taylor expansion of -1 in phi1 29.852 * [backup-simplify]: Simplify -1 into -1 29.852 * [taylor]: Taking taylor expansion of delta in phi1 29.852 * [backup-simplify]: Simplify delta into delta 29.852 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.852 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.852 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.853 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) in phi1 29.853 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 29.853 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.853 * [taylor]: Taking taylor expansion of -1 in phi1 29.853 * [backup-simplify]: Simplify -1 into -1 29.853 * [taylor]: Taking taylor expansion of phi1 in phi1 29.853 * [backup-simplify]: Simplify 0 into 0 29.853 * [backup-simplify]: Simplify 1 into 1 29.853 * [backup-simplify]: Simplify (/ -1 1) into -1 29.853 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.853 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))) in phi1 29.853 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 29.853 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 29.853 * [taylor]: Taking taylor expansion of -1 in phi1 29.853 * [backup-simplify]: Simplify -1 into -1 29.853 * [taylor]: Taking taylor expansion of theta in phi1 29.853 * [backup-simplify]: Simplify theta into theta 29.854 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 29.854 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.854 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 29.854 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 phi1))) in phi1 29.854 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 29.854 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 29.854 * [taylor]: Taking taylor expansion of -1 in phi1 29.854 * [backup-simplify]: Simplify -1 into -1 29.854 * [taylor]: Taking taylor expansion of delta in phi1 29.854 * [backup-simplify]: Simplify delta into delta 29.854 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.854 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.854 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.854 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 29.854 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 29.854 * [taylor]: Taking taylor expansion of -1 in phi1 29.854 * [backup-simplify]: Simplify -1 into -1 29.854 * [taylor]: Taking taylor expansion of phi1 in phi1 29.854 * [backup-simplify]: Simplify 0 into 0 29.854 * [backup-simplify]: Simplify 1 into 1 29.855 * [backup-simplify]: Simplify (/ -1 1) into -1 29.855 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.855 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 29.855 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 29.855 * [backup-simplify]: Simplify (- 0) into 0 29.855 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 29.855 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 29.855 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 29.855 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 29.856 * [backup-simplify]: Simplify (- 0) into 0 29.856 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 29.856 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 29.856 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 29.856 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 29.856 * [backup-simplify]: Simplify (- 0) into 0 29.856 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 29.856 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 29.856 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 29.856 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 29.857 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 29.857 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 29.857 * [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))))) 29.857 * [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)))))) 29.857 * [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))))))) 29.858 * [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))))))) 29.858 * [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 29.858 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 29.858 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 29.858 * [taylor]: Taking taylor expansion of -1 in theta 29.858 * [backup-simplify]: Simplify -1 into -1 29.858 * [taylor]: Taking taylor expansion of delta in theta 29.858 * [backup-simplify]: Simplify delta into delta 29.858 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.858 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.858 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.858 * [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 29.858 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in theta 29.858 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in theta 29.858 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 29.858 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.858 * [taylor]: Taking taylor expansion of -1 in theta 29.858 * [backup-simplify]: Simplify -1 into -1 29.858 * [taylor]: Taking taylor expansion of phi1 in theta 29.858 * [backup-simplify]: Simplify phi1 into phi1 29.858 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.858 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.858 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.858 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 29.858 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 29.858 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 29.858 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 29.858 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 29.858 * [taylor]: Taking taylor expansion of -1 in theta 29.858 * [backup-simplify]: Simplify -1 into -1 29.858 * [taylor]: Taking taylor expansion of delta in theta 29.858 * [backup-simplify]: Simplify delta into delta 29.858 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.859 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.859 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.859 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) in theta 29.859 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 29.859 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.859 * [taylor]: Taking taylor expansion of -1 in theta 29.859 * [backup-simplify]: Simplify -1 into -1 29.859 * [taylor]: Taking taylor expansion of phi1 in theta 29.859 * [backup-simplify]: Simplify phi1 into phi1 29.859 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.859 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.859 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.859 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))) in theta 29.859 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 29.859 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 29.859 * [taylor]: Taking taylor expansion of -1 in theta 29.859 * [backup-simplify]: Simplify -1 into -1 29.859 * [taylor]: Taking taylor expansion of theta in theta 29.859 * [backup-simplify]: Simplify 0 into 0 29.859 * [backup-simplify]: Simplify 1 into 1 29.859 * [backup-simplify]: Simplify (/ -1 1) into -1 29.859 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 29.859 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 phi1))) in theta 29.859 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 29.859 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 29.859 * [taylor]: Taking taylor expansion of -1 in theta 29.859 * [backup-simplify]: Simplify -1 into -1 29.859 * [taylor]: Taking taylor expansion of delta in theta 29.859 * [backup-simplify]: Simplify delta into delta 29.859 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 29.859 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 29.859 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 29.860 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 29.860 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 29.860 * [taylor]: Taking taylor expansion of -1 in theta 29.860 * [backup-simplify]: Simplify -1 into -1 29.860 * [taylor]: Taking taylor expansion of phi1 in theta 29.860 * [backup-simplify]: Simplify phi1 into phi1 29.860 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 29.860 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 29.860 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 29.860 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 29.860 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 29.860 * [backup-simplify]: Simplify (- 0) into 0 29.860 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 29.860 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 29.860 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 29.860 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 29.861 * [backup-simplify]: Simplify (- 0) into 0 29.861 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 29.861 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 29.861 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 29.861 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 29.861 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 29.861 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 29.861 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 29.861 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 29.861 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 29.861 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 29.861 * [backup-simplify]: Simplify (- 0) into 0 29.861 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 29.861 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 29.862 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 29.862 * [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))))) 29.862 * [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)))))) 29.862 * [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))))))) 29.863 * [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))))))) 29.863 * [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))))))) 29.863 * [backup-simplify]: Simplify (+ 0) into 0 29.864 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 29.864 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.864 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.865 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 29.865 * [backup-simplify]: Simplify (- 0) into 0 29.865 * [backup-simplify]: Simplify (+ 0 0) into 0 29.865 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 29.865 * [backup-simplify]: Simplify (+ 0) into 0 29.866 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 29.866 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 29.866 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.867 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 29.867 * [backup-simplify]: Simplify (- 0) into 0 29.867 * [backup-simplify]: Simplify (+ 0 0) into 0 29.867 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 29.868 * [backup-simplify]: Simplify (+ 0) into 0 29.868 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 29.868 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.868 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.869 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 29.869 * [backup-simplify]: Simplify (+ 0 0) into 0 29.869 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 29.869 * [backup-simplify]: Simplify (+ 0 0) into 0 29.870 * [backup-simplify]: Simplify (+ 0) into 0 29.870 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 29.870 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.870 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.871 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 29.871 * [backup-simplify]: Simplify (+ 0 0) into 0 29.871 * [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 29.871 * [backup-simplify]: Simplify (- 0) into 0 29.872 * [backup-simplify]: Simplify (+ 0 0) into 0 29.872 * [taylor]: Taking taylor expansion of 0 in phi1 29.872 * [backup-simplify]: Simplify 0 into 0 29.872 * [taylor]: Taking taylor expansion of 0 in theta 29.872 * [backup-simplify]: Simplify 0 into 0 29.872 * [backup-simplify]: Simplify 0 into 0 29.872 * [backup-simplify]: Simplify (+ 0) into 0 29.872 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 29.872 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.873 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.873 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 29.873 * [backup-simplify]: Simplify (- 0) into 0 29.874 * [backup-simplify]: Simplify (+ 0 0) into 0 29.874 * [backup-simplify]: Simplify (+ 0) into 0 29.874 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 29.874 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.875 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.875 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 29.875 * [backup-simplify]: Simplify (- 0) into 0 29.876 * [backup-simplify]: Simplify (+ 0 0) into 0 29.876 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 29.876 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 29.876 * [backup-simplify]: Simplify (+ 0) into 0 29.876 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 29.877 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.877 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.877 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 29.878 * [backup-simplify]: Simplify (+ 0 0) into 0 29.878 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 29.878 * [backup-simplify]: Simplify (+ 0) into 0 29.878 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 29.878 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 29.879 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.879 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 29.879 * [backup-simplify]: Simplify (- 0) into 0 29.879 * [backup-simplify]: Simplify (+ 0 0) into 0 29.880 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 29.880 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 29.880 * [backup-simplify]: Simplify (+ 0 0) into 0 29.880 * [backup-simplify]: Simplify (- 0) into 0 29.880 * [backup-simplify]: Simplify (+ 0 0) into 0 29.880 * [taylor]: Taking taylor expansion of 0 in theta 29.881 * [backup-simplify]: Simplify 0 into 0 29.881 * [backup-simplify]: Simplify 0 into 0 29.881 * [backup-simplify]: Simplify (+ 0) into 0 29.881 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 29.881 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.882 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.882 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 29.882 * [backup-simplify]: Simplify (- 0) into 0 29.882 * [backup-simplify]: Simplify (+ 0 0) into 0 29.883 * [backup-simplify]: Simplify (+ 0) into 0 29.883 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 29.883 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.883 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.884 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 29.884 * [backup-simplify]: Simplify (- 0) into 0 29.884 * [backup-simplify]: Simplify (+ 0 0) into 0 29.884 * [backup-simplify]: Simplify (+ 0) into 0 29.885 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 29.885 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.885 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.886 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 29.886 * [backup-simplify]: Simplify (+ 0 0) into 0 29.886 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 29.886 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 29.886 * [backup-simplify]: Simplify (+ 0) into 0 29.887 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 29.887 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.888 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.888 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 29.888 * [backup-simplify]: Simplify (- 0) into 0 29.889 * [backup-simplify]: Simplify (+ 0 0) into 0 29.889 * [backup-simplify]: Simplify (+ 0) into 0 29.890 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 29.890 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 29.891 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.891 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 29.891 * [backup-simplify]: Simplify (+ 0 0) into 0 29.892 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 29.892 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 29.892 * [backup-simplify]: Simplify (+ 0) into 0 29.893 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 29.893 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 29.894 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.894 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 29.895 * [backup-simplify]: Simplify (+ 0 0) into 0 29.895 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 29.895 * [backup-simplify]: Simplify (+ 0 0) into 0 29.896 * [backup-simplify]: Simplify (- 0) into 0 29.896 * [backup-simplify]: Simplify (+ 0 0) into 0 29.896 * [backup-simplify]: Simplify 0 into 0 29.897 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.898 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.898 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.899 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.899 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.900 * [backup-simplify]: Simplify (- 0) into 0 29.900 * [backup-simplify]: Simplify (+ 0 0) into 0 29.901 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 29.902 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.902 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.903 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 29.903 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.904 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.904 * [backup-simplify]: Simplify (- 0) into 0 29.905 * [backup-simplify]: Simplify (+ 0 0) into 0 29.905 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 29.906 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.907 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.907 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.908 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.908 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.909 * [backup-simplify]: Simplify (+ 0 0) into 0 29.909 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 29.910 * [backup-simplify]: Simplify (+ 0 0) into 0 29.911 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.911 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 29.912 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 29.913 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.914 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 29.914 * [backup-simplify]: Simplify (+ 0 0) into 0 29.915 * [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 29.915 * [backup-simplify]: Simplify (- 0) into 0 29.916 * [backup-simplify]: Simplify (+ 0 0) into 0 29.916 * [taylor]: Taking taylor expansion of 0 in phi1 29.916 * [backup-simplify]: Simplify 0 into 0 29.916 * [taylor]: Taking taylor expansion of 0 in theta 29.916 * [backup-simplify]: Simplify 0 into 0 29.916 * [backup-simplify]: Simplify 0 into 0 29.916 * [taylor]: Taking taylor expansion of 0 in theta 29.916 * [backup-simplify]: Simplify 0 into 0 29.916 * [backup-simplify]: Simplify 0 into 0 29.917 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.918 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.918 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.919 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.920 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.920 * [backup-simplify]: Simplify (- 0) into 0 29.920 * [backup-simplify]: Simplify (+ 0 0) into 0 29.924 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.925 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.925 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.926 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.926 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.927 * [backup-simplify]: Simplify (- 0) into 0 29.927 * [backup-simplify]: Simplify (+ 0 0) into 0 29.927 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 29.928 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 29.929 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.930 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.930 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 29.931 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.931 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.932 * [backup-simplify]: Simplify (+ 0 0) into 0 29.932 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 phi1))))) into 0 29.933 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.934 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 29.934 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 29.935 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.935 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 29.936 * [backup-simplify]: Simplify (- 0) into 0 29.936 * [backup-simplify]: Simplify (+ 0 0) into 0 29.937 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 29.937 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))))) into 0 29.938 * [backup-simplify]: Simplify (+ 0 0) into 0 29.938 * [backup-simplify]: Simplify (- 0) into 0 29.938 * [backup-simplify]: Simplify (+ 0 0) into 0 29.938 * [taylor]: Taking taylor expansion of 0 in theta 29.938 * [backup-simplify]: Simplify 0 into 0 29.938 * [backup-simplify]: Simplify 0 into 0 29.939 * [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)))))) 29.939 * * * * [progress]: [ 2 / 4 ] generating series at (2 1 2 2 2 1) 29.940 * [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)))) 29.940 * [approximate]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in (theta phi1 delta) around 0 29.940 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 29.940 * [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)))) 29.940 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 29.940 * [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)))) 29.940 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 29.941 * [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)))) 29.941 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 29.941 * [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)))) 29.941 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 29.941 * [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)))) 29.941 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 29.941 * [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)))) 29.941 * [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)))) 29.942 * [taylor]: Taking taylor expansion of 0 in phi1 29.942 * [backup-simplify]: Simplify 0 into 0 29.942 * [taylor]: Taking taylor expansion of 0 in delta 29.942 * [backup-simplify]: Simplify 0 into 0 29.942 * [backup-simplify]: Simplify 0 into 0 29.942 * [taylor]: Taking taylor expansion of 0 in delta 29.942 * [backup-simplify]: Simplify 0 into 0 29.942 * [backup-simplify]: Simplify 0 into 0 29.942 * [backup-simplify]: Simplify 0 into 0 29.942 * [taylor]: Taking taylor expansion of 0 in phi1 29.942 * [backup-simplify]: Simplify 0 into 0 29.942 * [taylor]: Taking taylor expansion of 0 in delta 29.942 * [backup-simplify]: Simplify 0 into 0 29.942 * [backup-simplify]: Simplify 0 into 0 29.942 * [taylor]: Taking taylor expansion of 0 in delta 29.942 * [backup-simplify]: Simplify 0 into 0 29.942 * [backup-simplify]: Simplify 0 into 0 29.942 * [taylor]: Taking taylor expansion of 0 in delta 29.942 * [backup-simplify]: Simplify 0 into 0 29.942 * [backup-simplify]: Simplify 0 into 0 29.942 * [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)))) 29.943 * [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))))) 29.943 * [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 29.943 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in delta 29.943 * [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))))) 29.943 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in phi1 29.943 * [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))))) 29.943 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in theta 29.944 * [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))))) 29.944 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in theta 29.944 * [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))))) 29.944 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in phi1 29.944 * [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))))) 29.944 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in delta 29.945 * [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))))) 29.945 * [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))))) 29.945 * [taylor]: Taking taylor expansion of 0 in phi1 29.945 * [backup-simplify]: Simplify 0 into 0 29.945 * [taylor]: Taking taylor expansion of 0 in delta 29.945 * [backup-simplify]: Simplify 0 into 0 29.945 * [backup-simplify]: Simplify 0 into 0 29.945 * [taylor]: Taking taylor expansion of 0 in delta 29.945 * [backup-simplify]: Simplify 0 into 0 29.945 * [backup-simplify]: Simplify 0 into 0 29.945 * [backup-simplify]: Simplify 0 into 0 29.945 * [taylor]: Taking taylor expansion of 0 in phi1 29.945 * [backup-simplify]: Simplify 0 into 0 29.945 * [taylor]: Taking taylor expansion of 0 in delta 29.945 * [backup-simplify]: Simplify 0 into 0 29.945 * [backup-simplify]: Simplify 0 into 0 29.945 * [taylor]: Taking taylor expansion of 0 in delta 29.945 * [backup-simplify]: Simplify 0 into 0 29.945 * [backup-simplify]: Simplify 0 into 0 29.946 * [taylor]: Taking taylor expansion of 0 in delta 29.946 * [backup-simplify]: Simplify 0 into 0 29.946 * [backup-simplify]: Simplify 0 into 0 29.946 * [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)))) 29.946 * [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))))) 29.946 * [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 29.946 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 29.947 * [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))))) 29.947 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 29.947 * [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))))) 29.947 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 29.947 * [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))))) 29.947 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 29.948 * [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))))) 29.948 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 29.948 * [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))))) 29.948 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 29.948 * [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))))) 29.949 * [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))))) 29.949 * [taylor]: Taking taylor expansion of 0 in phi1 29.949 * [backup-simplify]: Simplify 0 into 0 29.949 * [taylor]: Taking taylor expansion of 0 in delta 29.949 * [backup-simplify]: Simplify 0 into 0 29.949 * [backup-simplify]: Simplify 0 into 0 29.949 * [taylor]: Taking taylor expansion of 0 in delta 29.949 * [backup-simplify]: Simplify 0 into 0 29.949 * [backup-simplify]: Simplify 0 into 0 29.949 * [backup-simplify]: Simplify 0 into 0 29.949 * [taylor]: Taking taylor expansion of 0 in phi1 29.949 * [backup-simplify]: Simplify 0 into 0 29.949 * [taylor]: Taking taylor expansion of 0 in delta 29.949 * [backup-simplify]: Simplify 0 into 0 29.949 * [backup-simplify]: Simplify 0 into 0 29.949 * [taylor]: Taking taylor expansion of 0 in delta 29.949 * [backup-simplify]: Simplify 0 into 0 29.949 * [backup-simplify]: Simplify 0 into 0 29.949 * [taylor]: Taking taylor expansion of 0 in delta 29.949 * [backup-simplify]: Simplify 0 into 0 29.949 * [backup-simplify]: Simplify 0 into 0 29.950 * [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)))) 29.950 * * * * [progress]: [ 3 / 4 ] generating series at (2 1 1) 29.950 * [backup-simplify]: Simplify (* (sin delta) (* (cos phi1) (sin theta))) into (* (sin delta) (* (cos phi1) (sin theta))) 29.950 * [approximate]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in (delta phi1 theta) around 0 29.950 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in theta 29.950 * [taylor]: Taking taylor expansion of (sin delta) in theta 29.950 * [taylor]: Taking taylor expansion of delta in theta 29.950 * [backup-simplify]: Simplify delta into delta 29.950 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.950 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.950 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in theta 29.950 * [taylor]: Taking taylor expansion of (cos phi1) in theta 29.950 * [taylor]: Taking taylor expansion of phi1 in theta 29.950 * [backup-simplify]: Simplify phi1 into phi1 29.950 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.950 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.950 * [taylor]: Taking taylor expansion of (sin theta) in theta 29.951 * [taylor]: Taking taylor expansion of theta in theta 29.951 * [backup-simplify]: Simplify 0 into 0 29.951 * [backup-simplify]: Simplify 1 into 1 29.951 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in phi1 29.951 * [taylor]: Taking taylor expansion of (sin delta) in phi1 29.951 * [taylor]: Taking taylor expansion of delta in phi1 29.951 * [backup-simplify]: Simplify delta into delta 29.951 * [backup-simplify]: Simplify (sin delta) into (sin delta) 29.951 * [backup-simplify]: Simplify (cos delta) into (cos delta) 29.951 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in phi1 29.951 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 29.951 * [taylor]: Taking taylor expansion of phi1 in phi1 29.951 * [backup-simplify]: Simplify 0 into 0 29.951 * [backup-simplify]: Simplify 1 into 1 29.951 * [taylor]: Taking taylor expansion of (sin theta) in phi1 29.951 * [taylor]: Taking taylor expansion of theta in phi1 29.951 * [backup-simplify]: Simplify theta into theta 29.951 * [backup-simplify]: Simplify (sin theta) into (sin theta) 29.951 * [backup-simplify]: Simplify (cos theta) into (cos theta) 29.951 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in delta 29.951 * [taylor]: Taking taylor expansion of (sin delta) in delta 29.951 * [taylor]: Taking taylor expansion of delta in delta 29.951 * [backup-simplify]: Simplify 0 into 0 29.951 * [backup-simplify]: Simplify 1 into 1 29.951 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in delta 29.951 * [taylor]: Taking taylor expansion of (cos phi1) in delta 29.951 * [taylor]: Taking taylor expansion of phi1 in delta 29.951 * [backup-simplify]: Simplify phi1 into phi1 29.951 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.951 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.951 * [taylor]: Taking taylor expansion of (sin theta) in delta 29.951 * [taylor]: Taking taylor expansion of theta in delta 29.951 * [backup-simplify]: Simplify theta into theta 29.952 * [backup-simplify]: Simplify (sin theta) into (sin theta) 29.952 * [backup-simplify]: Simplify (cos theta) into (cos theta) 29.952 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in delta 29.952 * [taylor]: Taking taylor expansion of (sin delta) in delta 29.952 * [taylor]: Taking taylor expansion of delta in delta 29.952 * [backup-simplify]: Simplify 0 into 0 29.952 * [backup-simplify]: Simplify 1 into 1 29.952 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in delta 29.952 * [taylor]: Taking taylor expansion of (cos phi1) in delta 29.952 * [taylor]: Taking taylor expansion of phi1 in delta 29.952 * [backup-simplify]: Simplify phi1 into phi1 29.952 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 29.952 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 29.952 * [taylor]: Taking taylor expansion of (sin theta) in delta 29.952 * [taylor]: Taking taylor expansion of theta in delta 29.952 * [backup-simplify]: Simplify theta into theta 29.952 * [backup-simplify]: Simplify (sin theta) into (sin theta) 29.952 * [backup-simplify]: Simplify (cos theta) into (cos theta) 29.952 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 29.952 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 29.953 * [backup-simplify]: Simplify (- 0) into 0 29.953 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 29.953 * [backup-simplify]: Simplify (* (sin theta) 1) into (sin theta) 29.953 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 29.953 * [backup-simplify]: Simplify (+ (sin theta) 0) into (sin theta) 29.954 * [backup-simplify]: Simplify (* (cos phi1) (sin theta)) into (* (cos phi1) (sin theta)) 29.954 * [backup-simplify]: Simplify (* 0 (* (cos phi1) (sin theta))) into 0 29.954 * [taylor]: Taking taylor expansion of 0 in phi1 29.954 * [backup-simplify]: Simplify 0 into 0 29.954 * [taylor]: Taking taylor expansion of 0 in theta 29.954 * [backup-simplify]: Simplify 0 into 0 29.954 * [backup-simplify]: Simplify 0 into 0 29.955 * [backup-simplify]: Simplify (+ 0) into 0 29.955 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 1)) into 0 29.956 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.956 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 0)) into 0 29.957 * [backup-simplify]: Simplify (+ 0 0) into 0 29.957 * [backup-simplify]: Simplify (+ 0) into 0 29.958 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 29.958 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.959 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 29.959 * [backup-simplify]: Simplify (- 0) into 0 29.960 * [backup-simplify]: Simplify (+ 0 0) into 0 29.960 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 (sin theta))) into 0 29.960 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 29.961 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos phi1) (sin theta)))) into (* (cos phi1) (sin theta)) 29.961 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in phi1 29.961 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 29.961 * [taylor]: Taking taylor expansion of phi1 in phi1 29.961 * [backup-simplify]: Simplify 0 into 0 29.961 * [backup-simplify]: Simplify 1 into 1 29.961 * [taylor]: Taking taylor expansion of (sin theta) in phi1 29.961 * [taylor]: Taking taylor expansion of theta in phi1 29.961 * [backup-simplify]: Simplify theta into theta 29.961 * [backup-simplify]: Simplify (sin theta) into (sin theta) 29.961 * [backup-simplify]: Simplify (cos theta) into (cos theta) 29.961 * [backup-simplify]: Simplify (* (sin theta) 1) into (sin theta) 29.961 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 29.961 * [backup-simplify]: Simplify (+ (sin theta) 0) into (sin theta) 29.962 * [backup-simplify]: Simplify (* 1 (sin theta)) into (sin theta) 29.962 * [taylor]: Taking taylor expansion of (sin theta) in theta 29.962 * [taylor]: Taking taylor expansion of theta in theta 29.962 * [backup-simplify]: Simplify 0 into 0 29.962 * [backup-simplify]: Simplify 1 into 1 29.962 * [backup-simplify]: Simplify 0 into 0 29.962 * [taylor]: Taking taylor expansion of 0 in theta 29.962 * [backup-simplify]: Simplify 0 into 0 29.962 * [backup-simplify]: Simplify 0 into 0 29.962 * [backup-simplify]: Simplify 0 into 0 29.963 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.963 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 1))) into 0 29.964 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.965 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 0))) into 0 29.965 * [backup-simplify]: Simplify (+ 0 0) into 0 29.966 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 29.967 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 29.968 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.969 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 29.969 * [backup-simplify]: Simplify (- 0) into 0 29.969 * [backup-simplify]: Simplify (+ 0 0) into 0 29.970 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 (sin theta)))) into 0 29.971 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 29.971 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (cos phi1) (sin theta))))) into 0 29.971 * [taylor]: Taking taylor expansion of 0 in phi1 29.972 * [backup-simplify]: Simplify 0 into 0 29.972 * [taylor]: Taking taylor expansion of 0 in theta 29.972 * [backup-simplify]: Simplify 0 into 0 29.972 * [backup-simplify]: Simplify 0 into 0 29.972 * [backup-simplify]: Simplify (+ 0) into 0 29.973 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 1)) into 0 29.973 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.974 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 0)) into 0 29.974 * [backup-simplify]: Simplify (+ 0 0) into 0 29.975 * [backup-simplify]: Simplify (+ 0) into 0 29.975 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin theta))) into 0 29.975 * [taylor]: Taking taylor expansion of 0 in theta 29.975 * [backup-simplify]: Simplify 0 into 0 29.975 * [backup-simplify]: Simplify 0 into 0 29.975 * [backup-simplify]: Simplify 0 into 0 29.975 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) 29.975 * [approximate]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in (delta phi1 theta) around 0 29.975 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in theta 29.975 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 29.975 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.975 * [taylor]: Taking taylor expansion of phi1 in theta 29.976 * [backup-simplify]: Simplify phi1 into phi1 29.976 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.976 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.976 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.976 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in theta 29.976 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in theta 29.976 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 29.976 * [taylor]: Taking taylor expansion of theta in theta 29.976 * [backup-simplify]: Simplify 0 into 0 29.976 * [backup-simplify]: Simplify 1 into 1 29.976 * [backup-simplify]: Simplify (/ 1 1) into 1 29.976 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 29.976 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 29.976 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.976 * [taylor]: Taking taylor expansion of delta in theta 29.976 * [backup-simplify]: Simplify delta into delta 29.976 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.976 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.977 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.977 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in phi1 29.977 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 29.977 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.977 * [taylor]: Taking taylor expansion of phi1 in phi1 29.977 * [backup-simplify]: Simplify 0 into 0 29.977 * [backup-simplify]: Simplify 1 into 1 29.977 * [backup-simplify]: Simplify (/ 1 1) into 1 29.977 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.977 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in phi1 29.977 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in phi1 29.977 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 29.977 * [taylor]: Taking taylor expansion of theta in phi1 29.977 * [backup-simplify]: Simplify theta into theta 29.977 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 29.977 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 29.977 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.977 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 29.977 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.977 * [taylor]: Taking taylor expansion of delta in phi1 29.977 * [backup-simplify]: Simplify delta into delta 29.978 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.978 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.978 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.978 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in delta 29.978 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 29.978 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.978 * [taylor]: Taking taylor expansion of phi1 in delta 29.978 * [backup-simplify]: Simplify phi1 into phi1 29.978 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.978 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.978 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.978 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in delta 29.978 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in delta 29.978 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 29.978 * [taylor]: Taking taylor expansion of theta in delta 29.978 * [backup-simplify]: Simplify theta into theta 29.978 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 29.978 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 29.978 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.978 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 29.978 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.978 * [taylor]: Taking taylor expansion of delta in delta 29.978 * [backup-simplify]: Simplify 0 into 0 29.978 * [backup-simplify]: Simplify 1 into 1 29.979 * [backup-simplify]: Simplify (/ 1 1) into 1 29.979 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.979 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in delta 29.979 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 29.979 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 29.979 * [taylor]: Taking taylor expansion of phi1 in delta 29.979 * [backup-simplify]: Simplify phi1 into phi1 29.979 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.979 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.979 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.979 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in delta 29.979 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in delta 29.979 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 29.979 * [taylor]: Taking taylor expansion of theta in delta 29.979 * [backup-simplify]: Simplify theta into theta 29.979 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 29.979 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 29.979 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.979 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 29.979 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 29.979 * [taylor]: Taking taylor expansion of delta in delta 29.979 * [backup-simplify]: Simplify 0 into 0 29.979 * [backup-simplify]: Simplify 1 into 1 29.980 * [backup-simplify]: Simplify (/ 1 1) into 1 29.980 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.980 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 29.980 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 29.980 * [backup-simplify]: Simplify (- 0) into 0 29.981 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 29.981 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 1) into (sin (/ 1 theta)) 29.981 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 0) into 0 29.981 * [backup-simplify]: Simplify (+ (sin (/ 1 theta)) 0) into (sin (/ 1 theta)) 29.981 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (sin (/ 1 delta))) into (* (sin (/ 1 theta)) (sin (/ 1 delta))) 29.981 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) 29.981 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 29.981 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 29.981 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 29.981 * [taylor]: Taking taylor expansion of delta in phi1 29.981 * [backup-simplify]: Simplify delta into delta 29.981 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.981 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.981 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.981 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (cos (/ 1 phi1))) in phi1 29.981 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in phi1 29.981 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 29.981 * [taylor]: Taking taylor expansion of theta in phi1 29.981 * [backup-simplify]: Simplify theta into theta 29.982 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 29.982 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 29.982 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 29.982 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 29.982 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 29.982 * [taylor]: Taking taylor expansion of phi1 in phi1 29.982 * [backup-simplify]: Simplify 0 into 0 29.982 * [backup-simplify]: Simplify 1 into 1 29.982 * [backup-simplify]: Simplify (/ 1 1) into 1 29.982 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.982 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 29.982 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 29.982 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 29.982 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 1) into (sin (/ 1 theta)) 29.983 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 0) into 0 29.983 * [backup-simplify]: Simplify (+ (sin (/ 1 theta)) 0) into (sin (/ 1 theta)) 29.983 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (cos (/ 1 phi1))) into (* (sin (/ 1 theta)) (cos (/ 1 phi1))) 29.983 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) 29.983 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in theta 29.983 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 29.983 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 29.983 * [taylor]: Taking taylor expansion of phi1 in theta 29.983 * [backup-simplify]: Simplify phi1 into phi1 29.983 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 29.983 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 29.983 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 29.983 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in theta 29.983 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in theta 29.983 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 29.983 * [taylor]: Taking taylor expansion of theta in theta 29.983 * [backup-simplify]: Simplify 0 into 0 29.983 * [backup-simplify]: Simplify 1 into 1 29.984 * [backup-simplify]: Simplify (/ 1 1) into 1 29.984 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 29.984 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 29.984 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 29.984 * [taylor]: Taking taylor expansion of delta in theta 29.984 * [backup-simplify]: Simplify delta into delta 29.984 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 29.984 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 29.984 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 29.984 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 29.984 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 29.985 * [backup-simplify]: Simplify (- 0) into 0 29.985 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 29.985 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 29.985 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 29.985 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 29.985 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (sin (/ 1 delta))) into (* (sin (/ 1 theta)) (sin (/ 1 delta))) 29.985 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) 29.985 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) 29.986 * [backup-simplify]: Simplify (+ 0) into 0 29.986 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 1)) into 0 29.986 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 29.987 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.987 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 0)) into 0 29.988 * [backup-simplify]: Simplify (+ 0 0) into 0 29.988 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 29.988 * [backup-simplify]: Simplify (+ 0) into 0 29.989 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 29.989 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 29.989 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.990 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 29.990 * [backup-simplify]: Simplify (- 0) into 0 29.991 * [backup-simplify]: Simplify (+ 0 0) into 0 29.991 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 theta)) (sin (/ 1 delta))))) into 0 29.991 * [taylor]: Taking taylor expansion of 0 in phi1 29.991 * [backup-simplify]: Simplify 0 into 0 29.991 * [taylor]: Taking taylor expansion of 0 in theta 29.991 * [backup-simplify]: Simplify 0 into 0 29.991 * [backup-simplify]: Simplify 0 into 0 29.991 * [backup-simplify]: Simplify (+ 0) into 0 29.992 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 1)) into 0 29.992 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 29.993 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.993 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 0)) into 0 29.993 * [backup-simplify]: Simplify (+ 0 0) into 0 29.993 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 29.994 * [backup-simplify]: Simplify (+ 0) into 0 29.994 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 29.994 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.995 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.995 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 29.996 * [backup-simplify]: Simplify (+ 0 0) into 0 29.996 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (sin (/ 1 theta)) (cos (/ 1 phi1))))) into 0 29.996 * [taylor]: Taking taylor expansion of 0 in theta 29.996 * [backup-simplify]: Simplify 0 into 0 29.996 * [backup-simplify]: Simplify 0 into 0 29.996 * [backup-simplify]: Simplify (+ 0) into 0 29.997 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 29.997 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 29.998 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.998 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 29.998 * [backup-simplify]: Simplify (+ 0 0) into 0 29.999 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 29.999 * [backup-simplify]: Simplify (+ 0) into 0 29.999 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 29.999 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.000 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.001 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 30.001 * [backup-simplify]: Simplify (- 0) into 0 30.001 * [backup-simplify]: Simplify (+ 0 0) into 0 30.001 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 theta)) (sin (/ 1 delta))))) into 0 30.002 * [backup-simplify]: Simplify 0 into 0 30.002 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.003 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.003 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 30.004 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.004 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.005 * [backup-simplify]: Simplify (+ 0 0) into 0 30.005 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 30.006 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.007 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.007 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.007 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.008 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 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 (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 theta)) (sin (/ 1 delta)))))) into 0 30.009 * [taylor]: Taking taylor expansion of 0 in phi1 30.009 * [backup-simplify]: Simplify 0 into 0 30.009 * [taylor]: Taking taylor expansion of 0 in theta 30.009 * [backup-simplify]: Simplify 0 into 0 30.009 * [backup-simplify]: Simplify 0 into 0 30.009 * [taylor]: Taking taylor expansion of 0 in theta 30.009 * [backup-simplify]: Simplify 0 into 0 30.009 * [backup-simplify]: Simplify 0 into 0 30.010 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.011 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.011 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 30.012 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.012 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.013 * [backup-simplify]: Simplify (+ 0 0) into 0 30.013 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 30.014 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.014 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.015 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.015 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.016 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.016 * [backup-simplify]: Simplify (+ 0 0) into 0 30.017 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 30.017 * [taylor]: Taking taylor expansion of 0 in theta 30.017 * [backup-simplify]: Simplify 0 into 0 30.017 * [backup-simplify]: Simplify 0 into 0 30.017 * [backup-simplify]: Simplify (* (cos (/ 1 (/ 1 phi1))) (* (sin (/ 1 (/ 1 theta))) (sin (/ 1 (/ 1 delta))))) into (* (cos phi1) (* (sin theta) (sin delta))) 30.017 * [backup-simplify]: Simplify (* (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (sin (/ 1 (- theta))))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) 30.017 * [approximate]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in (delta phi1 theta) around 0 30.017 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in theta 30.017 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 30.017 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.017 * [taylor]: Taking taylor expansion of -1 in theta 30.017 * [backup-simplify]: Simplify -1 into -1 30.017 * [taylor]: Taking taylor expansion of phi1 in theta 30.017 * [backup-simplify]: Simplify phi1 into phi1 30.017 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.017 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.017 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.018 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in theta 30.018 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in theta 30.018 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 30.018 * [taylor]: Taking taylor expansion of -1 in theta 30.018 * [backup-simplify]: Simplify -1 into -1 30.018 * [taylor]: Taking taylor expansion of theta in theta 30.018 * [backup-simplify]: Simplify 0 into 0 30.018 * [backup-simplify]: Simplify 1 into 1 30.018 * [backup-simplify]: Simplify (/ -1 1) into -1 30.018 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.018 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 30.018 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 30.018 * [taylor]: Taking taylor expansion of -1 in theta 30.018 * [backup-simplify]: Simplify -1 into -1 30.018 * [taylor]: Taking taylor expansion of delta in theta 30.018 * [backup-simplify]: Simplify delta into delta 30.018 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.018 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.019 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.019 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in phi1 30.019 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 30.019 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 30.019 * [taylor]: Taking taylor expansion of -1 in phi1 30.019 * [backup-simplify]: Simplify -1 into -1 30.019 * [taylor]: Taking taylor expansion of phi1 in phi1 30.019 * [backup-simplify]: Simplify 0 into 0 30.019 * [backup-simplify]: Simplify 1 into 1 30.019 * [backup-simplify]: Simplify (/ -1 1) into -1 30.019 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.019 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in phi1 30.019 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in phi1 30.019 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 30.019 * [taylor]: Taking taylor expansion of -1 in phi1 30.019 * [backup-simplify]: Simplify -1 into -1 30.019 * [taylor]: Taking taylor expansion of theta in phi1 30.019 * [backup-simplify]: Simplify theta into theta 30.019 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 30.019 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.020 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.020 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 30.020 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 30.020 * [taylor]: Taking taylor expansion of -1 in phi1 30.020 * [backup-simplify]: Simplify -1 into -1 30.020 * [taylor]: Taking taylor expansion of delta in phi1 30.020 * [backup-simplify]: Simplify delta into delta 30.020 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.020 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.020 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.020 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in delta 30.020 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 30.020 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.020 * [taylor]: Taking taylor expansion of -1 in delta 30.020 * [backup-simplify]: Simplify -1 into -1 30.020 * [taylor]: Taking taylor expansion of phi1 in delta 30.020 * [backup-simplify]: Simplify phi1 into phi1 30.020 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.020 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.020 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.020 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in delta 30.020 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in delta 30.020 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 30.020 * [taylor]: Taking taylor expansion of -1 in delta 30.020 * [backup-simplify]: Simplify -1 into -1 30.020 * [taylor]: Taking taylor expansion of theta in delta 30.020 * [backup-simplify]: Simplify theta into theta 30.020 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 30.020 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.021 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.021 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 30.021 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 30.021 * [taylor]: Taking taylor expansion of -1 in delta 30.021 * [backup-simplify]: Simplify -1 into -1 30.021 * [taylor]: Taking taylor expansion of delta in delta 30.021 * [backup-simplify]: Simplify 0 into 0 30.021 * [backup-simplify]: Simplify 1 into 1 30.021 * [backup-simplify]: Simplify (/ -1 1) into -1 30.021 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.021 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in delta 30.021 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 30.021 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.021 * [taylor]: Taking taylor expansion of -1 in delta 30.021 * [backup-simplify]: Simplify -1 into -1 30.021 * [taylor]: Taking taylor expansion of phi1 in delta 30.021 * [backup-simplify]: Simplify phi1 into phi1 30.021 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.021 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.022 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.022 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in delta 30.022 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in delta 30.022 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 30.022 * [taylor]: Taking taylor expansion of -1 in delta 30.022 * [backup-simplify]: Simplify -1 into -1 30.022 * [taylor]: Taking taylor expansion of theta in delta 30.022 * [backup-simplify]: Simplify theta into theta 30.022 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 30.022 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.022 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.022 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 30.022 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 30.022 * [taylor]: Taking taylor expansion of -1 in delta 30.022 * [backup-simplify]: Simplify -1 into -1 30.022 * [taylor]: Taking taylor expansion of delta in delta 30.022 * [backup-simplify]: Simplify 0 into 0 30.022 * [backup-simplify]: Simplify 1 into 1 30.022 * [backup-simplify]: Simplify (/ -1 1) into -1 30.023 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.023 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 30.023 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 30.023 * [backup-simplify]: Simplify (- 0) into 0 30.023 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 30.023 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 1) into (sin (/ -1 theta)) 30.023 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 0) into 0 30.024 * [backup-simplify]: Simplify (+ (sin (/ -1 theta)) 0) into (sin (/ -1 theta)) 30.024 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (sin (/ -1 theta))) 30.024 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) 30.024 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) in phi1 30.024 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 30.024 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 30.024 * [taylor]: Taking taylor expansion of -1 in phi1 30.024 * [backup-simplify]: Simplify -1 into -1 30.024 * [taylor]: Taking taylor expansion of phi1 in phi1 30.024 * [backup-simplify]: Simplify 0 into 0 30.024 * [backup-simplify]: Simplify 1 into 1 30.024 * [backup-simplify]: Simplify (/ -1 1) into -1 30.025 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.025 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (sin (/ -1 theta))) in phi1 30.025 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 30.025 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 30.025 * [taylor]: Taking taylor expansion of -1 in phi1 30.025 * [backup-simplify]: Simplify -1 into -1 30.025 * [taylor]: Taking taylor expansion of delta in phi1 30.025 * [backup-simplify]: Simplify delta into delta 30.025 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.025 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.025 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.025 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in phi1 30.025 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 30.025 * [taylor]: Taking taylor expansion of -1 in phi1 30.025 * [backup-simplify]: Simplify -1 into -1 30.025 * [taylor]: Taking taylor expansion of theta in phi1 30.025 * [backup-simplify]: Simplify theta into theta 30.025 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 30.025 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.025 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.025 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 30.025 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 30.025 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 30.025 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 1) into (sin (/ -1 theta)) 30.026 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 0) into 0 30.026 * [backup-simplify]: Simplify (+ (sin (/ -1 theta)) 0) into (sin (/ -1 theta)) 30.026 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (sin (/ -1 theta))) into (* (sin (/ -1 theta)) (sin (/ -1 delta))) 30.026 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) 30.026 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in theta 30.026 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 30.026 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.026 * [taylor]: Taking taylor expansion of -1 in theta 30.026 * [backup-simplify]: Simplify -1 into -1 30.026 * [taylor]: Taking taylor expansion of phi1 in theta 30.026 * [backup-simplify]: Simplify phi1 into phi1 30.026 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.026 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.026 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.026 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in theta 30.026 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in theta 30.026 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 30.026 * [taylor]: Taking taylor expansion of -1 in theta 30.026 * [backup-simplify]: Simplify -1 into -1 30.026 * [taylor]: Taking taylor expansion of theta in theta 30.026 * [backup-simplify]: Simplify 0 into 0 30.026 * [backup-simplify]: Simplify 1 into 1 30.027 * [backup-simplify]: Simplify (/ -1 1) into -1 30.027 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.027 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 30.027 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 30.027 * [taylor]: Taking taylor expansion of -1 in theta 30.028 * [backup-simplify]: Simplify -1 into -1 30.028 * [taylor]: Taking taylor expansion of delta in theta 30.028 * [backup-simplify]: Simplify delta into delta 30.028 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.028 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.028 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.028 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 30.028 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 30.028 * [backup-simplify]: Simplify (- 0) into 0 30.028 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 30.028 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 30.029 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 30.029 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 30.029 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (sin (/ -1 theta))) 30.029 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) 30.029 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) 30.030 * [backup-simplify]: Simplify (+ 0) into 0 30.030 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 1)) into 0 30.030 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 30.031 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.031 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 0)) into 0 30.032 * [backup-simplify]: Simplify (+ 0 0) into 0 30.032 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 30.032 * [backup-simplify]: Simplify (+ 0) into 0 30.033 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 30.033 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.034 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.034 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 30.034 * [backup-simplify]: Simplify (- 0) into 0 30.035 * [backup-simplify]: Simplify (+ 0 0) into 0 30.035 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (sin (/ -1 theta))))) into 0 30.035 * [taylor]: Taking taylor expansion of 0 in phi1 30.035 * [backup-simplify]: Simplify 0 into 0 30.035 * [taylor]: Taking taylor expansion of 0 in theta 30.035 * [backup-simplify]: Simplify 0 into 0 30.035 * [backup-simplify]: Simplify 0 into 0 30.035 * [backup-simplify]: Simplify (+ 0) into 0 30.036 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 1)) into 0 30.036 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 30.037 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.037 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 0)) into 0 30.038 * [backup-simplify]: Simplify (+ 0 0) into 0 30.038 * [backup-simplify]: Simplify (+ 0) into 0 30.038 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 30.038 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 30.039 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.040 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 30.040 * [backup-simplify]: Simplify (+ 0 0) into 0 30.040 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (sin (/ -1 theta)))) into 0 30.040 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 theta)) (sin (/ -1 delta))))) into 0 30.040 * [taylor]: Taking taylor expansion of 0 in theta 30.040 * [backup-simplify]: Simplify 0 into 0 30.040 * [backup-simplify]: Simplify 0 into 0 30.041 * [backup-simplify]: Simplify (+ 0) into 0 30.041 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 30.041 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 30.042 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.042 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 30.043 * [backup-simplify]: Simplify (+ 0 0) into 0 30.043 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 30.043 * [backup-simplify]: Simplify (+ 0) into 0 30.044 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 30.044 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.045 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.045 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 30.045 * [backup-simplify]: Simplify (- 0) into 0 30.046 * [backup-simplify]: Simplify (+ 0 0) into 0 30.046 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (sin (/ -1 theta))))) into 0 30.046 * [backup-simplify]: Simplify 0 into 0 30.047 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.047 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.048 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 30.048 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.049 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.049 * [backup-simplify]: Simplify (+ 0 0) into 0 30.050 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 30.051 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.051 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.052 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.052 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.053 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.053 * [backup-simplify]: Simplify (- 0) into 0 30.054 * [backup-simplify]: Simplify (+ 0 0) into 0 30.054 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -1 delta)) (sin (/ -1 theta)))))) into 0 30.054 * [taylor]: Taking taylor expansion of 0 in phi1 30.054 * [backup-simplify]: Simplify 0 into 0 30.054 * [taylor]: Taking taylor expansion of 0 in theta 30.054 * [backup-simplify]: Simplify 0 into 0 30.054 * [backup-simplify]: Simplify 0 into 0 30.054 * [taylor]: Taking taylor expansion of 0 in theta 30.054 * [backup-simplify]: Simplify 0 into 0 30.054 * [backup-simplify]: Simplify 0 into 0 30.055 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.056 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.056 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 30.057 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.057 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.058 * [backup-simplify]: Simplify (+ 0 0) into 0 30.059 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.059 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.059 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.060 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.061 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.061 * [backup-simplify]: Simplify (+ 0 0) into 0 30.061 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 theta))))) into 0 30.062 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -1 theta)) (sin (/ -1 delta)))))) into 0 30.062 * [taylor]: Taking taylor expansion of 0 in theta 30.062 * [backup-simplify]: Simplify 0 into 0 30.062 * [backup-simplify]: Simplify 0 into 0 30.062 * [backup-simplify]: Simplify (* (cos (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- delta)))) (sin (/ -1 (/ 1 (- theta)))))) into (* (cos phi1) (* (sin delta) (sin theta))) 30.062 * * * * [progress]: [ 4 / 4 ] generating series at (2 1 2 2 2 1 1) 30.063 * [backup-simplify]: Simplify (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))) into (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) 30.063 * [approximate]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in (theta phi1 delta) around 0 30.063 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 30.063 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 30.063 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 30.063 * [taylor]: Taking taylor expansion of (cos theta) in delta 30.063 * [taylor]: Taking taylor expansion of theta in delta 30.063 * [backup-simplify]: Simplify theta into theta 30.063 * [backup-simplify]: Simplify (cos theta) into (cos theta) 30.063 * [backup-simplify]: Simplify (sin theta) into (sin theta) 30.063 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 30.063 * [taylor]: Taking taylor expansion of (cos phi1) in delta 30.063 * [taylor]: Taking taylor expansion of phi1 in delta 30.063 * [backup-simplify]: Simplify phi1 into phi1 30.063 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.063 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.063 * [taylor]: Taking taylor expansion of (sin delta) in delta 30.063 * [taylor]: Taking taylor expansion of delta in delta 30.063 * [backup-simplify]: Simplify 0 into 0 30.063 * [backup-simplify]: Simplify 1 into 1 30.063 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 30.063 * [taylor]: Taking taylor expansion of (sin phi1) in delta 30.063 * [taylor]: Taking taylor expansion of phi1 in delta 30.063 * [backup-simplify]: Simplify phi1 into phi1 30.063 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.063 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.063 * [taylor]: Taking taylor expansion of (cos delta) in delta 30.064 * [taylor]: Taking taylor expansion of delta in delta 30.064 * [backup-simplify]: Simplify 0 into 0 30.064 * [backup-simplify]: Simplify 1 into 1 30.064 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 30.064 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 30.064 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 30.064 * [taylor]: Taking taylor expansion of (cos 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 (cos theta) into (cos theta) 30.064 * [backup-simplify]: Simplify (sin theta) into (sin theta) 30.064 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 30.064 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 30.064 * [taylor]: Taking taylor expansion of phi1 in phi1 30.064 * [backup-simplify]: Simplify 0 into 0 30.064 * [backup-simplify]: Simplify 1 into 1 30.064 * [taylor]: Taking taylor expansion of (sin 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 (sin delta) into (sin delta) 30.064 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.064 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 30.064 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 30.064 * [taylor]: Taking taylor expansion of phi1 in phi1 30.064 * [backup-simplify]: Simplify 0 into 0 30.064 * [backup-simplify]: Simplify 1 into 1 30.064 * [taylor]: Taking taylor expansion of (cos 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 (cos delta) into (cos delta) 30.064 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.064 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 30.064 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 30.064 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 30.064 * [taylor]: Taking taylor expansion of (cos theta) in theta 30.064 * [taylor]: Taking taylor expansion of theta in theta 30.065 * [backup-simplify]: Simplify 0 into 0 30.065 * [backup-simplify]: Simplify 1 into 1 30.065 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 30.065 * [taylor]: Taking taylor expansion of (cos phi1) in theta 30.065 * [taylor]: Taking taylor expansion of phi1 in theta 30.065 * [backup-simplify]: Simplify phi1 into phi1 30.065 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.065 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.065 * [taylor]: Taking taylor expansion of (sin delta) in theta 30.065 * [taylor]: Taking taylor expansion of delta in theta 30.065 * [backup-simplify]: Simplify delta into delta 30.065 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.065 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.065 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 30.065 * [taylor]: Taking taylor expansion of (sin phi1) in theta 30.065 * [taylor]: Taking taylor expansion of phi1 in theta 30.065 * [backup-simplify]: Simplify phi1 into phi1 30.065 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.065 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.065 * [taylor]: Taking taylor expansion of (cos delta) in theta 30.065 * [taylor]: Taking taylor expansion of delta in theta 30.065 * [backup-simplify]: Simplify delta into delta 30.065 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.065 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.065 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 30.065 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 30.065 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 30.065 * [taylor]: Taking taylor expansion of (cos theta) in theta 30.065 * [taylor]: Taking taylor expansion of theta in theta 30.065 * [backup-simplify]: Simplify 0 into 0 30.065 * [backup-simplify]: Simplify 1 into 1 30.065 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 30.065 * [taylor]: Taking taylor expansion of (cos phi1) in theta 30.065 * [taylor]: Taking taylor expansion of phi1 in theta 30.065 * [backup-simplify]: Simplify phi1 into phi1 30.065 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.065 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.065 * [taylor]: Taking taylor expansion of (sin delta) in theta 30.066 * [taylor]: Taking taylor expansion of delta in theta 30.066 * [backup-simplify]: Simplify delta into delta 30.066 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.066 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.066 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 30.066 * [taylor]: Taking taylor expansion of (sin phi1) in theta 30.066 * [taylor]: Taking taylor expansion of phi1 in theta 30.066 * [backup-simplify]: Simplify phi1 into phi1 30.066 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.066 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.066 * [taylor]: Taking taylor expansion of (cos delta) in theta 30.066 * [taylor]: Taking taylor expansion of delta in theta 30.066 * [backup-simplify]: Simplify delta into delta 30.066 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.066 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.066 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 30.066 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 30.067 * [backup-simplify]: Simplify (- 0) into 0 30.067 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 30.067 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 30.067 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 30.067 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 30.067 * [backup-simplify]: Simplify (* (cos phi1) (sin delta)) into (* (cos phi1) (sin delta)) 30.067 * [backup-simplify]: Simplify (* 1 (* (cos phi1) (sin delta))) into (* (cos phi1) (sin delta)) 30.067 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 30.067 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 30.067 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 30.067 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 30.067 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 30.068 * [backup-simplify]: Simplify (- 0) into 0 30.068 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 30.068 * [backup-simplify]: Simplify (* (sin phi1) (cos delta)) into (* (sin phi1) (cos delta)) 30.068 * [backup-simplify]: Simplify (+ (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) into (+ (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) 30.068 * [taylor]: Taking taylor expansion of (+ (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 30.068 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 30.068 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 30.068 * [taylor]: Taking taylor expansion of phi1 in phi1 30.068 * [backup-simplify]: Simplify 0 into 0 30.068 * [backup-simplify]: Simplify 1 into 1 30.068 * [taylor]: Taking taylor expansion of (sin delta) in phi1 30.068 * [taylor]: Taking taylor expansion of delta in phi1 30.068 * [backup-simplify]: Simplify delta into delta 30.068 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.068 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.068 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 30.068 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 30.068 * [taylor]: Taking taylor expansion of phi1 in phi1 30.068 * [backup-simplify]: Simplify 0 into 0 30.068 * [backup-simplify]: Simplify 1 into 1 30.068 * [taylor]: Taking taylor expansion of (cos delta) in phi1 30.068 * [taylor]: Taking taylor expansion of delta in phi1 30.069 * [backup-simplify]: Simplify delta into delta 30.069 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.069 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.069 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 30.069 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 30.069 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 30.069 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 30.069 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 30.069 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 30.072 * [backup-simplify]: Simplify (- 0) into 0 30.072 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 30.072 * [backup-simplify]: Simplify (* 0 (cos delta)) into 0 30.072 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 30.072 * [taylor]: Taking taylor expansion of (sin delta) in delta 30.072 * [taylor]: Taking taylor expansion of delta in delta 30.072 * [backup-simplify]: Simplify 0 into 0 30.072 * [backup-simplify]: Simplify 1 into 1 30.072 * [backup-simplify]: Simplify 0 into 0 30.073 * [backup-simplify]: Simplify (+ 0) into 0 30.073 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 30.074 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.075 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 30.075 * [backup-simplify]: Simplify (+ 0 0) into 0 30.075 * [backup-simplify]: Simplify (+ 0) into 0 30.076 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 30.077 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.077 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 30.077 * [backup-simplify]: Simplify (- 0) into 0 30.078 * [backup-simplify]: Simplify (+ 0 0) into 0 30.078 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 (sin delta))) into 0 30.078 * [backup-simplify]: Simplify (+ 0) into 0 30.079 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (cos phi1) (sin delta)))) into 0 30.079 * [backup-simplify]: Simplify (+ 0) into 0 30.080 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 30.080 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.081 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 30.081 * [backup-simplify]: Simplify (- 0) into 0 30.081 * [backup-simplify]: Simplify (+ 0 0) into 0 30.082 * [backup-simplify]: Simplify (+ 0) into 0 30.082 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 30.083 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.083 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 30.084 * [backup-simplify]: Simplify (+ 0 0) into 0 30.084 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 (cos delta))) into 0 30.084 * [backup-simplify]: Simplify (+ 0 0) into 0 30.084 * [taylor]: Taking taylor expansion of 0 in phi1 30.084 * [backup-simplify]: Simplify 0 into 0 30.084 * [taylor]: Taking taylor expansion of 0 in delta 30.084 * [backup-simplify]: Simplify 0 into 0 30.084 * [backup-simplify]: Simplify 0 into 0 30.084 * [backup-simplify]: Simplify (+ 0) into 0 30.085 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 30.086 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.086 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 30.086 * [backup-simplify]: Simplify (+ 0 0) into 0 30.087 * [backup-simplify]: Simplify (+ 0) into 0 30.087 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin delta))) into 0 30.088 * [backup-simplify]: Simplify (+ 0) into 0 30.088 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 30.089 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.089 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 30.090 * [backup-simplify]: Simplify (- 0) into 0 30.090 * [backup-simplify]: Simplify (+ 0 0) into 0 30.091 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 30.091 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos delta))) into (cos delta) 30.091 * [backup-simplify]: Simplify (+ 0 (cos delta)) into (cos delta) 30.091 * [taylor]: Taking taylor expansion of (cos delta) in delta 30.091 * [taylor]: Taking taylor expansion of delta in delta 30.091 * [backup-simplify]: Simplify 0 into 0 30.091 * [backup-simplify]: Simplify 1 into 1 30.091 * [backup-simplify]: Simplify 1 into 1 30.092 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 30.092 * [backup-simplify]: Simplify 1 into 1 30.093 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.093 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 30.094 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.095 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 30.095 * [backup-simplify]: Simplify (+ 0 0) into 0 30.096 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.096 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 30.097 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.097 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 30.098 * [backup-simplify]: Simplify (- 0) into 0 30.098 * [backup-simplify]: Simplify (+ 0 0) into 0 30.099 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 (sin delta)))) into 0 30.099 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 30.100 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (* (cos phi1) (sin delta))))) into (- (* 1/2 (* (cos phi1) (sin delta)))) 30.101 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.102 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 1))) into 0 30.103 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.103 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 0))) into 0 30.103 * [backup-simplify]: Simplify (- 0) into 0 30.104 * [backup-simplify]: Simplify (+ 0 0) into 0 30.105 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.105 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 30.106 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.106 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 30.107 * [backup-simplify]: Simplify (+ 0 0) into 0 30.107 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 (cos delta)))) into 0 30.107 * [backup-simplify]: Simplify (+ (- (* 1/2 (* (cos phi1) (sin delta)))) 0) into (- (* 1/2 (* (cos phi1) (sin delta)))) 30.107 * [taylor]: Taking taylor expansion of (- (* 1/2 (* (cos phi1) (sin delta)))) in phi1 30.107 * [taylor]: Taking taylor expansion of (* 1/2 (* (cos phi1) (sin delta))) in phi1 30.107 * [taylor]: Taking taylor expansion of 1/2 in phi1 30.108 * [backup-simplify]: Simplify 1/2 into 1/2 30.108 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 30.108 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 30.108 * [taylor]: Taking taylor expansion of phi1 in phi1 30.108 * [backup-simplify]: Simplify 0 into 0 30.108 * [backup-simplify]: Simplify 1 into 1 30.108 * [taylor]: Taking taylor expansion of (sin delta) in phi1 30.108 * [taylor]: Taking taylor expansion of delta in phi1 30.108 * [backup-simplify]: Simplify delta into delta 30.108 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.108 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.108 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 30.108 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 30.108 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 30.108 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 30.108 * [backup-simplify]: Simplify (* 1/2 (sin delta)) into (* 1/2 (sin delta)) 30.108 * [backup-simplify]: Simplify (- (* 1/2 (sin delta))) into (- (* 1/2 (sin delta))) 30.108 * [taylor]: Taking taylor expansion of (- (* 1/2 (sin delta))) in delta 30.108 * [taylor]: Taking taylor expansion of (* 1/2 (sin delta)) in delta 30.108 * [taylor]: Taking taylor expansion of 1/2 in delta 30.108 * [backup-simplify]: Simplify 1/2 into 1/2 30.108 * [taylor]: Taking taylor expansion of (sin delta) in delta 30.108 * [taylor]: Taking taylor expansion of delta in delta 30.108 * [backup-simplify]: Simplify 0 into 0 30.108 * [backup-simplify]: Simplify 1 into 1 30.109 * [backup-simplify]: Simplify (* 1/2 0) into 0 30.109 * [backup-simplify]: Simplify (- 0) into 0 30.109 * [backup-simplify]: Simplify 0 into 0 30.109 * [taylor]: Taking taylor expansion of 0 in delta 30.109 * [backup-simplify]: Simplify 0 into 0 30.109 * [backup-simplify]: Simplify 0 into 0 30.110 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.111 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 30.111 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.112 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 30.112 * [backup-simplify]: Simplify (+ 0 0) into 0 30.113 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 30.114 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (sin delta)))) into (- (* 1/2 (sin delta))) 30.115 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.115 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 1))) into 0 30.116 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.116 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 0))) into 0 30.117 * [backup-simplify]: Simplify (- 0) into 0 30.117 * [backup-simplify]: Simplify (+ 0 0) into 0 30.118 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.118 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (cos delta)))) into 0 30.119 * [backup-simplify]: Simplify (+ (- (* 1/2 (sin delta))) 0) into (- (* 1/2 (sin delta))) 30.119 * [taylor]: Taking taylor expansion of (- (* 1/2 (sin delta))) in delta 30.119 * [taylor]: Taking taylor expansion of (* 1/2 (sin delta)) in delta 30.119 * [taylor]: Taking taylor expansion of 1/2 in delta 30.119 * [backup-simplify]: Simplify 1/2 into 1/2 30.119 * [taylor]: Taking taylor expansion of (sin delta) in delta 30.119 * [taylor]: Taking taylor expansion of delta in delta 30.119 * [backup-simplify]: Simplify 0 into 0 30.119 * [backup-simplify]: Simplify 1 into 1 30.119 * [backup-simplify]: Simplify (* 1/2 0) into 0 30.120 * [backup-simplify]: Simplify (- 0) into 0 30.120 * [backup-simplify]: Simplify 0 into 0 30.120 * [backup-simplify]: Simplify 0 into 0 30.120 * [backup-simplify]: Simplify (+ 0) into 0 30.120 * [backup-simplify]: Simplify 0 into 0 30.121 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.121 * [backup-simplify]: Simplify 0 into 0 30.121 * [backup-simplify]: Simplify (+ (* 1 (* delta (* 1 1))) (* 1 (* 1 (* phi1 1)))) into (+ phi1 delta) 30.122 * [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)))) 30.122 * [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 30.122 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 30.122 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 30.122 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 30.122 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 30.122 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 30.122 * [taylor]: Taking taylor expansion of theta in delta 30.122 * [backup-simplify]: Simplify theta into theta 30.122 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 30.122 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.122 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 30.122 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 30.122 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 30.122 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.122 * [taylor]: Taking taylor expansion of delta in delta 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 (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.123 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 30.123 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.123 * [taylor]: Taking taylor expansion of phi1 in delta 30.123 * [backup-simplify]: Simplify phi1 into phi1 30.123 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.123 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.123 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.123 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 30.123 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 30.123 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.123 * [taylor]: Taking taylor expansion of phi1 in delta 30.123 * [backup-simplify]: Simplify phi1 into phi1 30.123 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.123 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.123 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.123 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 30.123 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.123 * [taylor]: Taking taylor expansion of delta in delta 30.123 * [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 (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.124 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 30.124 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 30.124 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 30.124 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 30.124 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 30.124 * [taylor]: Taking taylor expansion of theta in phi1 30.124 * [backup-simplify]: Simplify theta into theta 30.124 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 30.124 * [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 delta)) (cos (/ 1 phi1))) in phi1 30.124 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 30.124 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.125 * [taylor]: Taking taylor expansion of delta in phi1 30.125 * [backup-simplify]: Simplify delta into delta 30.125 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.125 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.125 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.125 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 30.125 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.125 * [taylor]: Taking taylor expansion of phi1 in phi1 30.125 * [backup-simplify]: Simplify 0 into 0 30.125 * [backup-simplify]: Simplify 1 into 1 30.125 * [backup-simplify]: Simplify (/ 1 1) into 1 30.125 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.125 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 30.125 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 30.125 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.125 * [taylor]: Taking taylor expansion of phi1 in phi1 30.125 * [backup-simplify]: Simplify 0 into 0 30.126 * [backup-simplify]: Simplify 1 into 1 30.126 * [backup-simplify]: Simplify (/ 1 1) into 1 30.126 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.126 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 30.126 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.126 * [taylor]: Taking taylor expansion of delta in phi1 30.126 * [backup-simplify]: Simplify delta into delta 30.126 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.126 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.126 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.126 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 30.126 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 30.126 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 30.126 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 30.126 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 30.127 * [taylor]: Taking taylor expansion of theta in theta 30.127 * [backup-simplify]: Simplify 0 into 0 30.127 * [backup-simplify]: Simplify 1 into 1 30.127 * [backup-simplify]: Simplify (/ 1 1) into 1 30.127 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.127 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 30.127 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 30.127 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.127 * [taylor]: Taking taylor expansion of delta in theta 30.127 * [backup-simplify]: Simplify delta into delta 30.127 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.127 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.127 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.127 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 30.127 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.127 * [taylor]: Taking taylor expansion of phi1 in theta 30.127 * [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)) 30.128 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.128 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 30.128 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 30.128 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.128 * [taylor]: Taking taylor expansion of phi1 in theta 30.128 * [backup-simplify]: Simplify phi1 into phi1 30.128 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.128 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.128 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.128 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 30.128 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.128 * [taylor]: Taking taylor expansion of delta in theta 30.128 * [backup-simplify]: Simplify delta into delta 30.128 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.128 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.128 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.128 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 30.128 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 30.128 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 30.128 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 30.128 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 30.128 * [taylor]: Taking taylor expansion of theta in theta 30.128 * [backup-simplify]: Simplify 0 into 0 30.128 * [backup-simplify]: Simplify 1 into 1 30.129 * [backup-simplify]: Simplify (/ 1 1) into 1 30.129 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.129 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 30.129 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 30.129 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.129 * [taylor]: Taking taylor expansion of delta in theta 30.129 * [backup-simplify]: Simplify delta into delta 30.129 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.129 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.129 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.129 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 30.129 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.129 * [taylor]: Taking taylor expansion of phi1 in theta 30.129 * [backup-simplify]: Simplify phi1 into phi1 30.129 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.129 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.130 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.130 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 30.130 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 30.130 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.130 * [taylor]: Taking taylor expansion of phi1 in theta 30.130 * [backup-simplify]: Simplify phi1 into phi1 30.130 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.130 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.130 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.130 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 30.130 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.130 * [taylor]: Taking taylor expansion of delta in theta 30.130 * [backup-simplify]: Simplify delta into delta 30.130 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.130 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.130 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.130 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 30.130 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 30.130 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 30.131 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 30.131 * [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 (* (sin (/ 1 delta)) (cos (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 delta))) 30.131 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 30.131 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 30.132 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 30.132 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 30.132 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 30.132 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 30.132 * [backup-simplify]: Simplify (- 0) into 0 30.132 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 30.132 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 30.133 * [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))))) 30.133 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in phi1 30.133 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in phi1 30.133 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 30.133 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.133 * [taylor]: Taking taylor expansion of delta in phi1 30.133 * [backup-simplify]: Simplify delta into delta 30.133 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.133 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.133 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.133 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 30.133 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.133 * [taylor]: Taking taylor expansion of phi1 in phi1 30.133 * [backup-simplify]: Simplify 0 into 0 30.133 * [backup-simplify]: Simplify 1 into 1 30.133 * [backup-simplify]: Simplify (/ 1 1) into 1 30.134 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.134 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in phi1 30.134 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 30.134 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.134 * [taylor]: Taking taylor expansion of phi1 in phi1 30.134 * [backup-simplify]: Simplify 0 into 0 30.134 * [backup-simplify]: Simplify 1 into 1 30.134 * [backup-simplify]: Simplify (/ 1 1) into 1 30.134 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.134 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in phi1 30.134 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 30.134 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 30.134 * [taylor]: Taking taylor expansion of theta in phi1 30.134 * [backup-simplify]: Simplify theta into theta 30.134 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 30.134 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.134 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 30.135 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 30.135 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.135 * [taylor]: Taking taylor expansion of delta in phi1 30.135 * [backup-simplify]: Simplify delta into delta 30.135 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.135 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.135 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.135 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 30.135 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 30.135 * [backup-simplify]: Simplify (- 0) into 0 30.135 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 30.136 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 30.136 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 30.136 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 30.136 * [backup-simplify]: Simplify (- 0) into 0 30.136 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 30.136 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 30.136 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 30.137 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 30.137 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 30.137 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 30.137 * [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))))) 30.137 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in delta 30.137 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 30.137 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 30.137 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.137 * [taylor]: Taking taylor expansion of phi1 in delta 30.137 * [backup-simplify]: Simplify phi1 into phi1 30.137 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.137 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.138 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.138 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 30.138 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.138 * [taylor]: Taking taylor expansion of delta in delta 30.138 * [backup-simplify]: Simplify 0 into 0 30.138 * [backup-simplify]: Simplify 1 into 1 30.138 * [backup-simplify]: Simplify (/ 1 1) into 1 30.138 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.138 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 30.138 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 30.138 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.138 * [taylor]: Taking taylor expansion of delta in delta 30.138 * [backup-simplify]: Simplify 0 into 0 30.138 * [backup-simplify]: Simplify 1 into 1 30.139 * [backup-simplify]: Simplify (/ 1 1) into 1 30.139 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.139 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 30.139 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 30.139 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 30.139 * [taylor]: Taking taylor expansion of theta in delta 30.139 * [backup-simplify]: Simplify theta into theta 30.139 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 30.139 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.139 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 30.139 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 30.139 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.139 * [taylor]: Taking taylor expansion of phi1 in delta 30.139 * [backup-simplify]: Simplify phi1 into phi1 30.139 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.139 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.139 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.139 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 30.139 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 30.140 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 30.140 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 30.140 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 30.140 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 30.140 * [backup-simplify]: Simplify (- 0) into 0 30.140 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 30.140 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 30.140 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 30.141 * [backup-simplify]: Simplify (- 0) into 0 30.141 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 30.141 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 30.141 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 30.141 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 30.142 * [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))))) 30.142 * [backup-simplify]: Simplify (+ 0) into 0 30.143 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 30.143 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.144 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.144 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 30.145 * [backup-simplify]: Simplify (- 0) into 0 30.145 * [backup-simplify]: Simplify (+ 0 0) into 0 30.145 * [backup-simplify]: Simplify (+ 0) into 0 30.146 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 30.146 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.147 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.147 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 30.148 * [backup-simplify]: Simplify (+ 0 0) into 0 30.148 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 30.148 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta))))) into 0 30.149 * [backup-simplify]: Simplify (+ 0) into 0 30.149 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 30.149 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.150 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.150 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 30.151 * [backup-simplify]: Simplify (- 0) into 0 30.151 * [backup-simplify]: Simplify (+ 0 0) into 0 30.152 * [backup-simplify]: Simplify (+ 0) into 0 30.152 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 30.152 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.153 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.153 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 30.154 * [backup-simplify]: Simplify (+ 0 0) into 0 30.154 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 30.154 * [backup-simplify]: Simplify (+ 0 0) into 0 30.154 * [taylor]: Taking taylor expansion of 0 in phi1 30.154 * [backup-simplify]: Simplify 0 into 0 30.154 * [taylor]: Taking taylor expansion of 0 in delta 30.154 * [backup-simplify]: Simplify 0 into 0 30.154 * [backup-simplify]: Simplify 0 into 0 30.155 * [backup-simplify]: Simplify (+ 0) into 0 30.155 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 30.155 * [backup-simplify]: Simplify (- (+ (* (/ 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 (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 30.158 * [backup-simplify]: Simplify (+ 0) into 0 30.158 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 30.158 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.159 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.160 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 30.160 * [backup-simplify]: Simplify (+ 0 0) into 0 30.160 * [backup-simplify]: Simplify (+ 0) into 0 30.161 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 30.161 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 30.162 * [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 30.163 * [backup-simplify]: Simplify (+ 0 0) into 0 30.163 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 30.163 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 30.164 * [backup-simplify]: Simplify (+ 0 0) into 0 30.164 * [taylor]: Taking taylor expansion of 0 in delta 30.164 * [backup-simplify]: Simplify 0 into 0 30.164 * [backup-simplify]: Simplify 0 into 0 30.164 * [backup-simplify]: Simplify (+ 0) into 0 30.165 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 30.165 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.165 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.166 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 30.166 * [backup-simplify]: Simplify (+ 0 0) into 0 30.166 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 30.167 * [backup-simplify]: Simplify (+ 0) into 0 30.167 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 30.167 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.168 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.169 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 30.169 * [backup-simplify]: Simplify (- 0) into 0 30.169 * [backup-simplify]: Simplify (+ 0 0) into 0 30.170 * [backup-simplify]: Simplify (+ 0) into 0 30.170 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 30.170 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 30.171 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.171 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 30.172 * [backup-simplify]: Simplify (- 0) into 0 30.172 * [backup-simplify]: Simplify (+ 0 0) into 0 30.172 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 30.173 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 30.173 * [backup-simplify]: Simplify (+ 0 0) into 0 30.173 * [backup-simplify]: Simplify 0 into 0 30.174 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.175 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.175 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.176 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.176 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.176 * [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 30.179 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.179 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.180 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.180 * [backup-simplify]: Simplify (+ 0 0) into 0 30.181 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 30.181 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta)))))) into 0 30.182 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.183 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.183 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.184 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.184 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.185 * [backup-simplify]: Simplify (- 0) into 0 30.185 * [backup-simplify]: Simplify (+ 0 0) into 0 30.186 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.187 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.187 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.188 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.188 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.189 * [backup-simplify]: Simplify (+ 0 0) into 0 30.189 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 30.189 * [backup-simplify]: Simplify (+ 0 0) into 0 30.189 * [taylor]: Taking taylor expansion of 0 in phi1 30.190 * [backup-simplify]: Simplify 0 into 0 30.190 * [taylor]: Taking taylor expansion of 0 in delta 30.190 * [backup-simplify]: Simplify 0 into 0 30.190 * [backup-simplify]: Simplify 0 into 0 30.190 * [taylor]: Taking taylor expansion of 0 in delta 30.190 * [backup-simplify]: Simplify 0 into 0 30.190 * [backup-simplify]: Simplify 0 into 0 30.191 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.191 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.191 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.192 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.192 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.192 * [backup-simplify]: Simplify (- 0) into 0 30.193 * [backup-simplify]: Simplify (+ 0 0) into 0 30.193 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 30.194 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.194 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.194 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.195 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.195 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.195 * [backup-simplify]: Simplify (+ 0 0) into 0 30.196 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.196 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.196 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 30.197 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.197 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.197 * [backup-simplify]: Simplify (- 0) into 0 30.198 * [backup-simplify]: Simplify (+ 0 0) into 0 30.198 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 30.198 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 30.199 * [backup-simplify]: Simplify (+ 0 0) into 0 30.199 * [taylor]: Taking taylor expansion of 0 in delta 30.199 * [backup-simplify]: Simplify 0 into 0 30.199 * [backup-simplify]: Simplify 0 into 0 30.199 * [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)))) 30.199 * [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)))) 30.199 * [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 30.199 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 30.199 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.199 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 30.199 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 30.199 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 30.199 * [taylor]: Taking taylor expansion of -1 in delta 30.199 * [backup-simplify]: Simplify -1 into -1 30.199 * [taylor]: Taking taylor expansion of theta in delta 30.199 * [backup-simplify]: Simplify theta into theta 30.199 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 30.199 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.199 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.199 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 30.199 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 30.199 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.199 * [taylor]: Taking taylor expansion of -1 in delta 30.199 * [backup-simplify]: Simplify -1 into -1 30.199 * [taylor]: Taking taylor expansion of phi1 in delta 30.199 * [backup-simplify]: Simplify phi1 into phi1 30.200 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.200 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.200 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.200 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 30.200 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 30.200 * [taylor]: Taking taylor expansion of -1 in delta 30.200 * [backup-simplify]: Simplify -1 into -1 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 (/ -1 1) into -1 30.200 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.200 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 30.200 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 30.200 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.200 * [taylor]: Taking taylor expansion of -1 in delta 30.200 * [backup-simplify]: Simplify -1 into -1 30.200 * [taylor]: Taking taylor expansion of phi1 in delta 30.200 * [backup-simplify]: Simplify phi1 into phi1 30.200 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.200 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.200 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.200 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 30.200 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 30.200 * [taylor]: Taking taylor expansion of -1 in delta 30.200 * [backup-simplify]: Simplify -1 into -1 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 30.201 * [backup-simplify]: Simplify (/ -1 1) into -1 30.201 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.201 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 30.201 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.201 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 30.201 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 30.201 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 30.201 * [taylor]: Taking taylor expansion of -1 in phi1 30.201 * [backup-simplify]: Simplify -1 into -1 30.201 * [taylor]: Taking taylor expansion of theta in phi1 30.201 * [backup-simplify]: Simplify theta into theta 30.201 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 30.201 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.201 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.201 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 30.201 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 30.201 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 30.201 * [taylor]: Taking taylor expansion of -1 in phi1 30.201 * [backup-simplify]: Simplify -1 into -1 30.201 * [taylor]: Taking taylor expansion of phi1 in phi1 30.201 * [backup-simplify]: Simplify 0 into 0 30.201 * [backup-simplify]: Simplify 1 into 1 30.201 * [backup-simplify]: Simplify (/ -1 1) into -1 30.201 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.202 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 30.202 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 30.202 * [taylor]: Taking taylor expansion of -1 in phi1 30.202 * [backup-simplify]: Simplify -1 into -1 30.202 * [taylor]: Taking taylor expansion of delta in phi1 30.202 * [backup-simplify]: Simplify delta into delta 30.202 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.202 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.202 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.202 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 30.202 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 30.202 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 30.202 * [taylor]: Taking taylor expansion of -1 in phi1 30.202 * [backup-simplify]: Simplify -1 into -1 30.202 * [taylor]: Taking taylor expansion of phi1 in phi1 30.202 * [backup-simplify]: Simplify 0 into 0 30.202 * [backup-simplify]: Simplify 1 into 1 30.202 * [backup-simplify]: Simplify (/ -1 1) into -1 30.202 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.202 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 30.202 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 30.202 * [taylor]: Taking taylor expansion of -1 in phi1 30.202 * [backup-simplify]: Simplify -1 into -1 30.202 * [taylor]: Taking taylor expansion of delta in phi1 30.202 * [backup-simplify]: Simplify delta into delta 30.202 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.202 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.202 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.202 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 30.203 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.203 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 30.203 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 30.203 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 30.203 * [taylor]: Taking taylor expansion of -1 in theta 30.203 * [backup-simplify]: Simplify -1 into -1 30.203 * [taylor]: Taking taylor expansion of theta in theta 30.203 * [backup-simplify]: Simplify 0 into 0 30.203 * [backup-simplify]: Simplify 1 into 1 30.203 * [backup-simplify]: Simplify (/ -1 1) into -1 30.203 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.203 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 30.203 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 30.203 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.203 * [taylor]: Taking taylor expansion of -1 in theta 30.203 * [backup-simplify]: Simplify -1 into -1 30.203 * [taylor]: Taking taylor expansion of phi1 in theta 30.203 * [backup-simplify]: Simplify phi1 into phi1 30.203 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.203 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.203 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.203 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 30.203 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 30.203 * [taylor]: Taking taylor expansion of -1 in theta 30.203 * [backup-simplify]: Simplify -1 into -1 30.203 * [taylor]: Taking taylor expansion of delta in theta 30.203 * [backup-simplify]: Simplify delta into delta 30.203 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.203 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.203 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.204 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 30.204 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 30.204 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.204 * [taylor]: Taking taylor expansion of -1 in theta 30.204 * [backup-simplify]: Simplify -1 into -1 30.204 * [taylor]: Taking taylor expansion of phi1 in theta 30.204 * [backup-simplify]: Simplify phi1 into phi1 30.204 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.204 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.204 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.204 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 30.204 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 30.204 * [taylor]: Taking taylor expansion of -1 in theta 30.204 * [backup-simplify]: Simplify -1 into -1 30.204 * [taylor]: Taking taylor expansion of delta in theta 30.204 * [backup-simplify]: Simplify delta into delta 30.204 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.204 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.204 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.204 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 30.204 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.204 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 30.204 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 30.204 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 30.204 * [taylor]: Taking taylor expansion of -1 in theta 30.204 * [backup-simplify]: Simplify -1 into -1 30.204 * [taylor]: Taking taylor expansion of theta in theta 30.204 * [backup-simplify]: Simplify 0 into 0 30.204 * [backup-simplify]: Simplify 1 into 1 30.204 * [backup-simplify]: Simplify (/ -1 1) into -1 30.204 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.204 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 30.204 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 30.204 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.204 * [taylor]: Taking taylor expansion of -1 in theta 30.205 * [backup-simplify]: Simplify -1 into -1 30.205 * [taylor]: Taking taylor expansion of phi1 in theta 30.205 * [backup-simplify]: Simplify phi1 into phi1 30.205 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.205 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.205 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.205 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 30.205 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 30.205 * [taylor]: Taking taylor expansion of -1 in theta 30.205 * [backup-simplify]: Simplify -1 into -1 30.205 * [taylor]: Taking taylor expansion of delta in theta 30.205 * [backup-simplify]: Simplify delta into delta 30.205 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.205 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.205 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.205 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 30.205 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 30.205 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.205 * [taylor]: Taking taylor expansion of -1 in theta 30.205 * [backup-simplify]: Simplify -1 into -1 30.205 * [taylor]: Taking taylor expansion of phi1 in theta 30.205 * [backup-simplify]: Simplify phi1 into phi1 30.205 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.205 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.205 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.205 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 30.205 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 30.205 * [taylor]: Taking taylor expansion of -1 in theta 30.205 * [backup-simplify]: Simplify -1 into -1 30.205 * [taylor]: Taking taylor expansion of delta in theta 30.205 * [backup-simplify]: Simplify delta into delta 30.205 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.205 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.205 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.205 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 30.205 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 30.206 * [backup-simplify]: Simplify (- 0) into 0 30.206 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 30.206 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 30.206 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 30.206 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 30.206 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 30.206 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 30.206 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 30.206 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 30.206 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 30.206 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 30.206 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 30.208 * [backup-simplify]: Simplify (- 0) into 0 30.209 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 30.209 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 30.209 * [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)))) 30.209 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 30.209 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) in phi1 30.209 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 30.209 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 30.209 * [taylor]: Taking taylor expansion of -1 in phi1 30.209 * [backup-simplify]: Simplify -1 into -1 30.209 * [taylor]: Taking taylor expansion of phi1 in phi1 30.209 * [backup-simplify]: Simplify 0 into 0 30.209 * [backup-simplify]: Simplify 1 into 1 30.209 * [backup-simplify]: Simplify (/ -1 1) into -1 30.210 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.210 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 theta))) in phi1 30.210 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 30.210 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 30.210 * [taylor]: Taking taylor expansion of -1 in phi1 30.210 * [backup-simplify]: Simplify -1 into -1 30.210 * [taylor]: Taking taylor expansion of delta in phi1 30.210 * [backup-simplify]: Simplify delta into delta 30.210 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.210 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.210 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.210 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 30.210 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 30.210 * [taylor]: Taking taylor expansion of -1 in phi1 30.210 * [backup-simplify]: Simplify -1 into -1 30.210 * [taylor]: Taking taylor expansion of theta in phi1 30.210 * [backup-simplify]: Simplify theta into theta 30.210 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 30.210 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.210 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.210 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 30.210 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 30.210 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 30.210 * [taylor]: Taking taylor expansion of -1 in phi1 30.210 * [backup-simplify]: Simplify -1 into -1 30.210 * [taylor]: Taking taylor expansion of phi1 in phi1 30.210 * [backup-simplify]: Simplify 0 into 0 30.210 * [backup-simplify]: Simplify 1 into 1 30.210 * [backup-simplify]: Simplify (/ -1 1) into -1 30.210 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.210 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 30.210 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 30.210 * [taylor]: Taking taylor expansion of -1 in phi1 30.211 * [backup-simplify]: Simplify -1 into -1 30.211 * [taylor]: Taking taylor expansion of delta in phi1 30.211 * [backup-simplify]: Simplify delta into delta 30.211 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.211 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.211 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.211 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 30.211 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 30.211 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 30.211 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 30.211 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 30.211 * [backup-simplify]: Simplify (- 0) into 0 30.211 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 30.211 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 theta))) into (* (cos (/ -1 theta)) (sin (/ -1 delta))) 30.211 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 30.212 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 30.212 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 30.212 * [backup-simplify]: Simplify (- 0) into 0 30.212 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 30.212 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 30.212 * [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))))) 30.212 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in delta 30.212 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 30.212 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 30.212 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.212 * [taylor]: Taking taylor expansion of -1 in delta 30.212 * [backup-simplify]: Simplify -1 into -1 30.212 * [taylor]: Taking taylor expansion of phi1 in delta 30.212 * [backup-simplify]: Simplify phi1 into phi1 30.212 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.212 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.212 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.212 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 30.212 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 30.212 * [taylor]: Taking taylor expansion of -1 in delta 30.212 * [backup-simplify]: Simplify -1 into -1 30.212 * [taylor]: Taking taylor expansion of delta in delta 30.212 * [backup-simplify]: Simplify 0 into 0 30.212 * [backup-simplify]: Simplify 1 into 1 30.213 * [backup-simplify]: Simplify (/ -1 1) into -1 30.213 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.213 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in delta 30.213 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 30.213 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.213 * [taylor]: Taking taylor expansion of -1 in delta 30.213 * [backup-simplify]: Simplify -1 into -1 30.213 * [taylor]: Taking taylor expansion of phi1 in delta 30.213 * [backup-simplify]: Simplify phi1 into phi1 30.213 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.213 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.213 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.213 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in delta 30.213 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 30.213 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 30.213 * [taylor]: Taking taylor expansion of -1 in delta 30.213 * [backup-simplify]: Simplify -1 into -1 30.213 * [taylor]: Taking taylor expansion of theta in delta 30.213 * [backup-simplify]: Simplify theta into theta 30.213 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 30.213 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.213 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.213 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 30.213 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 30.213 * [taylor]: Taking taylor expansion of -1 in delta 30.213 * [backup-simplify]: Simplify -1 into -1 30.213 * [taylor]: Taking taylor expansion of delta in delta 30.213 * [backup-simplify]: Simplify 0 into 0 30.213 * [backup-simplify]: Simplify 1 into 1 30.214 * [backup-simplify]: Simplify (/ -1 1) into -1 30.214 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.214 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 30.214 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 30.214 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 30.214 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 30.214 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 30.214 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 30.214 * [backup-simplify]: Simplify (- 0) into 0 30.214 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 30.214 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 30.214 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 30.215 * [backup-simplify]: Simplify (- 0) into 0 30.215 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 30.215 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (cos (/ -1 theta))) 30.215 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 30.215 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.215 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) into (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.216 * [backup-simplify]: Simplify (+ 0) into 0 30.216 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 30.216 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 30.217 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.217 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 30.217 * [backup-simplify]: Simplify (+ 0 0) into 0 30.217 * [backup-simplify]: Simplify (+ 0) into 0 30.218 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 30.218 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.218 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.218 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 30.219 * [backup-simplify]: Simplify (- 0) into 0 30.219 * [backup-simplify]: Simplify (+ 0 0) into 0 30.219 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 30.219 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 30.220 * [backup-simplify]: Simplify (+ 0) into 0 30.220 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 30.221 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 30.221 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.222 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 30.222 * [backup-simplify]: Simplify (- 0) into 0 30.223 * [backup-simplify]: Simplify (+ 0 0) into 0 30.223 * [backup-simplify]: Simplify (+ 0) into 0 30.224 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 30.224 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.225 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.225 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 30.225 * [backup-simplify]: Simplify (+ 0 0) into 0 30.226 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 30.226 * [backup-simplify]: Simplify (+ 0 0) into 0 30.226 * [taylor]: Taking taylor expansion of 0 in phi1 30.226 * [backup-simplify]: Simplify 0 into 0 30.226 * [taylor]: Taking taylor expansion of 0 in delta 30.226 * [backup-simplify]: Simplify 0 into 0 30.226 * [backup-simplify]: Simplify 0 into 0 30.227 * [backup-simplify]: Simplify (+ 0) into 0 30.227 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 30.227 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 30.228 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.229 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 30.229 * [backup-simplify]: Simplify (- 0) into 0 30.230 * [backup-simplify]: Simplify (+ 0 0) into 0 30.230 * [backup-simplify]: Simplify (+ 0) into 0 30.230 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 30.231 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 30.232 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.232 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 30.232 * [backup-simplify]: Simplify (+ 0 0) into 0 30.233 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 theta)))) into 0 30.233 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into 0 30.233 * [backup-simplify]: Simplify (+ 0) into 0 30.234 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 30.234 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 30.235 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.235 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 30.236 * [backup-simplify]: Simplify (- 0) into 0 30.236 * [backup-simplify]: Simplify (+ 0 0) into 0 30.236 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 30.237 * [backup-simplify]: Simplify (+ 0 0) into 0 30.237 * [taylor]: Taking taylor expansion of 0 in delta 30.237 * [backup-simplify]: Simplify 0 into 0 30.237 * [backup-simplify]: Simplify 0 into 0 30.237 * [backup-simplify]: Simplify (+ 0) into 0 30.238 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 30.238 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.239 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.239 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 30.239 * [backup-simplify]: Simplify (+ 0 0) into 0 30.240 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 30.240 * [backup-simplify]: Simplify (+ 0) into 0 30.241 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 30.241 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 30.242 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.242 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 30.242 * [backup-simplify]: Simplify (- 0) into 0 30.243 * [backup-simplify]: Simplify (+ 0 0) into 0 30.243 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 30.243 * [backup-simplify]: Simplify (+ 0) into 0 30.244 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 30.244 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.245 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.245 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 30.246 * [backup-simplify]: Simplify (- 0) into 0 30.247 * [backup-simplify]: Simplify (+ 0 0) into 0 30.247 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into 0 30.247 * [backup-simplify]: Simplify (+ 0 0) into 0 30.247 * [backup-simplify]: Simplify 0 into 0 30.248 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.249 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.249 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.249 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.250 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.250 * [backup-simplify]: Simplify (+ 0 0) into 0 30.250 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.251 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.251 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.251 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.252 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.252 * [backup-simplify]: Simplify (- 0) into 0 30.252 * [backup-simplify]: Simplify (+ 0 0) into 0 30.252 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 30.253 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 30.253 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.254 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.254 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.254 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.255 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.255 * [backup-simplify]: Simplify (- 0) into 0 30.255 * [backup-simplify]: Simplify (+ 0 0) into 0 30.256 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.256 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.256 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.257 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.257 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.257 * [backup-simplify]: Simplify (+ 0 0) into 0 30.258 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 30.258 * [backup-simplify]: Simplify (+ 0 0) into 0 30.258 * [taylor]: Taking taylor expansion of 0 in phi1 30.258 * [backup-simplify]: Simplify 0 into 0 30.258 * [taylor]: Taking taylor expansion of 0 in delta 30.258 * [backup-simplify]: Simplify 0 into 0 30.258 * [backup-simplify]: Simplify 0 into 0 30.258 * [taylor]: Taking taylor expansion of 0 in delta 30.258 * [backup-simplify]: Simplify 0 into 0 30.258 * [backup-simplify]: Simplify 0 into 0 30.259 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.259 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.259 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 30.260 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.260 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.260 * [backup-simplify]: Simplify (- 0) into 0 30.260 * [backup-simplify]: Simplify (+ 0 0) into 0 30.261 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.261 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.261 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.262 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.262 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.262 * [backup-simplify]: Simplify (+ 0 0) into 0 30.263 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 30.263 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 30.264 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.264 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.264 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.265 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.265 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.265 * [backup-simplify]: Simplify (- 0) into 0 30.266 * [backup-simplify]: Simplify (+ 0 0) into 0 30.266 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 30.266 * [backup-simplify]: Simplify (+ 0 0) into 0 30.266 * [taylor]: Taking taylor expansion of 0 in delta 30.266 * [backup-simplify]: Simplify 0 into 0 30.266 * [backup-simplify]: Simplify 0 into 0 30.266 * [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))) 30.267 * * * [progress]: simplifying candidates 30.267 * * * * [progress]: [ 1 / 76 ] simplifiying candidate # 30.267 * * * * [progress]: [ 2 / 76 ] simplifiying candidate # 30.267 * * * * [progress]: [ 3 / 76 ] simplifiying candidate # 30.267 * * * * [progress]: [ 4 / 76 ] simplifiying candidate # 30.267 * * * * [progress]: [ 5 / 76 ] simplifiying candidate # 30.267 * * * * [progress]: [ 6 / 76 ] simplifiying candidate # 30.267 * * * * [progress]: [ 7 / 76 ] simplifiying candidate # 30.267 * * * * [progress]: [ 8 / 76 ] simplifiying candidate # 30.267 * * * * [progress]: [ 9 / 76 ] simplifiying candidate # 30.267 * * * * [progress]: [ 10 / 76 ] simplifiying candidate # 30.267 * * * * [progress]: [ 11 / 76 ] simplifiying candidate # 30.267 * * * * [progress]: [ 12 / 76 ] simplifiying candidate # 30.267 * * * * [progress]: [ 13 / 76 ] simplifiying candidate # 30.267 * * * * [progress]: [ 14 / 76 ] simplifiying candidate # 30.267 * * * * [progress]: [ 15 / 76 ] simplifiying candidate # 30.267 * * * * [progress]: [ 16 / 76 ] simplifiying candidate # 30.267 * * * * [progress]: [ 17 / 76 ] simplifiying candidate # 30.267 * * * * [progress]: [ 18 / 76 ] simplifiying candidate # 30.267 * * * * [progress]: [ 19 / 76 ] simplifiying candidate # 30.267 * * * * [progress]: [ 20 / 76 ] simplifiying candidate # 30.267 * * * * [progress]: [ 21 / 76 ] simplifiying candidate #real (real->posit16 (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 30.268 * * * * [progress]: [ 22 / 76 ] simplifiying candidate # 30.268 * * * * [progress]: [ 23 / 76 ] simplifiying candidate # 30.268 * * * * [progress]: [ 24 / 76 ] simplifiying candidate # 30.268 * * * * [progress]: [ 25 / 76 ] simplifiying candidate # 30.268 * * * * [progress]: [ 26 / 76 ] simplifiying candidate # 30.268 * * * * [progress]: [ 27 / 76 ] simplifiying candidate # 30.268 * * * * [progress]: [ 28 / 76 ] simplifiying candidate # 30.268 * * * * [progress]: [ 29 / 76 ] simplifiying candidate # 30.268 * * * * [progress]: [ 30 / 76 ] simplifiying candidate # 30.268 * * * * [progress]: [ 31 / 76 ] simplifiying candidate # 30.268 * * * * [progress]: [ 32 / 76 ] simplifiying candidate #real (real->posit16 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 30.268 * * * * [progress]: [ 33 / 76 ] simplifiying candidate # 30.268 * * * * [progress]: [ 34 / 76 ] simplifiying candidate # 30.268 * * * * [progress]: [ 35 / 76 ] simplifiying candidate # 30.268 * * * * [progress]: [ 36 / 76 ] simplifiying candidate # 30.268 * * * * [progress]: [ 37 / 76 ] simplifiying candidate # 30.268 * * * * [progress]: [ 38 / 76 ] simplifiying candidate # 30.268 * * * * [progress]: [ 39 / 76 ] simplifiying candidate # 30.268 * * * * [progress]: [ 40 / 76 ] simplifiying candidate # 30.269 * * * * [progress]: [ 41 / 76 ] simplifiying candidate # 30.269 * * * * [progress]: [ 42 / 76 ] simplifiying candidate # 30.269 * * * * [progress]: [ 43 / 76 ] simplifiying candidate # 30.269 * * * * [progress]: [ 44 / 76 ] simplifiying candidate # 30.269 * * * * [progress]: [ 45 / 76 ] simplifiying candidate # 30.269 * * * * [progress]: [ 46 / 76 ] simplifiying candidate # 30.269 * * * * [progress]: [ 47 / 76 ] simplifiying candidate # 30.269 * * * * [progress]: [ 48 / 76 ] simplifiying candidate # 30.269 * * * * [progress]: [ 49 / 76 ] simplifiying candidate # 30.269 * * * * [progress]: [ 50 / 76 ] simplifiying candidate # 30.269 * * * * [progress]: [ 51 / 76 ] simplifiying candidate # 30.269 * * * * [progress]: [ 52 / 76 ] simplifiying candidate #real (real->posit16 (* (sin delta) (* (cos phi1) (sin theta))))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1))> 30.269 * * * * [progress]: [ 53 / 76 ] simplifiying candidate # 30.269 * * * * [progress]: [ 54 / 76 ] simplifiying candidate # 30.269 * * * * [progress]: [ 55 / 76 ] simplifiying candidate # 30.269 * * * * [progress]: [ 56 / 76 ] simplifiying candidate # 30.269 * * * * [progress]: [ 57 / 76 ] simplifiying candidate # 30.269 * * * * [progress]: [ 58 / 76 ] simplifiying candidate # 30.269 * * * * [progress]: [ 59 / 76 ] simplifiying candidate # 30.269 * * * * [progress]: [ 60 / 76 ] simplifiying candidate # 30.269 * * * * [progress]: [ 61 / 76 ] simplifiying candidate # 30.269 * * * * [progress]: [ 62 / 76 ] simplifiying candidate # 30.269 * * * * [progress]: [ 63 / 76 ] simplifiying candidate # 30.269 * * * * [progress]: [ 64 / 76 ] simplifiying candidate #real (real->posit16 (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 30.270 * * * * [progress]: [ 65 / 76 ] simplifiying candidate # 30.270 * * * * [progress]: [ 66 / 76 ] simplifiying candidate # 30.270 * * * * [progress]: [ 67 / 76 ] simplifiying candidate # 30.270 * * * * [progress]: [ 68 / 76 ] simplifiying candidate # 30.270 * * * * [progress]: [ 69 / 76 ] simplifiying candidate # 30.270 * * * * [progress]: [ 70 / 76 ] simplifiying candidate # 30.270 * * * * [progress]: [ 71 / 76 ] simplifiying candidate # 30.270 * * * * [progress]: [ 72 / 76 ] simplifiying candidate # 30.270 * * * * [progress]: [ 73 / 76 ] simplifiying candidate # 30.270 * * * * [progress]: [ 74 / 76 ] simplifiying candidate # 30.270 * * * * [progress]: [ 75 / 76 ] simplifiying candidate # 30.270 * * * * [progress]: [ 76 / 76 ] simplifiying candidate # 30.271 * [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 (* (sin delta) (* (cos phi1) (sin theta)))), (log1p (* (sin delta) (* (cos phi1) (sin theta)))), (* (sin delta) (* (cos phi1) (sin theta))), (* (sin delta) (* (cos phi1) (sin theta))), (+ (log (sin delta)) (+ (log (cos phi1)) (log (sin theta)))), (+ (log (sin delta)) (log (* (cos phi1) (sin theta)))), (log (* (sin delta) (* (cos phi1) (sin theta)))), (exp (* (sin delta) (* (cos phi1) (sin theta)))), (* (* (* (sin delta) (sin delta)) (sin delta)) (* (* (* (cos phi1) (cos phi1)) (cos phi1)) (* (* (sin theta) (sin theta)) (sin theta)))), (* (* (* (sin delta) (sin delta)) (sin delta)) (* (* (* (cos phi1) (sin theta)) (* (cos phi1) (sin theta))) (* (cos phi1) (sin theta)))), (* (cbrt (* (sin delta) (* (cos phi1) (sin theta)))) (cbrt (* (sin delta) (* (cos phi1) (sin theta))))), (cbrt (* (sin delta) (* (cos phi1) (sin theta)))), (* (* (* (sin delta) (* (cos phi1) (sin theta))) (* (sin delta) (* (cos phi1) (sin theta)))) (* (sin delta) (* (cos phi1) (sin theta)))), (sqrt (* (sin delta) (* (cos phi1) (sin theta)))), (sqrt (* (sin delta) (* (cos phi1) (sin theta)))), (* (sin delta) (cos phi1)), (* (cbrt (sin delta)) (* (cos phi1) (sin theta))), (* (sqrt (sin delta)) (* (cos phi1) (sin theta))), (* (sin delta) (* (cos phi1) (sin theta))), (real->posit16 (* (sin delta) (* (cos phi1) (sin theta)))), (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)))), (- 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)))), 0, (* (cos phi1) (* (sin theta) (sin delta))), (* (cos phi1) (* (sin delta) (sin theta))), (+ phi1 delta), (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta)))), (+ (* (cos phi1) (* (sin delta) (cos theta))) (* (sin phi1) (cos delta))) 30.272 * * [simplify]: iteration 1: (146 enodes) 30.327 * * [simplify]: iteration 2: (575 enodes) 30.519 * * [simplify]: iteration 3: (1142 enodes) 31.054 * * [simplify]: Extracting #0: cost 57 inf + 0 31.056 * * [simplify]: Extracting #1: cost 291 inf + 1 31.061 * * [simplify]: Extracting #2: cost 632 inf + 2686 31.079 * * [simplify]: Extracting #3: cost 482 inf + 47492 31.106 * * [simplify]: Extracting #4: cost 248 inf + 122784 31.179 * * [simplify]: Extracting #5: cost 110 inf + 208983 31.265 * * [simplify]: Extracting #6: cost 9 inf + 285208 31.342 * * [simplify]: Extracting #7: cost 0 inf + 291988 31.416 * * [simplify]: Extracting #8: cost 0 inf + 291973 31.493 * [simplify]: Simplified to (- (* (cbrt (cos delta)) (* (cbrt (cos delta)) (cbrt (cos delta)))) (* (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))) (sin phi1))), (* (+ (sin phi1) (- (sin phi1))) (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta)))))), (- (cos delta) (* (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))) (sin phi1))), (* (+ (sin phi1) (- (sin phi1))) (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta)))))), (- (cos delta) (* (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))) (sin phi1))), (* (+ (sin phi1) (- (sin phi1))) (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta)))))), (expm1 (- (cos delta) (* (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))) (sin phi1)))), (log1p (- (cos delta) (* (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))) (sin phi1)))), (* (- (sin phi1)) (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta)))))), (* (- (sin phi1)) (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta)))))), (* (- (sin phi1)) (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta)))))), (exp (- (cos delta) (* (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))) (sin phi1)))), (log (- (cos delta) (* (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))) (sin phi1)))), (exp (- (cos delta) (* (sin (asin 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(cos theta)) (sin delta) (* (sin phi1) (cos delta))))) (sin phi1)))), (- (* (cos delta) (* (cos delta) (cos delta))) (* (* (* (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))) (sin phi1)) (* (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))) (sin phi1))) (* (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))) (sin phi1)))), (fma (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))) (fma (* (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))) (sin phi1)) (sin phi1) (* (sin phi1) (cos delta))) (* (cos delta) (cos delta))), (* (- (sin phi1)) (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta)))))), (- (* (cos delta) (cos delta)) (* (* (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))) (sin phi1)) (* (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))) (sin phi1)))), (fma (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))) (sin phi1) (cos delta)), (* (- (sin phi1)) (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta)))))), (real->posit16 (- (cos delta) (* (sin (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))) (sin phi1)))), (expm1 (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))), (log1p (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))), (/ PI 2), (acos (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta)))), (log (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))), (exp (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))), (* (cbrt (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))) (cbrt (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta)))))), (cbrt (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))), (* (* (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta)))) (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))) (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))), (sqrt (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))), (sqrt (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))), (real->posit16 (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))), (expm1 (* (* (sin theta) (cos phi1)) (sin delta))), (log1p (* (* (sin theta) (cos phi1)) (sin delta))), (* (* (sin theta) (cos phi1)) (sin delta)), (* (* (sin theta) (cos phi1)) (sin delta)), (log (* (* (sin theta) (cos phi1)) (sin delta))), (log (* (* (sin theta) (cos phi1)) (sin delta))), (log (* (* (sin theta) (cos phi1)) (sin delta))), (exp (* (* (sin theta) (cos phi1)) (sin delta))), (* (* (* (* (sin theta) (cos phi1)) (sin delta)) (* (* (sin theta) (cos phi1)) (sin delta))) (* (* (sin theta) (cos phi1)) (sin delta))), (* (* (* (* (sin theta) (cos phi1)) (sin delta)) (* (* (sin theta) (cos phi1)) (sin delta))) (* (* (sin theta) (cos phi1)) (sin delta))), (* (cbrt (* (* (sin theta) (cos phi1)) (sin delta))) (cbrt (* (* (sin theta) (cos phi1)) (sin delta)))), (cbrt (* (* (sin theta) (cos phi1)) (sin delta))), (* (* (* (* (sin theta) (cos phi1)) (sin delta)) (* (* (sin theta) (cos phi1)) (sin delta))) (* (* (sin theta) (cos phi1)) (sin delta))), (sqrt (* (* (sin theta) (cos phi1)) (sin delta))), (sqrt (* (* (sin theta) (cos phi1)) (sin delta))), (* (cos phi1) (sin delta)), (* (cbrt (sin delta)) (* (sin theta) (cos phi1))), (* (sqrt (sin delta)) (* (sin theta) (cos phi1))), (* (* (sin theta) (cos phi1)) (sin delta)), (real->posit16 (* (* (sin theta) (cos phi1)) (sin delta))), (expm1 (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta)))), (log1p (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta)))), (* (cos theta) (* (cos phi1) (sin delta))), (log (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta)))), (exp (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta)))), (* (cbrt (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta)))) (cbrt (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))), (cbrt (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta)))), (* (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))) (* (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))) (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))), (sqrt (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta)))), (sqrt (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta)))), (real->posit16 (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta)))), (- 1 (* delta (+ (* delta 1/2) phi1))), (- (cos delta) (* (sin phi1) (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))), (- (cos delta) (* (sin phi1) (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))))), (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta)))), (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta)))), (asin (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta)))), 0, (* (* (sin theta) (cos phi1)) (sin delta)), (* (* (sin theta) (cos phi1)) (sin delta)), (+ delta phi1), (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))), (fma (* (cos phi1) (cos theta)) (sin delta) (* (sin phi1) (cos delta))) 31.513 * * * [progress]: adding candidates to table 33.272 * [progress]: [Phase 3 of 3] Extracting. 33.285 * [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) 33.285 * * [simplify]: iteration 1: (21 enodes) 33.286 * * [simplify]: iteration 2: (27 enodes) 33.287 * * [simplify]: Extracting #0: cost 1 inf + 0 33.287 * * [simplify]: Extracting #1: cost 3 inf + 0 33.287 * * [simplify]: Extracting #2: cost 4 inf + 1 33.287 * * [simplify]: Extracting #3: cost 8 inf + 1 33.287 * * [simplify]: Extracting #4: cost 13 inf + 1 33.287 * * [simplify]: Extracting #5: cost 15 inf + 2 33.287 * * [simplify]: Extracting #6: cost 9 inf + 309 33.288 * * [simplify]: Extracting #7: cost 10 inf + 734 33.288 * * [simplify]: Extracting #8: cost 6 inf + 1557 33.288 * * [simplify]: Extracting #9: cost 4 inf + 2703 33.288 * * [simplify]: Extracting #10: cost 3 inf + 3346 33.289 * * [simplify]: Extracting #11: cost 0 inf + 5996 33.289 * [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)))))))))