0.001 * [progress]: [Phase 1 of 3] Setting up. 0.001 * * * [progress]: [1/2] Preparing points 30.584 * * * [progress]: [2/2] Setting up program. 30.595 * [progress]: [Phase 2 of 3] Improving. 30.595 * * * * [progress]: [ 1 / 1 ] simplifiying candidate # 30.596 * [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))))))))) 30.596 * * [simplify]: iteration 1: (22 enodes) 30.603 * * [simplify]: iteration 2: (79 enodes) 30.620 * * [simplify]: iteration 3: (102 enodes) 30.640 * * [simplify]: iteration 4: (115 enodes) 30.681 * * [simplify]: Extracting #0: cost 1 inf + 0 30.681 * * [simplify]: Extracting #1: cost 4 inf + 0 30.681 * * [simplify]: Extracting #2: cost 6 inf + 1 30.681 * * [simplify]: Extracting #3: cost 17 inf + 1 30.681 * * [simplify]: Extracting #4: cost 33 inf + 1 30.681 * * [simplify]: Extracting #5: cost 27 inf + 633 30.682 * * [simplify]: Extracting #6: cost 19 inf + 1889 30.683 * * [simplify]: Extracting #7: cost 20 inf + 2314 30.683 * * [simplify]: Extracting #8: cost 24 inf + 2476 30.684 * * [simplify]: Extracting #9: cost 20 inf + 4618 30.686 * * [simplify]: Extracting #10: cost 13 inf + 6624 30.688 * * [simplify]: Extracting #11: cost 6 inf + 11340 30.691 * * [simplify]: Extracting #12: cost 3 inf + 13744 30.694 * * [simplify]: Extracting #13: cost 0 inf + 16790 30.698 * [simplify]: Simplified to (+ (atan2 (* (* (cos phi1) (sin theta)) (sin delta)) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (cos delta) (sin phi1)) (* (cos theta) (* (cos phi1) (sin delta))))))))) lambda1) 30.710 * * [progress]: iteration 1 / 4 30.710 * * * [progress]: picking best candidate 30.720 * * * * [pick]: Picked # 30.720 * * * [progress]: localizing error 30.818 * * * [progress]: generating rewritten candidates 30.818 * * * * [progress]: [ 1 / 4 ] rewriting at (2 2 2) 30.824 * * * * [progress]: [ 2 / 4 ] rewriting at (2 2 2 2 2 1) 30.826 * * * * [progress]: [ 3 / 4 ] rewriting at (2 2 1 1) 30.840 * * * * [progress]: [ 4 / 4 ] rewriting at (2 2 2 2) 30.860 * * * [progress]: generating series expansions 30.860 * * * * [progress]: [ 1 / 4 ] generating series at (2 2 2) 30.861 * [backup-simplify]: Simplify (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (sin delta) (cos theta)))))) 30.861 * [approximate]: Taking taylor expansion of (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (sin delta) (cos theta)))))) in (delta phi1 theta) around 0 30.861 * [taylor]: Taking taylor expansion of (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (sin delta) (cos theta)))))) in theta 30.861 * [taylor]: Taking taylor expansion of (cos delta) in theta 30.861 * [taylor]: Taking taylor expansion of delta in theta 30.861 * [backup-simplify]: Simplify delta into delta 30.861 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.861 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.861 * [taylor]: Taking taylor expansion of (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (sin delta) (cos theta))))) in theta 30.861 * [taylor]: Taking taylor expansion of (* (pow (sin phi1) 2) (cos delta)) in theta 30.861 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in theta 30.861 * [taylor]: Taking taylor expansion of (sin phi1) in theta 30.861 * [taylor]: Taking taylor expansion of phi1 in theta 30.861 * [backup-simplify]: Simplify phi1 into phi1 30.861 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.861 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.861 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 30.861 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 30.861 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 30.861 * [taylor]: Taking taylor expansion of (cos delta) in theta 30.861 * [taylor]: Taking taylor expansion of delta in theta 30.862 * [backup-simplify]: Simplify delta into delta 30.862 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.862 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.862 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (sin delta) (cos theta)))) in theta 30.862 * [taylor]: Taking taylor expansion of (sin phi1) in theta 30.862 * [taylor]: Taking taylor expansion of phi1 in theta 30.862 * [backup-simplify]: Simplify phi1 into phi1 30.862 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.862 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.862 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (sin delta) (cos theta))) in theta 30.862 * [taylor]: Taking taylor expansion of (cos phi1) in theta 30.862 * [taylor]: Taking taylor expansion of phi1 in theta 30.862 * [backup-simplify]: Simplify phi1 into phi1 30.862 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.862 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.862 * [taylor]: Taking taylor expansion of (* (sin delta) (cos theta)) in theta 30.862 * [taylor]: Taking taylor expansion of (sin delta) in theta 30.862 * [taylor]: Taking taylor expansion of delta in theta 30.862 * [backup-simplify]: Simplify delta into delta 30.862 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.862 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.862 * [taylor]: Taking taylor expansion of (cos theta) in theta 30.862 * [taylor]: Taking taylor expansion of theta in theta 30.862 * [backup-simplify]: Simplify 0 into 0 30.862 * [backup-simplify]: Simplify 1 into 1 30.862 * [taylor]: Taking taylor expansion of (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (sin delta) (cos theta)))))) in phi1 30.862 * [taylor]: Taking taylor expansion of (cos delta) in phi1 30.862 * [taylor]: Taking taylor expansion of delta in phi1 30.862 * [backup-simplify]: Simplify delta into delta 30.862 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.862 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.862 * [taylor]: Taking taylor expansion of (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (sin delta) (cos theta))))) in phi1 30.862 * [taylor]: Taking taylor expansion of (* (pow (sin phi1) 2) (cos delta)) in phi1 30.862 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 30.862 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 30.862 * [taylor]: Taking taylor expansion of phi1 in phi1 30.863 * [backup-simplify]: Simplify 0 into 0 30.863 * [backup-simplify]: Simplify 1 into 1 30.864 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 30.864 * [taylor]: Taking taylor expansion of (cos delta) in phi1 30.864 * [taylor]: Taking taylor expansion of delta in phi1 30.864 * [backup-simplify]: Simplify delta into delta 30.864 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.864 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.864 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (sin delta) (cos theta)))) in phi1 30.864 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 30.864 * [taylor]: Taking taylor expansion of phi1 in phi1 30.864 * [backup-simplify]: Simplify 0 into 0 30.864 * [backup-simplify]: Simplify 1 into 1 30.864 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (sin delta) (cos theta))) in phi1 30.864 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 30.864 * [taylor]: Taking taylor expansion of phi1 in phi1 30.864 * [backup-simplify]: Simplify 0 into 0 30.864 * [backup-simplify]: Simplify 1 into 1 30.864 * [taylor]: Taking taylor expansion of (* (sin delta) (cos theta)) in phi1 30.864 * [taylor]: Taking taylor expansion of (sin delta) in phi1 30.864 * [taylor]: Taking taylor expansion of delta in phi1 30.864 * [backup-simplify]: Simplify delta into delta 30.864 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.864 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.864 * [taylor]: Taking taylor expansion of (cos theta) in phi1 30.864 * [taylor]: Taking taylor expansion of theta in phi1 30.864 * [backup-simplify]: Simplify theta into theta 30.864 * [backup-simplify]: Simplify (cos theta) into (cos theta) 30.864 * [backup-simplify]: Simplify (sin theta) into (sin theta) 30.864 * [taylor]: Taking taylor expansion of (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (sin delta) (cos theta)))))) in delta 30.864 * [taylor]: Taking taylor expansion of (cos delta) in delta 30.864 * [taylor]: Taking taylor expansion of delta in delta 30.864 * [backup-simplify]: Simplify 0 into 0 30.864 * [backup-simplify]: Simplify 1 into 1 30.864 * [taylor]: Taking taylor expansion of (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (sin delta) (cos theta))))) in delta 30.864 * [taylor]: Taking taylor expansion of (* (pow (sin phi1) 2) (cos delta)) in delta 30.864 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in delta 30.864 * [taylor]: Taking taylor expansion of (sin phi1) in delta 30.864 * [taylor]: Taking taylor expansion of phi1 in delta 30.865 * [backup-simplify]: Simplify phi1 into phi1 30.865 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.865 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.865 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 30.865 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 30.865 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 30.865 * [taylor]: Taking taylor expansion of (cos delta) in delta 30.865 * [taylor]: Taking taylor expansion of delta in delta 30.865 * [backup-simplify]: Simplify 0 into 0 30.865 * [backup-simplify]: Simplify 1 into 1 30.865 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (sin delta) (cos theta)))) in delta 30.865 * [taylor]: Taking taylor expansion of (sin phi1) in delta 30.865 * [taylor]: Taking taylor expansion of phi1 in delta 30.865 * [backup-simplify]: Simplify phi1 into phi1 30.865 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.865 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.865 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (sin delta) (cos theta))) in delta 30.865 * [taylor]: Taking taylor expansion of (cos phi1) in delta 30.865 * [taylor]: Taking taylor expansion of phi1 in delta 30.865 * [backup-simplify]: Simplify phi1 into phi1 30.865 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.865 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.865 * [taylor]: Taking taylor expansion of (* (sin delta) (cos theta)) in delta 30.865 * [taylor]: Taking taylor expansion of (sin delta) in delta 30.865 * [taylor]: Taking taylor expansion of delta in delta 30.865 * [backup-simplify]: Simplify 0 into 0 30.865 * [backup-simplify]: Simplify 1 into 1 30.865 * [taylor]: Taking taylor expansion of (cos theta) in delta 30.865 * [taylor]: Taking taylor expansion of theta in delta 30.865 * [backup-simplify]: Simplify theta into theta 30.865 * [backup-simplify]: Simplify (cos theta) into (cos theta) 30.865 * [backup-simplify]: Simplify (sin theta) into (sin theta) 30.865 * [taylor]: Taking taylor expansion of (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (sin delta) (cos theta)))))) in delta 30.865 * [taylor]: Taking taylor expansion of (cos delta) in delta 30.866 * [taylor]: Taking taylor expansion of delta in delta 30.866 * [backup-simplify]: Simplify 0 into 0 30.866 * [backup-simplify]: Simplify 1 into 1 30.866 * [taylor]: Taking taylor expansion of (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (sin delta) (cos theta))))) in delta 30.866 * [taylor]: Taking taylor expansion of (* (pow (sin phi1) 2) (cos delta)) in delta 30.866 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in delta 30.866 * [taylor]: Taking taylor expansion of (sin phi1) in delta 30.866 * [taylor]: Taking taylor expansion of phi1 in delta 30.866 * [backup-simplify]: Simplify phi1 into phi1 30.866 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.866 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.866 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 30.866 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 30.866 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 30.866 * [taylor]: Taking taylor expansion of (cos delta) in delta 30.866 * [taylor]: Taking taylor expansion of delta in delta 30.866 * [backup-simplify]: Simplify 0 into 0 30.866 * [backup-simplify]: Simplify 1 into 1 30.866 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (sin delta) (cos theta)))) in delta 30.866 * [taylor]: Taking taylor expansion of (sin phi1) in delta 30.866 * [taylor]: Taking taylor expansion of phi1 in delta 30.866 * [backup-simplify]: Simplify phi1 into phi1 30.866 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.866 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.866 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (sin delta) (cos theta))) in delta 30.866 * [taylor]: Taking taylor expansion of (cos phi1) in delta 30.866 * [taylor]: Taking taylor expansion of phi1 in delta 30.866 * [backup-simplify]: Simplify phi1 into phi1 30.866 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.866 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.866 * [taylor]: Taking taylor expansion of (* (sin delta) (cos theta)) in delta 30.866 * [taylor]: Taking taylor expansion of (sin delta) in delta 30.866 * [taylor]: Taking taylor expansion of delta in delta 30.866 * [backup-simplify]: Simplify 0 into 0 30.867 * [backup-simplify]: Simplify 1 into 1 30.867 * [taylor]: Taking taylor expansion of (cos theta) in delta 30.867 * [taylor]: Taking taylor expansion of theta in delta 30.867 * [backup-simplify]: Simplify theta into theta 30.867 * [backup-simplify]: Simplify (cos theta) into (cos theta) 30.867 * [backup-simplify]: Simplify (sin theta) into (sin theta) 30.867 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 30.867 * [backup-simplify]: Simplify (* (pow (sin phi1) 2) 1) into (pow (sin phi1) 2) 30.867 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 30.867 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 30.867 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 30.867 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 30.867 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 30.868 * [backup-simplify]: Simplify (- 0) into 0 30.868 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 30.868 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 30.868 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 30.868 * [backup-simplify]: Simplify (- 0) into 0 30.868 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 30.868 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 30.868 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 30.868 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 30.869 * [backup-simplify]: Simplify (+ (pow (sin phi1) 2) 0) into (pow (sin phi1) 2) 30.869 * [backup-simplify]: Simplify (- (pow (sin phi1) 2)) into (- (pow (sin phi1) 2)) 30.869 * [backup-simplify]: Simplify (+ 1 (- (pow (sin phi1) 2))) into (- 1 (pow (sin phi1) 2)) 30.869 * [taylor]: Taking taylor expansion of (- 1 (pow (sin phi1) 2)) in phi1 30.869 * [taylor]: Taking taylor expansion of 1 in phi1 30.869 * [backup-simplify]: Simplify 1 into 1 30.869 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 30.869 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 30.869 * [taylor]: Taking taylor expansion of phi1 in phi1 30.869 * [backup-simplify]: Simplify 0 into 0 30.869 * [backup-simplify]: Simplify 1 into 1 30.870 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 30.870 * [backup-simplify]: Simplify (+ 1 0) into 1 30.870 * [taylor]: Taking taylor expansion of 1 in theta 30.870 * [backup-simplify]: Simplify 1 into 1 30.870 * [backup-simplify]: Simplify 1 into 1 30.871 * [backup-simplify]: Simplify (+ 0) into 0 30.871 * [backup-simplify]: Simplify (+ 0) into 0 30.871 * [backup-simplify]: Simplify (+ 0) into 0 30.872 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 30.873 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.873 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 30.874 * [backup-simplify]: Simplify (+ 0 0) into 0 30.874 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 (sin phi1))) into 0 30.874 * [backup-simplify]: Simplify (+ (* (pow (sin phi1) 2) 0) (* 0 1)) into 0 30.874 * [backup-simplify]: Simplify (+ 0) into 0 30.875 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 30.876 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.876 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 30.876 * [backup-simplify]: Simplify (- 0) into 0 30.877 * [backup-simplify]: Simplify (+ 0 0) into 0 30.877 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 30.878 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos theta))) into (cos theta) 30.878 * [backup-simplify]: Simplify (+ 0) into 0 30.879 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 30.879 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.880 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 30.880 * [backup-simplify]: Simplify (- 0) into 0 30.880 * [backup-simplify]: Simplify (+ 0 0) into 0 30.881 * [backup-simplify]: Simplify (+ (* (cos phi1) (cos theta)) (* 0 0)) into (* (cos phi1) (cos theta)) 30.881 * [backup-simplify]: Simplify (+ 0) into 0 30.882 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 30.882 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.883 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 30.883 * [backup-simplify]: Simplify (+ 0 0) into 0 30.883 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos phi1) (cos theta))) (* 0 0)) into (* (sin phi1) (* (cos phi1) (cos theta))) 30.884 * [backup-simplify]: Simplify (+ 0 (* (sin phi1) (* (cos phi1) (cos theta)))) into (* (sin phi1) (* (cos phi1) (cos theta))) 30.884 * [backup-simplify]: Simplify (- (* (sin phi1) (* (cos phi1) (cos theta)))) into (- (* (sin phi1) (* (cos phi1) (cos theta)))) 30.884 * [backup-simplify]: Simplify (+ 0 (- (* (sin phi1) (* (cos phi1) (cos theta))))) into (- (* (sin phi1) (* (cos phi1) (cos theta)))) 30.884 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (* (cos phi1) (cos theta)))) in phi1 30.884 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (cos theta))) in phi1 30.884 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 30.884 * [taylor]: Taking taylor expansion of phi1 in phi1 30.884 * [backup-simplify]: Simplify 0 into 0 30.884 * [backup-simplify]: Simplify 1 into 1 30.884 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 30.884 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 30.884 * [taylor]: Taking taylor expansion of phi1 in phi1 30.884 * [backup-simplify]: Simplify 0 into 0 30.884 * [backup-simplify]: Simplify 1 into 1 30.884 * [taylor]: Taking taylor expansion of (cos theta) in phi1 30.884 * [taylor]: Taking taylor expansion of theta in phi1 30.884 * [backup-simplify]: Simplify theta into theta 30.884 * [backup-simplify]: Simplify (cos theta) into (cos theta) 30.884 * [backup-simplify]: Simplify (sin theta) into (sin theta) 30.884 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 30.885 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 30.885 * [backup-simplify]: Simplify (- 0) into 0 30.885 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 30.885 * [backup-simplify]: Simplify (* 1 (cos theta)) into (cos theta) 30.885 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 30.885 * [backup-simplify]: Simplify (- 0) into 0 30.885 * [taylor]: Taking taylor expansion of 0 in theta 30.885 * [backup-simplify]: Simplify 0 into 0 30.886 * [backup-simplify]: Simplify 0 into 0 30.886 * [backup-simplify]: Simplify (+ 0 0) into 0 30.886 * [taylor]: Taking taylor expansion of 0 in theta 30.886 * [backup-simplify]: Simplify 0 into 0 30.886 * [backup-simplify]: Simplify 0 into 0 30.886 * [backup-simplify]: Simplify 0 into 0 30.887 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 30.888 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 30.889 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.889 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 30.890 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.891 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 30.891 * [backup-simplify]: Simplify (+ 0 0) into 0 30.891 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 (sin phi1)))) into 0 30.892 * [backup-simplify]: Simplify (+ (* (pow (sin phi1) 2) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (pow (sin phi1) 2))) 30.893 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.893 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 30.894 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.895 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 30.899 * [backup-simplify]: Simplify (- 0) into 0 30.899 * [backup-simplify]: Simplify (+ 0 0) into 0 30.900 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.901 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (cos theta)))) into 0 30.902 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.902 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 30.903 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.903 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 30.904 * [backup-simplify]: Simplify (- 0) into 0 30.904 * [backup-simplify]: Simplify (+ 0 0) into 0 30.905 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 (cos theta)) (* 0 0))) into 0 30.905 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.906 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 30.907 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.907 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 30.908 * [backup-simplify]: Simplify (+ 0 0) into 0 30.908 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 (* (cos phi1) (cos theta))) (* 0 0))) into 0 30.908 * [backup-simplify]: Simplify (+ (- (* 1/2 (pow (sin phi1) 2))) 0) into (- (* 1/2 (pow (sin phi1) 2))) 30.908 * [backup-simplify]: Simplify (- (- (* 1/2 (pow (sin phi1) 2)))) into (* 1/2 (pow (sin phi1) 2)) 30.909 * [backup-simplify]: Simplify (+ -1/2 (* 1/2 (pow (sin phi1) 2))) into (- (* 1/2 (pow (sin phi1) 2)) 1/2) 30.909 * [taylor]: Taking taylor expansion of (- (* 1/2 (pow (sin phi1) 2)) 1/2) in phi1 30.909 * [taylor]: Taking taylor expansion of (* 1/2 (pow (sin phi1) 2)) in phi1 30.909 * [taylor]: Taking taylor expansion of 1/2 in phi1 30.909 * [backup-simplify]: Simplify 1/2 into 1/2 30.909 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 30.909 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 30.909 * [taylor]: Taking taylor expansion of phi1 in phi1 30.909 * [backup-simplify]: Simplify 0 into 0 30.909 * [backup-simplify]: Simplify 1 into 1 30.909 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 30.910 * [taylor]: Taking taylor expansion of 1/2 in phi1 30.910 * [backup-simplify]: Simplify 1/2 into 1/2 30.910 * [backup-simplify]: Simplify (- 1/2) into -1/2 30.910 * [backup-simplify]: Simplify (+ 0 -1/2) into -1/2 30.910 * [taylor]: Taking taylor expansion of -1/2 in theta 30.910 * [backup-simplify]: Simplify -1/2 into -1/2 30.910 * [backup-simplify]: Simplify -1/2 into -1/2 30.911 * [backup-simplify]: Simplify (+ 0) into 0 30.911 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 30.912 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.912 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 30.913 * [backup-simplify]: Simplify (- 0) into 0 30.913 * [backup-simplify]: Simplify (+ 0 0) into 0 30.913 * [backup-simplify]: Simplify (+ 0) into 0 30.914 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos theta))) into 0 30.914 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 30.915 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos theta))) into (cos theta) 30.915 * [backup-simplify]: Simplify (- (cos theta)) into (- (cos theta)) 30.915 * [taylor]: Taking taylor expansion of (- (cos theta)) in theta 30.915 * [taylor]: Taking taylor expansion of (cos theta) in theta 30.915 * [taylor]: Taking taylor expansion of theta in theta 30.915 * [backup-simplify]: Simplify 0 into 0 30.915 * [backup-simplify]: Simplify 1 into 1 30.915 * [backup-simplify]: Simplify (- 1) into -1 30.915 * [backup-simplify]: Simplify -1 into -1 30.916 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* phi1 delta))) (+ (* -1/2 (pow (* 1 (* 1 delta)) 2)) 1)) into (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) 30.916 * [backup-simplify]: Simplify (- (cos (/ 1 delta)) (* (sin (/ 1 phi1)) (sin (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (cos (/ 1 theta)))))))) into (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))))) 30.916 * [approximate]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))))) in (delta phi1 theta) around 0 30.916 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))))) in theta 30.916 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 30.916 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.916 * [taylor]: Taking taylor expansion of delta in theta 30.917 * [backup-simplify]: Simplify delta into delta 30.917 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.917 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.917 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.917 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) in theta 30.917 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in theta 30.917 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 30.917 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 30.917 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.917 * [taylor]: Taking taylor expansion of phi1 in theta 30.917 * [backup-simplify]: Simplify phi1 into phi1 30.917 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.917 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.917 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.917 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 30.917 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 30.917 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 30.917 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 30.917 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.917 * [taylor]: Taking taylor expansion of delta in theta 30.917 * [backup-simplify]: Simplify delta into delta 30.917 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.917 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.918 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.918 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in theta 30.918 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 30.918 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.918 * [taylor]: Taking taylor expansion of delta in theta 30.918 * [backup-simplify]: Simplify delta into delta 30.918 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.918 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.918 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.918 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in theta 30.918 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 30.918 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.918 * [taylor]: Taking taylor expansion of phi1 in theta 30.918 * [backup-simplify]: Simplify phi1 into phi1 30.918 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.918 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.918 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.918 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in theta 30.918 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 30.918 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 30.918 * [taylor]: Taking taylor expansion of theta in theta 30.918 * [backup-simplify]: Simplify 0 into 0 30.918 * [backup-simplify]: Simplify 1 into 1 30.919 * [backup-simplify]: Simplify (/ 1 1) into 1 30.919 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.919 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 30.919 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.919 * [taylor]: Taking taylor expansion of phi1 in theta 30.919 * [backup-simplify]: Simplify phi1 into phi1 30.919 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.919 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.919 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.919 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))))) in phi1 30.919 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 30.919 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.919 * [taylor]: Taking taylor expansion of delta in phi1 30.919 * [backup-simplify]: Simplify delta into delta 30.919 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.919 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.919 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.919 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) in phi1 30.919 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in phi1 30.919 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 30.919 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 30.920 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.920 * [taylor]: Taking taylor expansion of phi1 in phi1 30.920 * [backup-simplify]: Simplify 0 into 0 30.920 * [backup-simplify]: Simplify 1 into 1 30.920 * [backup-simplify]: Simplify (/ 1 1) into 1 30.920 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.920 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 30.920 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.920 * [taylor]: Taking taylor expansion of delta in phi1 30.920 * [backup-simplify]: Simplify delta into delta 30.920 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.920 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.920 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.920 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in phi1 30.920 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 30.920 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.920 * [taylor]: Taking taylor expansion of delta in phi1 30.920 * [backup-simplify]: Simplify delta into delta 30.920 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.921 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.921 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.921 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 30.921 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 30.921 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.921 * [taylor]: Taking taylor expansion of phi1 in phi1 30.921 * [backup-simplify]: Simplify 0 into 0 30.921 * [backup-simplify]: Simplify 1 into 1 30.921 * [backup-simplify]: Simplify (/ 1 1) into 1 30.921 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.921 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 30.921 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 30.921 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 30.921 * [taylor]: Taking taylor expansion of theta in phi1 30.921 * [backup-simplify]: Simplify theta into theta 30.921 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 30.921 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.922 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 30.922 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 30.922 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.922 * [taylor]: Taking taylor expansion of phi1 in phi1 30.922 * [backup-simplify]: Simplify 0 into 0 30.922 * [backup-simplify]: Simplify 1 into 1 30.922 * [backup-simplify]: Simplify (/ 1 1) into 1 30.922 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.922 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))))) in delta 30.922 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 30.922 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.922 * [taylor]: Taking taylor expansion of delta in delta 30.922 * [backup-simplify]: Simplify 0 into 0 30.923 * [backup-simplify]: Simplify 1 into 1 30.923 * [backup-simplify]: Simplify (/ 1 1) into 1 30.923 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.923 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) in delta 30.923 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in delta 30.923 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in delta 30.923 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 30.923 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.923 * [taylor]: Taking taylor expansion of phi1 in delta 30.923 * [backup-simplify]: Simplify phi1 into phi1 30.923 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.923 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.923 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.923 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 30.923 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 30.924 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 30.924 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 30.924 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.924 * [taylor]: Taking taylor expansion of delta in delta 30.924 * [backup-simplify]: Simplify 0 into 0 30.924 * [backup-simplify]: Simplify 1 into 1 30.924 * [backup-simplify]: Simplify (/ 1 1) into 1 30.924 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.924 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in delta 30.924 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 30.924 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.924 * [taylor]: Taking taylor expansion of delta in delta 30.924 * [backup-simplify]: Simplify 0 into 0 30.924 * [backup-simplify]: Simplify 1 into 1 30.925 * [backup-simplify]: Simplify (/ 1 1) into 1 30.925 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.925 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 30.925 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 30.925 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.925 * [taylor]: Taking taylor expansion of phi1 in delta 30.925 * [backup-simplify]: Simplify phi1 into phi1 30.925 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.925 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.925 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.925 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 30.925 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 30.925 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 30.925 * [taylor]: Taking taylor expansion of theta in delta 30.925 * [backup-simplify]: Simplify theta into theta 30.925 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 30.925 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.925 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 30.925 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 30.925 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.925 * [taylor]: Taking taylor expansion of phi1 in delta 30.925 * [backup-simplify]: Simplify phi1 into phi1 30.925 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.926 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.926 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.926 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))))) in delta 30.926 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 30.926 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.926 * [taylor]: Taking taylor expansion of delta in delta 30.926 * [backup-simplify]: Simplify 0 into 0 30.926 * [backup-simplify]: Simplify 1 into 1 30.926 * [backup-simplify]: Simplify (/ 1 1) into 1 30.926 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.926 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) in delta 30.926 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in delta 30.926 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in delta 30.926 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 30.926 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.926 * [taylor]: Taking taylor expansion of phi1 in delta 30.926 * [backup-simplify]: Simplify phi1 into phi1 30.926 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.926 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.927 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.927 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 30.927 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 30.927 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 30.927 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 30.927 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.927 * [taylor]: Taking taylor expansion of delta in delta 30.927 * [backup-simplify]: Simplify 0 into 0 30.927 * [backup-simplify]: Simplify 1 into 1 30.927 * [backup-simplify]: Simplify (/ 1 1) into 1 30.927 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.927 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in delta 30.927 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 30.927 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.927 * [taylor]: Taking taylor expansion of delta in delta 30.927 * [backup-simplify]: Simplify 0 into 0 30.928 * [backup-simplify]: Simplify 1 into 1 30.928 * [backup-simplify]: Simplify (/ 1 1) into 1 30.928 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.928 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 30.928 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 30.928 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.928 * [taylor]: Taking taylor expansion of phi1 in delta 30.928 * [backup-simplify]: Simplify phi1 into phi1 30.928 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.928 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.928 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.928 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 30.928 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 30.928 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 30.928 * [taylor]: Taking taylor expansion of theta in delta 30.928 * [backup-simplify]: Simplify theta into theta 30.928 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 30.928 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.929 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 30.929 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 30.929 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.929 * [taylor]: Taking taylor expansion of phi1 in delta 30.929 * [backup-simplify]: Simplify phi1 into phi1 30.929 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.929 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.929 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.929 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 30.929 * [backup-simplify]: Simplify (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) 30.929 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 30.929 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 30.929 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 30.929 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 30.930 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 30.930 * [backup-simplify]: Simplify (- 0) into 0 30.930 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 30.930 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 30.930 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 30.931 * [backup-simplify]: Simplify (- 0) into 0 30.931 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 30.931 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 30.931 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) 30.931 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) into (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 30.932 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into (+ (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) 30.932 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) into (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 30.933 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 30.933 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) in phi1 30.933 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 30.933 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.933 * [taylor]: Taking taylor expansion of delta in phi1 30.933 * [backup-simplify]: Simplify delta into delta 30.933 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.933 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.933 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.933 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in phi1 30.933 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) in phi1 30.933 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 30.933 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.933 * [taylor]: Taking taylor expansion of delta in phi1 30.933 * [backup-simplify]: Simplify delta into delta 30.933 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.933 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.933 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.933 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) in phi1 30.934 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 30.934 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.934 * [taylor]: Taking taylor expansion of phi1 in phi1 30.934 * [backup-simplify]: Simplify 0 into 0 30.934 * [backup-simplify]: Simplify 1 into 1 30.934 * [backup-simplify]: Simplify (/ 1 1) into 1 30.934 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.934 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 phi1))) in phi1 30.934 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 30.934 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 30.934 * [taylor]: Taking taylor expansion of theta in phi1 30.934 * [backup-simplify]: Simplify theta into theta 30.934 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 30.934 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.934 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 30.934 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 30.934 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.934 * [taylor]: Taking taylor expansion of phi1 in phi1 30.934 * [backup-simplify]: Simplify 0 into 0 30.934 * [backup-simplify]: Simplify 1 into 1 30.935 * [backup-simplify]: Simplify (/ 1 1) into 1 30.935 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.935 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in phi1 30.935 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 30.935 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 30.935 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.935 * [taylor]: Taking taylor expansion of phi1 in phi1 30.935 * [backup-simplify]: Simplify 0 into 0 30.935 * [backup-simplify]: Simplify 1 into 1 30.935 * [backup-simplify]: Simplify (/ 1 1) into 1 30.936 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.936 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 30.936 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.936 * [taylor]: Taking taylor expansion of delta in phi1 30.936 * [backup-simplify]: Simplify delta into delta 30.936 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.936 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.936 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.936 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 30.936 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 30.936 * [backup-simplify]: Simplify (- 0) into 0 30.936 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 30.937 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 30.937 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 30.937 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 30.937 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 30.937 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 30.937 * [backup-simplify]: Simplify (- 0) into 0 30.937 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 30.937 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 phi1))) into (* (cos (/ 1 theta)) (sin (/ 1 phi1))) 30.938 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) into (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 30.938 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 30.938 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 30.938 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 30.938 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 30.938 * [backup-simplify]: Simplify (- 0) into 0 30.939 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 30.939 * [backup-simplify]: Simplify (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) 30.939 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) into (+ (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) 30.940 * [backup-simplify]: Simplify (- (+ (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) (* (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))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 30.940 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (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 delta))) (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))))) 30.940 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))))) in theta 30.940 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 30.940 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.940 * [taylor]: Taking taylor expansion of delta in theta 30.940 * [backup-simplify]: Simplify delta into delta 30.940 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.940 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.941 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.941 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) in theta 30.941 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in theta 30.941 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 30.941 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 30.941 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.941 * [taylor]: Taking taylor expansion of phi1 in theta 30.941 * [backup-simplify]: Simplify phi1 into phi1 30.941 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.941 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.941 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.941 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 30.941 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 30.941 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 30.941 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 30.941 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.941 * [taylor]: Taking taylor expansion of delta in theta 30.941 * [backup-simplify]: Simplify delta into delta 30.941 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.941 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.941 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.942 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in theta 30.942 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 30.942 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.942 * [taylor]: Taking taylor expansion of delta in theta 30.942 * [backup-simplify]: Simplify delta into delta 30.942 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.942 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.942 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.942 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in theta 30.942 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 30.942 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.942 * [taylor]: Taking taylor expansion of phi1 in theta 30.942 * [backup-simplify]: Simplify phi1 into phi1 30.942 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.942 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.942 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.942 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in theta 30.942 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 30.942 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 30.942 * [taylor]: Taking taylor expansion of theta in theta 30.942 * [backup-simplify]: Simplify 0 into 0 30.942 * [backup-simplify]: Simplify 1 into 1 30.943 * [backup-simplify]: Simplify (/ 1 1) into 1 30.943 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.943 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 30.943 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.943 * [taylor]: Taking taylor expansion of phi1 in theta 30.943 * [backup-simplify]: Simplify phi1 into phi1 30.943 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.943 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.943 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.943 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 30.943 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 30.944 * [backup-simplify]: Simplify (- 0) into 0 30.944 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 30.944 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 30.944 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 30.944 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 30.944 * [backup-simplify]: Simplify (- 0) into 0 30.944 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 30.945 * [backup-simplify]: Simplify (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) 30.945 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 30.945 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 30.945 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 30.945 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 30.945 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 30.945 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 30.945 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 30.945 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 30.946 * [backup-simplify]: Simplify (- 0) into 0 30.946 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 30.946 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 30.946 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) 30.946 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) into (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 30.947 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into (+ (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) 30.947 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) into (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 30.948 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 30.948 * [backup-simplify]: Simplify (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (cos (/ 1 delta)) (+ (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 30.949 * [backup-simplify]: Simplify (+ 0) into 0 30.949 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 30.949 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.950 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.950 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 30.951 * [backup-simplify]: Simplify (+ 0 0) into 0 30.951 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 30.951 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (* 0 (cos (/ 1 delta)))) into 0 30.951 * [backup-simplify]: Simplify (+ 0) into 0 30.952 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 30.952 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.953 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.953 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 30.954 * [backup-simplify]: Simplify (- 0) into 0 30.954 * [backup-simplify]: Simplify (+ 0 0) into 0 30.954 * [backup-simplify]: Simplify (+ 0) into 0 30.955 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 30.955 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 30.955 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.956 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 30.956 * [backup-simplify]: Simplify (- 0) into 0 30.956 * [backup-simplify]: Simplify (+ 0 0) into 0 30.957 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 30.957 * [backup-simplify]: Simplify (+ 0) into 0 30.957 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 30.957 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.958 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.958 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 30.958 * [backup-simplify]: Simplify (+ 0 0) into 0 30.958 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 30.959 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))))) into 0 30.959 * [backup-simplify]: Simplify (+ 0 0) into 0 30.959 * [backup-simplify]: Simplify (- 0) into 0 30.959 * [backup-simplify]: Simplify (+ 0 0) into 0 30.959 * [taylor]: Taking taylor expansion of 0 in phi1 30.959 * [backup-simplify]: Simplify 0 into 0 30.959 * [taylor]: Taking taylor expansion of 0 in theta 30.959 * [backup-simplify]: Simplify 0 into 0 30.959 * [backup-simplify]: Simplify 0 into 0 30.960 * [backup-simplify]: Simplify (+ 0) into 0 30.960 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 30.960 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.961 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.961 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 30.962 * [backup-simplify]: Simplify (- 0) into 0 30.962 * [backup-simplify]: Simplify (+ 0 0) into 0 30.962 * [backup-simplify]: Simplify (+ 0) into 0 30.963 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 30.963 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 30.964 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.964 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 30.964 * [backup-simplify]: Simplify (- 0) into 0 30.965 * [backup-simplify]: Simplify (+ 0 0) into 0 30.965 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 30.965 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) into 0 30.965 * [backup-simplify]: Simplify (+ 0) into 0 30.966 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 30.966 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.967 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.967 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 30.967 * [backup-simplify]: Simplify (+ 0 0) into 0 30.968 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 30.968 * [backup-simplify]: Simplify (+ 0) into 0 30.968 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 30.969 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.969 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.970 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 30.970 * [backup-simplify]: Simplify (- 0) into 0 30.970 * [backup-simplify]: Simplify (+ 0 0) into 0 30.971 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 30.971 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (* 0 (cos (/ 1 delta)))) into 0 30.971 * [backup-simplify]: Simplify (+ 0 0) into 0 30.971 * [backup-simplify]: Simplify (- 0) into 0 30.972 * [backup-simplify]: Simplify (+ 0 0) into 0 30.972 * [taylor]: Taking taylor expansion of 0 in theta 30.972 * [backup-simplify]: Simplify 0 into 0 30.972 * [backup-simplify]: Simplify 0 into 0 30.972 * [backup-simplify]: Simplify (+ 0) into 0 30.973 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 30.973 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.974 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.974 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 30.974 * [backup-simplify]: Simplify (- 0) into 0 30.975 * [backup-simplify]: Simplify (+ 0 0) into 0 30.975 * [backup-simplify]: Simplify (+ 0) into 0 30.976 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 30.976 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.976 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.977 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 30.977 * [backup-simplify]: Simplify (- 0) into 0 30.978 * [backup-simplify]: Simplify (+ 0 0) into 0 30.978 * [backup-simplify]: Simplify (+ 0) into 0 30.978 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 30.978 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.979 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.980 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 30.980 * [backup-simplify]: Simplify (+ 0 0) into 0 30.980 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 30.980 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (* 0 (cos (/ 1 delta)))) into 0 30.981 * [backup-simplify]: Simplify (+ 0) into 0 30.981 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 30.981 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.982 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.982 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 30.983 * [backup-simplify]: Simplify (- 0) into 0 30.983 * [backup-simplify]: Simplify (+ 0 0) into 0 30.983 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 30.984 * [backup-simplify]: Simplify (+ 0) into 0 30.984 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 30.984 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.985 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.985 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 30.986 * [backup-simplify]: Simplify (+ 0 0) into 0 30.986 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 30.986 * [backup-simplify]: Simplify (+ 0) into 0 30.987 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 30.987 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.987 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.988 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 30.988 * [backup-simplify]: Simplify (+ 0 0) into 0 30.988 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))))) into 0 30.989 * [backup-simplify]: Simplify (+ 0 0) into 0 30.989 * [backup-simplify]: Simplify (- 0) into 0 30.989 * [backup-simplify]: Simplify (+ 0 0) into 0 30.989 * [backup-simplify]: Simplify 0 into 0 30.990 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.991 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.991 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.992 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.992 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.993 * [backup-simplify]: Simplify (+ 0 0) into 0 30.993 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 30.994 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 30.994 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.995 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.995 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.996 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.997 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.997 * [backup-simplify]: Simplify (- 0) into 0 30.997 * [backup-simplify]: Simplify (+ 0 0) into 0 30.998 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.999 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.999 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.000 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.000 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.000 * [backup-simplify]: Simplify (- 0) into 0 31.001 * [backup-simplify]: Simplify (+ 0 0) into 0 31.001 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 31.002 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.003 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.003 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.004 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.004 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.005 * [backup-simplify]: Simplify (+ 0 0) into 0 31.005 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 31.006 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))))) into 0 31.006 * [backup-simplify]: Simplify (+ 0 0) into 0 31.006 * [backup-simplify]: Simplify (- 0) into 0 31.007 * [backup-simplify]: Simplify (+ 0 0) into 0 31.007 * [taylor]: Taking taylor expansion of 0 in phi1 31.007 * [backup-simplify]: Simplify 0 into 0 31.007 * [taylor]: Taking taylor expansion of 0 in theta 31.007 * [backup-simplify]: Simplify 0 into 0 31.007 * [backup-simplify]: Simplify 0 into 0 31.007 * [taylor]: Taking taylor expansion of 0 in theta 31.007 * [backup-simplify]: Simplify 0 into 0 31.007 * [backup-simplify]: Simplify 0 into 0 31.008 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.009 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.009 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.010 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.010 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.010 * [backup-simplify]: Simplify (- 0) into 0 31.011 * [backup-simplify]: Simplify (+ 0 0) into 0 31.012 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.013 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.013 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.013 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.014 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.014 * [backup-simplify]: Simplify (- 0) into 0 31.015 * [backup-simplify]: Simplify (+ 0 0) into 0 31.015 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 31.016 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 phi1)))))) into 0 31.017 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.018 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.018 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.019 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.020 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.020 * [backup-simplify]: Simplify (+ 0 0) into 0 31.021 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))))) into 0 31.022 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.022 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.022 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.023 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.024 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.024 * [backup-simplify]: Simplify (- 0) into 0 31.025 * [backup-simplify]: Simplify (+ 0 0) into 0 31.025 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 31.026 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 31.026 * [backup-simplify]: Simplify (+ 0 0) into 0 31.026 * [backup-simplify]: Simplify (- 0) into 0 31.027 * [backup-simplify]: Simplify (+ 0 0) into 0 31.027 * [taylor]: Taking taylor expansion of 0 in theta 31.027 * [backup-simplify]: Simplify 0 into 0 31.027 * [backup-simplify]: Simplify 0 into 0 31.027 * [backup-simplify]: Simplify (- (cos (/ 1 (/ 1 delta))) (+ (* (sin (/ 1 (/ 1 phi1))) (* (cos (/ 1 (/ 1 phi1))) (* (cos (/ 1 (/ 1 theta))) (sin (/ 1 (/ 1 delta)))))) (* (cos (/ 1 (/ 1 delta))) (pow (sin (/ 1 (/ 1 phi1))) 2)))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))) 31.028 * [backup-simplify]: Simplify (- (cos (/ 1 (- delta))) (* (sin (/ 1 (- phi1))) (sin (asin (+ (* (sin (/ 1 (- phi1))) (cos (/ 1 (- delta)))) (* (* (cos (/ 1 (- phi1))) (sin (/ 1 (- delta)))) (cos (/ 1 (- theta))))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 31.028 * [approximate]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) in (delta phi1 theta) around 0 31.028 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) in theta 31.028 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 31.028 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.028 * [taylor]: Taking taylor expansion of -1 in theta 31.028 * [backup-simplify]: Simplify -1 into -1 31.028 * [taylor]: Taking taylor expansion of delta in theta 31.028 * [backup-simplify]: Simplify delta into delta 31.028 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.028 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.028 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.028 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) in theta 31.028 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in theta 31.028 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in theta 31.029 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 31.029 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.029 * [taylor]: Taking taylor expansion of -1 in theta 31.029 * [backup-simplify]: Simplify -1 into -1 31.029 * [taylor]: Taking taylor expansion of phi1 in theta 31.029 * [backup-simplify]: Simplify phi1 into phi1 31.029 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.029 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.029 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.029 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.029 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.029 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.029 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 31.029 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.029 * [taylor]: Taking taylor expansion of -1 in theta 31.029 * [backup-simplify]: Simplify -1 into -1 31.029 * [taylor]: Taking taylor expansion of delta in theta 31.029 * [backup-simplify]: Simplify delta into delta 31.029 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.029 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.029 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.029 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) in theta 31.029 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 31.029 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.029 * [taylor]: Taking taylor expansion of -1 in theta 31.030 * [backup-simplify]: Simplify -1 into -1 31.030 * [taylor]: Taking taylor expansion of phi1 in theta 31.030 * [backup-simplify]: Simplify phi1 into phi1 31.030 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.030 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.030 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.030 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))) in theta 31.030 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 31.030 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.030 * [taylor]: Taking taylor expansion of -1 in theta 31.030 * [backup-simplify]: Simplify -1 into -1 31.030 * [taylor]: Taking taylor expansion of delta in theta 31.030 * [backup-simplify]: Simplify delta into delta 31.030 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.030 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.030 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.030 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (cos (/ -1 phi1))) in theta 31.030 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 31.030 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 31.030 * [taylor]: Taking taylor expansion of -1 in theta 31.030 * [backup-simplify]: Simplify -1 into -1 31.030 * [taylor]: Taking taylor expansion of theta in theta 31.030 * [backup-simplify]: Simplify 0 into 0 31.030 * [backup-simplify]: Simplify 1 into 1 31.031 * [backup-simplify]: Simplify (/ -1 1) into -1 31.031 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.031 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 31.031 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.031 * [taylor]: Taking taylor expansion of -1 in theta 31.031 * [backup-simplify]: Simplify -1 into -1 31.031 * [taylor]: Taking taylor expansion of phi1 in theta 31.031 * [backup-simplify]: Simplify phi1 into phi1 31.031 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.031 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.031 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.031 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) in phi1 31.031 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 31.031 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.031 * [taylor]: Taking taylor expansion of -1 in phi1 31.031 * [backup-simplify]: Simplify -1 into -1 31.031 * [taylor]: Taking taylor expansion of delta in phi1 31.031 * [backup-simplify]: Simplify delta into delta 31.031 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.031 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.032 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.032 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) in phi1 31.032 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in phi1 31.032 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 31.032 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 31.032 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.032 * [taylor]: Taking taylor expansion of -1 in phi1 31.032 * [backup-simplify]: Simplify -1 into -1 31.032 * [taylor]: Taking taylor expansion of phi1 in phi1 31.032 * [backup-simplify]: Simplify 0 into 0 31.032 * [backup-simplify]: Simplify 1 into 1 31.032 * [backup-simplify]: Simplify (/ -1 1) into -1 31.032 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.032 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 31.032 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.032 * [taylor]: Taking taylor expansion of -1 in phi1 31.032 * [backup-simplify]: Simplify -1 into -1 31.032 * [taylor]: Taking taylor expansion of delta in phi1 31.032 * [backup-simplify]: Simplify delta into delta 31.032 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.032 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.032 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.032 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) in phi1 31.032 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 31.032 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.032 * [taylor]: Taking taylor expansion of -1 in phi1 31.032 * [backup-simplify]: Simplify -1 into -1 31.033 * [taylor]: Taking taylor expansion of phi1 in phi1 31.033 * [backup-simplify]: Simplify 0 into 0 31.033 * [backup-simplify]: Simplify 1 into 1 31.033 * [backup-simplify]: Simplify (/ -1 1) into -1 31.033 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.033 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))) in phi1 31.033 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 31.033 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.033 * [taylor]: Taking taylor expansion of -1 in phi1 31.033 * [backup-simplify]: Simplify -1 into -1 31.033 * [taylor]: Taking taylor expansion of delta in phi1 31.033 * [backup-simplify]: Simplify delta into delta 31.033 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.033 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.033 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.033 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (cos (/ -1 phi1))) in phi1 31.033 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 31.033 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 31.033 * [taylor]: Taking taylor expansion of -1 in phi1 31.033 * [backup-simplify]: Simplify -1 into -1 31.033 * [taylor]: Taking taylor expansion of theta in phi1 31.033 * [backup-simplify]: Simplify theta into theta 31.033 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.033 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.033 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.033 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 31.033 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.033 * [taylor]: Taking taylor expansion of -1 in phi1 31.033 * [backup-simplify]: Simplify -1 into -1 31.033 * [taylor]: Taking taylor expansion of phi1 in phi1 31.033 * [backup-simplify]: Simplify 0 into 0 31.033 * [backup-simplify]: Simplify 1 into 1 31.034 * [backup-simplify]: Simplify (/ -1 1) into -1 31.034 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.034 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) in delta 31.034 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 31.034 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.034 * [taylor]: Taking taylor expansion of -1 in delta 31.034 * [backup-simplify]: Simplify -1 into -1 31.034 * [taylor]: Taking taylor expansion of delta in delta 31.034 * [backup-simplify]: Simplify 0 into 0 31.034 * [backup-simplify]: Simplify 1 into 1 31.036 * [backup-simplify]: Simplify (/ -1 1) into -1 31.036 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.036 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) in delta 31.036 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in delta 31.036 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in delta 31.036 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 31.036 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.036 * [taylor]: Taking taylor expansion of -1 in delta 31.036 * [backup-simplify]: Simplify -1 into -1 31.036 * [taylor]: Taking taylor expansion of phi1 in delta 31.036 * [backup-simplify]: Simplify phi1 into phi1 31.036 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.036 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.036 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.036 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.036 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.036 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.036 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 31.036 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.036 * [taylor]: Taking taylor expansion of -1 in delta 31.036 * [backup-simplify]: Simplify -1 into -1 31.036 * [taylor]: Taking taylor expansion of delta in delta 31.036 * [backup-simplify]: Simplify 0 into 0 31.036 * [backup-simplify]: Simplify 1 into 1 31.037 * [backup-simplify]: Simplify (/ -1 1) into -1 31.037 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.037 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) in delta 31.037 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 31.037 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.037 * [taylor]: Taking taylor expansion of -1 in delta 31.037 * [backup-simplify]: Simplify -1 into -1 31.037 * [taylor]: Taking taylor expansion of phi1 in delta 31.037 * [backup-simplify]: Simplify phi1 into phi1 31.037 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.037 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.037 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.037 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))) in delta 31.037 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 31.037 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.037 * [taylor]: Taking taylor expansion of -1 in delta 31.037 * [backup-simplify]: Simplify -1 into -1 31.037 * [taylor]: Taking taylor expansion of delta in delta 31.037 * [backup-simplify]: Simplify 0 into 0 31.037 * [backup-simplify]: Simplify 1 into 1 31.037 * [backup-simplify]: Simplify (/ -1 1) into -1 31.038 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.038 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (cos (/ -1 phi1))) in delta 31.038 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 31.038 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 31.038 * [taylor]: Taking taylor expansion of -1 in delta 31.038 * [backup-simplify]: Simplify -1 into -1 31.038 * [taylor]: Taking taylor expansion of theta in delta 31.038 * [backup-simplify]: Simplify theta into theta 31.038 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.038 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.038 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.038 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 31.038 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.038 * [taylor]: Taking taylor expansion of -1 in delta 31.038 * [backup-simplify]: Simplify -1 into -1 31.038 * [taylor]: Taking taylor expansion of phi1 in delta 31.038 * [backup-simplify]: Simplify phi1 into phi1 31.038 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.038 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.038 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.038 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) in delta 31.038 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 31.038 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.038 * [taylor]: Taking taylor expansion of -1 in delta 31.038 * [backup-simplify]: Simplify -1 into -1 31.038 * [taylor]: Taking taylor expansion of delta in delta 31.038 * [backup-simplify]: Simplify 0 into 0 31.038 * [backup-simplify]: Simplify 1 into 1 31.038 * [backup-simplify]: Simplify (/ -1 1) into -1 31.038 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.038 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) in delta 31.038 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in delta 31.038 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in delta 31.039 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 31.039 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.039 * [taylor]: Taking taylor expansion of -1 in delta 31.039 * [backup-simplify]: Simplify -1 into -1 31.039 * [taylor]: Taking taylor expansion of phi1 in delta 31.039 * [backup-simplify]: Simplify phi1 into phi1 31.039 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.039 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.039 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.039 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.039 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.039 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.039 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 31.039 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.039 * [taylor]: Taking taylor expansion of -1 in delta 31.039 * [backup-simplify]: Simplify -1 into -1 31.039 * [taylor]: Taking taylor expansion of delta in delta 31.039 * [backup-simplify]: Simplify 0 into 0 31.039 * [backup-simplify]: Simplify 1 into 1 31.039 * [backup-simplify]: Simplify (/ -1 1) into -1 31.039 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.039 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) in delta 31.039 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 31.039 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.039 * [taylor]: Taking taylor expansion of -1 in delta 31.039 * [backup-simplify]: Simplify -1 into -1 31.039 * [taylor]: Taking taylor expansion of phi1 in delta 31.039 * [backup-simplify]: Simplify phi1 into phi1 31.039 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.039 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.040 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.040 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))) in delta 31.040 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 31.040 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.040 * [taylor]: Taking taylor expansion of -1 in delta 31.040 * [backup-simplify]: Simplify -1 into -1 31.040 * [taylor]: Taking taylor expansion of delta in delta 31.040 * [backup-simplify]: Simplify 0 into 0 31.040 * [backup-simplify]: Simplify 1 into 1 31.040 * [backup-simplify]: Simplify (/ -1 1) into -1 31.040 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.040 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (cos (/ -1 phi1))) in delta 31.040 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 31.040 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 31.040 * [taylor]: Taking taylor expansion of -1 in delta 31.040 * [backup-simplify]: Simplify -1 into -1 31.040 * [taylor]: Taking taylor expansion of theta in delta 31.040 * [backup-simplify]: Simplify theta into theta 31.040 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.040 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.040 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.040 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 31.040 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.040 * [taylor]: Taking taylor expansion of -1 in delta 31.040 * [backup-simplify]: Simplify -1 into -1 31.040 * [taylor]: Taking taylor expansion of phi1 in delta 31.040 * [backup-simplify]: Simplify phi1 into phi1 31.040 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.040 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.040 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.041 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 31.041 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 31.041 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.041 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.041 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.041 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 31.041 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 31.041 * [backup-simplify]: Simplify (- 0) into 0 31.041 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 31.041 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 31.041 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 31.042 * [backup-simplify]: Simplify (- 0) into 0 31.042 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 31.042 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 31.042 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 31.042 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) 31.042 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) 31.043 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 31.043 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 31.043 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) in phi1 31.043 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 31.043 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.043 * [taylor]: Taking taylor expansion of -1 in phi1 31.043 * [backup-simplify]: Simplify -1 into -1 31.043 * [taylor]: Taking taylor expansion of delta in phi1 31.043 * [backup-simplify]: Simplify delta into delta 31.043 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.043 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.043 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.043 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) in phi1 31.043 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in phi1 31.043 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 31.043 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 31.043 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.043 * [taylor]: Taking taylor expansion of -1 in phi1 31.043 * [backup-simplify]: Simplify -1 into -1 31.043 * [taylor]: Taking taylor expansion of phi1 in phi1 31.043 * [backup-simplify]: Simplify 0 into 0 31.043 * [backup-simplify]: Simplify 1 into 1 31.044 * [backup-simplify]: Simplify (/ -1 1) into -1 31.044 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.044 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 31.044 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.044 * [taylor]: Taking taylor expansion of -1 in phi1 31.044 * [backup-simplify]: Simplify -1 into -1 31.044 * [taylor]: Taking taylor expansion of delta in phi1 31.044 * [backup-simplify]: Simplify delta into delta 31.044 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.044 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.044 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.044 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) in phi1 31.044 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 31.044 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.044 * [taylor]: Taking taylor expansion of -1 in phi1 31.044 * [backup-simplify]: Simplify -1 into -1 31.044 * [taylor]: Taking taylor expansion of phi1 in phi1 31.044 * [backup-simplify]: Simplify 0 into 0 31.044 * [backup-simplify]: Simplify 1 into 1 31.044 * [backup-simplify]: Simplify (/ -1 1) into -1 31.044 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.044 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))) in phi1 31.044 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 31.044 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.044 * [taylor]: Taking taylor expansion of -1 in phi1 31.044 * [backup-simplify]: Simplify -1 into -1 31.044 * [taylor]: Taking taylor expansion of delta in phi1 31.044 * [backup-simplify]: Simplify delta into delta 31.045 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.045 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.045 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.045 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (cos (/ -1 phi1))) in phi1 31.045 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 31.045 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 31.045 * [taylor]: Taking taylor expansion of -1 in phi1 31.045 * [backup-simplify]: Simplify -1 into -1 31.045 * [taylor]: Taking taylor expansion of theta in phi1 31.045 * [backup-simplify]: Simplify theta into theta 31.045 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.045 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.045 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.045 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 31.045 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.045 * [taylor]: Taking taylor expansion of -1 in phi1 31.045 * [backup-simplify]: Simplify -1 into -1 31.045 * [taylor]: Taking taylor expansion of phi1 in phi1 31.045 * [backup-simplify]: Simplify 0 into 0 31.045 * [backup-simplify]: Simplify 1 into 1 31.045 * [backup-simplify]: Simplify (/ -1 1) into -1 31.045 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.045 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 31.045 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 31.046 * [backup-simplify]: Simplify (- 0) into 0 31.046 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 31.046 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 31.046 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 31.046 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 31.046 * [backup-simplify]: Simplify (- 0) into 0 31.046 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 31.046 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 31.046 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 31.046 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 31.046 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 31.046 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 31.047 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 31.047 * [backup-simplify]: Simplify (- 0) into 0 31.047 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 31.047 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 31.047 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 31.047 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) 31.047 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) 31.048 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 31.048 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 31.048 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) in theta 31.048 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 31.048 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.048 * [taylor]: Taking taylor expansion of -1 in theta 31.048 * [backup-simplify]: Simplify -1 into -1 31.048 * [taylor]: Taking taylor expansion of delta in theta 31.048 * [backup-simplify]: Simplify delta into delta 31.048 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.048 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.048 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.048 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) in theta 31.048 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in theta 31.048 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in theta 31.048 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 31.048 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.048 * [taylor]: Taking taylor expansion of -1 in theta 31.048 * [backup-simplify]: Simplify -1 into -1 31.048 * [taylor]: Taking taylor expansion of phi1 in theta 31.048 * [backup-simplify]: Simplify phi1 into phi1 31.048 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.049 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.049 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.049 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.049 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.049 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.049 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 31.049 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.049 * [taylor]: Taking taylor expansion of -1 in theta 31.049 * [backup-simplify]: Simplify -1 into -1 31.049 * [taylor]: Taking taylor expansion of delta in theta 31.049 * [backup-simplify]: Simplify delta into delta 31.049 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.049 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.049 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.049 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) in theta 31.049 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 31.049 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.049 * [taylor]: Taking taylor expansion of -1 in theta 31.049 * [backup-simplify]: Simplify -1 into -1 31.049 * [taylor]: Taking taylor expansion of phi1 in theta 31.049 * [backup-simplify]: Simplify phi1 into phi1 31.049 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.049 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.049 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.049 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))) in theta 31.049 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 31.049 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.049 * [taylor]: Taking taylor expansion of -1 in theta 31.049 * [backup-simplify]: Simplify -1 into -1 31.049 * [taylor]: Taking taylor expansion of delta in theta 31.049 * [backup-simplify]: Simplify delta into delta 31.049 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.049 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.049 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.049 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (cos (/ -1 phi1))) in theta 31.049 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 31.049 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 31.049 * [taylor]: Taking taylor expansion of -1 in theta 31.049 * [backup-simplify]: Simplify -1 into -1 31.049 * [taylor]: Taking taylor expansion of theta in theta 31.049 * [backup-simplify]: Simplify 0 into 0 31.049 * [backup-simplify]: Simplify 1 into 1 31.050 * [backup-simplify]: Simplify (/ -1 1) into -1 31.050 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.050 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 31.050 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.050 * [taylor]: Taking taylor expansion of -1 in theta 31.050 * [backup-simplify]: Simplify -1 into -1 31.050 * [taylor]: Taking taylor expansion of phi1 in theta 31.050 * [backup-simplify]: Simplify phi1 into phi1 31.050 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.050 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.050 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.050 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 31.050 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 31.050 * [backup-simplify]: Simplify (- 0) into 0 31.051 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 31.051 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 31.051 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 31.051 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 31.051 * [backup-simplify]: Simplify (- 0) into 0 31.051 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 31.051 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 31.051 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.051 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.051 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.051 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 31.051 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 31.051 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 31.051 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 31.052 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 31.052 * [backup-simplify]: Simplify (- 0) into 0 31.052 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 31.052 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (cos (/ -1 theta))) 31.052 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (* (cos (/ -1 phi1)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 31.052 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))) 31.052 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))) 31.053 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 31.053 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 31.053 * [backup-simplify]: Simplify (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (sin (/ -1 delta)) (* (cos (/ -1 theta)) (cos (/ -1 phi1))))))) 31.054 * [backup-simplify]: Simplify (+ 0) into 0 31.054 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 31.054 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.055 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.055 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 31.055 * [backup-simplify]: Simplify (+ 0 0) into 0 31.055 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 31.055 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 31.056 * [backup-simplify]: Simplify (+ 0) into 0 31.056 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 31.056 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.056 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.057 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 31.057 * [backup-simplify]: Simplify (- 0) into 0 31.057 * [backup-simplify]: Simplify (+ 0 0) into 0 31.057 * [backup-simplify]: Simplify (+ 0) into 0 31.058 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 31.058 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 31.058 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.059 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 31.059 * [backup-simplify]: Simplify (- 0) into 0 31.059 * [backup-simplify]: Simplify (+ 0 0) into 0 31.059 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 31.059 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 31.060 * [backup-simplify]: Simplify (+ 0) into 0 31.060 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 31.060 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.060 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.061 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 31.061 * [backup-simplify]: Simplify (+ 0 0) into 0 31.061 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 31.061 * [backup-simplify]: Simplify (+ 0 0) into 0 31.062 * [backup-simplify]: Simplify (- 0) into 0 31.062 * [backup-simplify]: Simplify (+ 0 0) into 0 31.062 * [taylor]: Taking taylor expansion of 0 in phi1 31.062 * [backup-simplify]: Simplify 0 into 0 31.062 * [taylor]: Taking taylor expansion of 0 in theta 31.062 * [backup-simplify]: Simplify 0 into 0 31.062 * [backup-simplify]: Simplify 0 into 0 31.062 * [backup-simplify]: Simplify (+ 0) into 0 31.062 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 31.063 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.063 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.063 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 31.064 * [backup-simplify]: Simplify (- 0) into 0 31.064 * [backup-simplify]: Simplify (+ 0 0) into 0 31.064 * [backup-simplify]: Simplify (+ 0) into 0 31.064 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 31.064 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.065 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.065 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 31.065 * [backup-simplify]: Simplify (- 0) into 0 31.066 * [backup-simplify]: Simplify (+ 0 0) into 0 31.066 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 31.066 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 31.066 * [backup-simplify]: Simplify (+ 0) into 0 31.066 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 31.066 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 31.067 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.067 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 31.067 * [backup-simplify]: Simplify (- 0) into 0 31.068 * [backup-simplify]: Simplify (+ 0 0) into 0 31.068 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 31.068 * [backup-simplify]: Simplify (+ 0) into 0 31.068 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 31.068 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.069 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.069 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 31.069 * [backup-simplify]: Simplify (+ 0 0) into 0 31.070 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 31.070 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 31.070 * [backup-simplify]: Simplify (+ 0 0) into 0 31.070 * [backup-simplify]: Simplify (- 0) into 0 31.070 * [backup-simplify]: Simplify (+ 0 0) into 0 31.070 * [taylor]: Taking taylor expansion of 0 in theta 31.070 * [backup-simplify]: Simplify 0 into 0 31.070 * [backup-simplify]: Simplify 0 into 0 31.071 * [backup-simplify]: Simplify (+ 0) into 0 31.071 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 31.071 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.072 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.073 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 31.073 * [backup-simplify]: Simplify (- 0) into 0 31.074 * [backup-simplify]: Simplify (+ 0 0) into 0 31.074 * [backup-simplify]: Simplify (+ 0) into 0 31.075 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 31.075 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.076 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.076 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 31.076 * [backup-simplify]: Simplify (- 0) into 0 31.077 * [backup-simplify]: Simplify (+ 0 0) into 0 31.077 * [backup-simplify]: Simplify (+ 0) into 0 31.078 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 31.078 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.079 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.079 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 31.079 * [backup-simplify]: Simplify (+ 0 0) into 0 31.080 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 31.080 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 31.080 * [backup-simplify]: Simplify (+ 0) into 0 31.080 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 31.080 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.081 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.081 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 31.081 * [backup-simplify]: Simplify (- 0) into 0 31.082 * [backup-simplify]: Simplify (+ 0 0) into 0 31.082 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 31.082 * [backup-simplify]: Simplify (+ 0) into 0 31.082 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 31.082 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.083 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.083 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 31.083 * [backup-simplify]: Simplify (+ 0 0) into 0 31.084 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta))))) into 0 31.084 * [backup-simplify]: Simplify (+ 0) into 0 31.084 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 31.084 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.085 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.085 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 31.085 * [backup-simplify]: Simplify (+ 0 0) into 0 31.085 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 31.086 * [backup-simplify]: Simplify (+ 0 0) into 0 31.086 * [backup-simplify]: Simplify (- 0) into 0 31.086 * [backup-simplify]: Simplify (+ 0 0) into 0 31.086 * [backup-simplify]: Simplify 0 into 0 31.087 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.087 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.087 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.088 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.088 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.088 * [backup-simplify]: Simplify (+ 0 0) into 0 31.088 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 31.089 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 31.089 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.090 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.090 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.090 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.091 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.091 * [backup-simplify]: Simplify (- 0) into 0 31.091 * [backup-simplify]: Simplify (+ 0 0) into 0 31.092 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.092 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.092 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.093 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.093 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.093 * [backup-simplify]: Simplify (- 0) into 0 31.094 * [backup-simplify]: Simplify (+ 0 0) into 0 31.094 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 phi1))))) into 0 31.094 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta)))))) into 0 31.095 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.095 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.095 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.096 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.096 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.097 * [backup-simplify]: Simplify (+ 0 0) into 0 31.097 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 31.097 * [backup-simplify]: Simplify (+ 0 0) into 0 31.097 * [backup-simplify]: Simplify (- 0) into 0 31.098 * [backup-simplify]: Simplify (+ 0 0) into 0 31.098 * [taylor]: Taking taylor expansion of 0 in phi1 31.098 * [backup-simplify]: Simplify 0 into 0 31.098 * [taylor]: Taking taylor expansion of 0 in theta 31.098 * [backup-simplify]: Simplify 0 into 0 31.098 * [backup-simplify]: Simplify 0 into 0 31.098 * [taylor]: Taking taylor expansion of 0 in theta 31.098 * [backup-simplify]: Simplify 0 into 0 31.098 * [backup-simplify]: Simplify 0 into 0 31.098 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.099 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.099 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.099 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.100 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.100 * [backup-simplify]: Simplify (- 0) into 0 31.100 * [backup-simplify]: Simplify (+ 0 0) into 0 31.101 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.101 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.101 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.102 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.102 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.102 * [backup-simplify]: Simplify (- 0) into 0 31.103 * [backup-simplify]: Simplify (+ 0 0) into 0 31.103 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 31.103 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 31.104 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.104 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.104 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.105 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.105 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.105 * [backup-simplify]: Simplify (- 0) into 0 31.106 * [backup-simplify]: Simplify (+ 0 0) into 0 31.106 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 phi1))))) into 0 31.106 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.107 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.107 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.108 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.108 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.108 * [backup-simplify]: Simplify (+ 0 0) into 0 31.108 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (cos (/ -1 theta)))))) into 0 31.109 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 31.109 * [backup-simplify]: Simplify (+ 0 0) into 0 31.109 * [backup-simplify]: Simplify (- 0) into 0 31.110 * [backup-simplify]: Simplify (+ 0 0) into 0 31.110 * [taylor]: Taking taylor expansion of 0 in theta 31.110 * [backup-simplify]: Simplify 0 into 0 31.110 * [backup-simplify]: Simplify 0 into 0 31.110 * [backup-simplify]: Simplify (- (cos (/ -1 (/ 1 (- delta)))) (+ (* (pow (sin (/ -1 (/ 1 (- phi1)))) 2) (cos (/ -1 (/ 1 (- delta))))) (* (sin (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- delta)))) (* (cos (/ -1 (/ 1 (- theta)))) (cos (/ -1 (/ 1 (- phi1))))))))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (sin delta) (* (cos theta) (cos phi1)))))) 31.110 * * * * [progress]: [ 2 / 4 ] generating series at (2 2 2 2 2 1) 31.110 * [backup-simplify]: Simplify (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))) into (asin (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))) 31.110 * [approximate]: Taking taylor expansion of (asin (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))) in (phi1 delta theta) around 0 31.110 * [taylor]: Taking taylor expansion of (asin (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))) in theta 31.111 * [backup-simplify]: Simplify (asin (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))) into (asin (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))) 31.111 * [taylor]: Taking taylor expansion of (asin (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))) in delta 31.111 * [backup-simplify]: Simplify (asin (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))) into (asin (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))) 31.111 * [taylor]: Taking taylor expansion of (asin (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))) in phi1 31.111 * [backup-simplify]: Simplify (asin (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))) into (asin (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))) 31.111 * [taylor]: Taking taylor expansion of (asin (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))) in phi1 31.111 * [backup-simplify]: Simplify (asin (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))) into (asin (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))) 31.111 * [taylor]: Taking taylor expansion of (asin (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))) in delta 31.111 * [backup-simplify]: Simplify (asin (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))) into (asin (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))) 31.111 * [taylor]: Taking taylor expansion of (asin (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))) in theta 31.111 * [backup-simplify]: Simplify (asin (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))) into (asin (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))) 31.111 * [backup-simplify]: Simplify (asin (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))) into (asin (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))) 31.112 * [taylor]: Taking taylor expansion of 0 in delta 31.112 * [backup-simplify]: Simplify 0 into 0 31.112 * [taylor]: Taking taylor expansion of 0 in theta 31.112 * [backup-simplify]: Simplify 0 into 0 31.112 * [backup-simplify]: Simplify 0 into 0 31.112 * [taylor]: Taking taylor expansion of 0 in theta 31.112 * [backup-simplify]: Simplify 0 into 0 31.112 * [backup-simplify]: Simplify 0 into 0 31.112 * [backup-simplify]: Simplify 0 into 0 31.112 * [taylor]: Taking taylor expansion of 0 in delta 31.112 * [backup-simplify]: Simplify 0 into 0 31.112 * [taylor]: Taking taylor expansion of 0 in theta 31.112 * [backup-simplify]: Simplify 0 into 0 31.112 * [backup-simplify]: Simplify 0 into 0 31.112 * [taylor]: Taking taylor expansion of 0 in theta 31.112 * [backup-simplify]: Simplify 0 into 0 31.112 * [backup-simplify]: Simplify 0 into 0 31.112 * [taylor]: Taking taylor expansion of 0 in theta 31.112 * [backup-simplify]: Simplify 0 into 0 31.112 * [backup-simplify]: Simplify 0 into 0 31.112 * [backup-simplify]: Simplify (asin (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))) into (asin (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))) 31.112 * [backup-simplify]: Simplify (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (cos (/ 1 theta))))) into (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) 31.112 * [approximate]: Taking taylor expansion of (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) in (phi1 delta theta) around 0 31.112 * [taylor]: Taking taylor expansion of (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) in theta 31.112 * [backup-simplify]: Simplify (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) 31.112 * [taylor]: Taking taylor expansion of (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) in delta 31.113 * [backup-simplify]: Simplify (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) 31.113 * [taylor]: Taking taylor expansion of (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) in phi1 31.113 * [backup-simplify]: Simplify (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) 31.113 * [taylor]: Taking taylor expansion of (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) in phi1 31.113 * [backup-simplify]: Simplify (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) 31.113 * [taylor]: Taking taylor expansion of (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) in delta 31.113 * [backup-simplify]: Simplify (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) 31.113 * [taylor]: Taking taylor expansion of (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) in theta 31.113 * [backup-simplify]: Simplify (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) 31.114 * [backup-simplify]: Simplify (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) 31.114 * [taylor]: Taking taylor expansion of 0 in delta 31.114 * [backup-simplify]: Simplify 0 into 0 31.114 * [taylor]: Taking taylor expansion of 0 in theta 31.114 * [backup-simplify]: Simplify 0 into 0 31.114 * [backup-simplify]: Simplify 0 into 0 31.114 * [taylor]: Taking taylor expansion of 0 in theta 31.114 * [backup-simplify]: Simplify 0 into 0 31.114 * [backup-simplify]: Simplify 0 into 0 31.114 * [backup-simplify]: Simplify 0 into 0 31.114 * [taylor]: Taking taylor expansion of 0 in delta 31.114 * [backup-simplify]: Simplify 0 into 0 31.114 * [taylor]: Taking taylor expansion of 0 in theta 31.114 * [backup-simplify]: Simplify 0 into 0 31.114 * [backup-simplify]: Simplify 0 into 0 31.114 * [taylor]: Taking taylor expansion of 0 in theta 31.114 * [backup-simplify]: Simplify 0 into 0 31.114 * [backup-simplify]: Simplify 0 into 0 31.114 * [taylor]: Taking taylor expansion of 0 in theta 31.114 * [backup-simplify]: Simplify 0 into 0 31.114 * [backup-simplify]: Simplify 0 into 0 31.114 * [backup-simplify]: Simplify (asin (+ (* (sin (/ 1 (/ 1 phi1))) (cos (/ 1 (/ 1 delta)))) (* (sin (/ 1 (/ 1 delta))) (* (cos (/ 1 (/ 1 theta))) (cos (/ 1 (/ 1 phi1))))))) into (asin (+ (* (sin phi1) (cos delta)) (* (sin delta) (* (cos theta) (cos phi1))))) 31.115 * [backup-simplify]: Simplify (asin (+ (* (sin (/ 1 (- phi1))) (cos (/ 1 (- delta)))) (* (* (cos (/ 1 (- phi1))) (sin (/ 1 (- delta)))) (cos (/ 1 (- theta)))))) into (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 31.115 * [approximate]: Taking taylor expansion of (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in (phi1 delta theta) around 0 31.115 * [taylor]: Taking taylor expansion of (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in theta 31.115 * [backup-simplify]: Simplify (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 31.115 * [taylor]: Taking taylor expansion of (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in delta 31.115 * [backup-simplify]: Simplify (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 31.115 * [taylor]: Taking taylor expansion of (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in phi1 31.115 * [backup-simplify]: Simplify (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 31.115 * [taylor]: Taking taylor expansion of (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in phi1 31.115 * [backup-simplify]: Simplify (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 31.115 * [taylor]: Taking taylor expansion of (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in delta 31.116 * [backup-simplify]: Simplify (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 31.116 * [taylor]: Taking taylor expansion of (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in theta 31.116 * [backup-simplify]: Simplify (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 31.116 * [backup-simplify]: Simplify (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 31.116 * [taylor]: Taking taylor expansion of 0 in delta 31.116 * [backup-simplify]: Simplify 0 into 0 31.116 * [taylor]: Taking taylor expansion of 0 in theta 31.116 * [backup-simplify]: Simplify 0 into 0 31.116 * [backup-simplify]: Simplify 0 into 0 31.116 * [taylor]: Taking taylor expansion of 0 in theta 31.116 * [backup-simplify]: Simplify 0 into 0 31.116 * [backup-simplify]: Simplify 0 into 0 31.116 * [backup-simplify]: Simplify 0 into 0 31.116 * [taylor]: Taking taylor expansion of 0 in delta 31.116 * [backup-simplify]: Simplify 0 into 0 31.116 * [taylor]: Taking taylor expansion of 0 in theta 31.116 * [backup-simplify]: Simplify 0 into 0 31.116 * [backup-simplify]: Simplify 0 into 0 31.116 * [taylor]: Taking taylor expansion of 0 in theta 31.116 * [backup-simplify]: Simplify 0 into 0 31.116 * [backup-simplify]: Simplify 0 into 0 31.116 * [taylor]: Taking taylor expansion of 0 in theta 31.116 * [backup-simplify]: Simplify 0 into 0 31.116 * [backup-simplify]: Simplify 0 into 0 31.117 * [backup-simplify]: Simplify (asin (+ (* (sin (/ -1 (/ 1 (- phi1)))) (cos (/ -1 (/ 1 (- delta))))) (* (cos (/ -1 (/ 1 (- phi1)))) (* (cos (/ -1 (/ 1 (- theta)))) (sin (/ -1 (/ 1 (- delta)))))))) into (asin (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta))))) 31.117 * * * * [progress]: [ 3 / 4 ] generating series at (2 2 1 1) 31.117 * [backup-simplify]: Simplify (* (sin theta) (sin delta)) into (* (sin theta) (sin delta)) 31.117 * [approximate]: Taking taylor expansion of (* (sin theta) (sin delta)) in (theta delta) around 0 31.117 * [taylor]: Taking taylor expansion of (* (sin theta) (sin delta)) in delta 31.117 * [taylor]: Taking taylor expansion of (sin theta) in delta 31.117 * [taylor]: Taking taylor expansion of theta in delta 31.117 * [backup-simplify]: Simplify theta into theta 31.117 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.117 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.117 * [taylor]: Taking taylor expansion of (sin delta) in delta 31.117 * [taylor]: Taking taylor expansion of delta in delta 31.117 * [backup-simplify]: Simplify 0 into 0 31.117 * [backup-simplify]: Simplify 1 into 1 31.117 * [taylor]: Taking taylor expansion of (* (sin theta) (sin delta)) in theta 31.117 * [taylor]: Taking taylor expansion of (sin theta) in theta 31.117 * [taylor]: Taking taylor expansion of theta in theta 31.117 * [backup-simplify]: Simplify 0 into 0 31.117 * [backup-simplify]: Simplify 1 into 1 31.117 * [taylor]: Taking taylor expansion of (sin delta) in theta 31.117 * [taylor]: Taking taylor expansion of delta in theta 31.117 * [backup-simplify]: Simplify delta into delta 31.117 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.117 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.117 * [taylor]: Taking taylor expansion of (* (sin theta) (sin delta)) in theta 31.117 * [taylor]: Taking taylor expansion of (sin theta) in theta 31.117 * [taylor]: Taking taylor expansion of theta in theta 31.117 * [backup-simplify]: Simplify 0 into 0 31.117 * [backup-simplify]: Simplify 1 into 1 31.117 * [taylor]: Taking taylor expansion of (sin delta) in theta 31.117 * [taylor]: Taking taylor expansion of delta in theta 31.117 * [backup-simplify]: Simplify delta into delta 31.117 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.117 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.117 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 31.117 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 31.117 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 31.117 * [backup-simplify]: Simplify (* 0 (sin delta)) into 0 31.118 * [taylor]: Taking taylor expansion of 0 in delta 31.118 * [backup-simplify]: Simplify 0 into 0 31.118 * [backup-simplify]: Simplify 0 into 0 31.118 * [backup-simplify]: Simplify (+ 0) into 0 31.118 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 31.119 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.119 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 31.119 * [backup-simplify]: Simplify (+ 0 0) into 0 31.120 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.120 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (sin delta))) into (sin delta) 31.120 * [taylor]: Taking taylor expansion of (sin delta) in delta 31.120 * [taylor]: Taking taylor expansion of delta in delta 31.120 * [backup-simplify]: Simplify 0 into 0 31.120 * [backup-simplify]: Simplify 1 into 1 31.120 * [backup-simplify]: Simplify 0 into 0 31.120 * [backup-simplify]: Simplify 0 into 0 31.121 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.121 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 31.121 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.122 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 31.122 * [backup-simplify]: Simplify (+ 0 0) into 0 31.122 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.123 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (sin delta)))) into 0 31.123 * [taylor]: Taking taylor expansion of 0 in delta 31.123 * [backup-simplify]: Simplify 0 into 0 31.123 * [backup-simplify]: Simplify 0 into 0 31.124 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.124 * [backup-simplify]: Simplify 1 into 1 31.124 * [backup-simplify]: Simplify 0 into 0 31.124 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 31.125 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 31.125 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 31.126 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 31.126 * [backup-simplify]: Simplify (+ 0 0) into 0 31.127 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into -1/6 31.131 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* -1/6 (sin delta))))) into (- (* 1/6 (sin delta))) 31.131 * [taylor]: Taking taylor expansion of (- (* 1/6 (sin delta))) in delta 31.131 * [taylor]: Taking taylor expansion of (* 1/6 (sin delta)) in delta 31.131 * [taylor]: Taking taylor expansion of 1/6 in delta 31.131 * [backup-simplify]: Simplify 1/6 into 1/6 31.131 * [taylor]: Taking taylor expansion of (sin delta) in delta 31.131 * [taylor]: Taking taylor expansion of delta in delta 31.131 * [backup-simplify]: Simplify 0 into 0 31.131 * [backup-simplify]: Simplify 1 into 1 31.131 * [backup-simplify]: Simplify (* 1/6 0) into 0 31.132 * [backup-simplify]: Simplify (- 0) into 0 31.132 * [backup-simplify]: Simplify 0 into 0 31.132 * [backup-simplify]: Simplify 0 into 0 31.133 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.133 * [backup-simplify]: Simplify 0 into 0 31.133 * [backup-simplify]: Simplify 0 into 0 31.135 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 4) 24)) 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) (* -1 (/ (pow 0 2) 2)) 0) into 0 31.136 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (* 0 1))))) into 0 31.137 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 2) 2) (/ (pow 0 1) 1)) 0 0 (* 1 (/ (pow 0 1) 1))) into 0 31.138 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (* 0 0))))) into 0 31.139 * [backup-simplify]: Simplify (+ 0 0) into 0 31.140 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 1 2) 2) (/ (pow 0 1) 1)) 0 0 (* 1 (/ (pow 0 1) 1))) into 0 31.141 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (+ (* -1/6 0) (* 0 (sin delta)))))) into 0 31.141 * [taylor]: Taking taylor expansion of 0 in delta 31.141 * [backup-simplify]: Simplify 0 into 0 31.141 * [backup-simplify]: Simplify 0 into 0 31.141 * [backup-simplify]: Simplify (* 1 (* delta theta)) into (* theta delta) 31.141 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (sin (/ 1 delta))) into (* (sin (/ 1 theta)) (sin (/ 1 delta))) 31.141 * [approximate]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in (theta delta) around 0 31.141 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in delta 31.141 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in delta 31.141 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 31.141 * [taylor]: Taking taylor expansion of theta in delta 31.141 * [backup-simplify]: Simplify theta into theta 31.141 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.141 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.141 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.141 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 31.141 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.141 * [taylor]: Taking taylor expansion of delta in delta 31.141 * [backup-simplify]: Simplify 0 into 0 31.141 * [backup-simplify]: Simplify 1 into 1 31.141 * [backup-simplify]: Simplify (/ 1 1) into 1 31.141 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.141 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in theta 31.141 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in theta 31.141 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 31.141 * [taylor]: Taking taylor expansion of theta in theta 31.141 * [backup-simplify]: Simplify 0 into 0 31.141 * [backup-simplify]: Simplify 1 into 1 31.142 * [backup-simplify]: Simplify (/ 1 1) into 1 31.142 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.142 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 31.142 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.142 * [taylor]: Taking taylor expansion of delta in theta 31.142 * [backup-simplify]: Simplify delta into delta 31.142 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.142 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.142 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.142 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in theta 31.142 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in theta 31.142 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 31.142 * [taylor]: Taking taylor expansion of theta in theta 31.142 * [backup-simplify]: Simplify 0 into 0 31.142 * [backup-simplify]: Simplify 1 into 1 31.142 * [backup-simplify]: Simplify (/ 1 1) into 1 31.142 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.142 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 31.142 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.142 * [taylor]: Taking taylor expansion of delta in theta 31.142 * [backup-simplify]: Simplify delta into delta 31.142 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.142 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.142 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.143 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 31.143 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 31.143 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 31.143 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (sin (/ 1 delta))) into (* (sin (/ 1 theta)) (sin (/ 1 delta))) 31.143 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in delta 31.143 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in delta 31.143 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 31.143 * [taylor]: Taking taylor expansion of theta in delta 31.143 * [backup-simplify]: Simplify theta into theta 31.143 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.143 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.143 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.143 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 31.143 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.143 * [taylor]: Taking taylor expansion of delta in delta 31.143 * [backup-simplify]: Simplify 0 into 0 31.143 * [backup-simplify]: Simplify 1 into 1 31.143 * [backup-simplify]: Simplify (/ 1 1) into 1 31.143 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.143 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 1) into (sin (/ 1 theta)) 31.143 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 0) into 0 31.143 * [backup-simplify]: Simplify (+ (sin (/ 1 theta)) 0) into (sin (/ 1 theta)) 31.144 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (sin (/ 1 delta))) into (* (sin (/ 1 theta)) (sin (/ 1 delta))) 31.144 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (sin (/ 1 delta))) into (* (sin (/ 1 theta)) (sin (/ 1 delta))) 31.144 * [backup-simplify]: Simplify (+ 0) into 0 31.144 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 31.144 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.145 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.145 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 31.145 * [backup-simplify]: Simplify (+ 0 0) into 0 31.145 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 31.145 * [taylor]: Taking taylor expansion of 0 in delta 31.145 * [backup-simplify]: Simplify 0 into 0 31.145 * [backup-simplify]: Simplify 0 into 0 31.146 * [backup-simplify]: Simplify (+ 0) into 0 31.146 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 1)) into 0 31.146 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 31.146 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.147 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 0)) into 0 31.147 * [backup-simplify]: Simplify (+ 0 0) into 0 31.147 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 31.147 * [backup-simplify]: Simplify 0 into 0 31.148 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.148 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.148 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.149 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.149 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.149 * [backup-simplify]: Simplify (+ 0 0) into 0 31.150 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 31.150 * [taylor]: Taking taylor expansion of 0 in delta 31.150 * [backup-simplify]: Simplify 0 into 0 31.150 * [backup-simplify]: Simplify 0 into 0 31.150 * [backup-simplify]: Simplify 0 into 0 31.150 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.151 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.151 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.151 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.151 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.152 * [backup-simplify]: Simplify (+ 0 0) into 0 31.152 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 31.152 * [backup-simplify]: Simplify 0 into 0 31.153 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 31.153 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 31.153 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.154 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 31.155 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 31.155 * [backup-simplify]: Simplify (+ 0 0) into 0 31.155 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 1 delta)))))) into 0 31.155 * [taylor]: Taking taylor expansion of 0 in delta 31.155 * [backup-simplify]: Simplify 0 into 0 31.155 * [backup-simplify]: Simplify 0 into 0 31.155 * [backup-simplify]: Simplify (* (sin (/ 1 (/ 1 theta))) (sin (/ 1 (/ 1 delta)))) into (* (sin theta) (sin delta)) 31.156 * [backup-simplify]: Simplify (* (sin (/ 1 (- theta))) (sin (/ 1 (- delta)))) into (* (sin (/ -1 delta)) (sin (/ -1 theta))) 31.156 * [approximate]: Taking taylor expansion of (* (sin (/ -1 delta)) (sin (/ -1 theta))) in (theta delta) around 0 31.156 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (sin (/ -1 theta))) in delta 31.156 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 31.156 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.156 * [taylor]: Taking taylor expansion of -1 in delta 31.156 * [backup-simplify]: Simplify -1 into -1 31.156 * [taylor]: Taking taylor expansion of delta in delta 31.156 * [backup-simplify]: Simplify 0 into 0 31.156 * [backup-simplify]: Simplify 1 into 1 31.156 * [backup-simplify]: Simplify (/ -1 1) into -1 31.156 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.156 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in delta 31.156 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 31.156 * [taylor]: Taking taylor expansion of -1 in delta 31.156 * [backup-simplify]: Simplify -1 into -1 31.156 * [taylor]: Taking taylor expansion of theta in delta 31.156 * [backup-simplify]: Simplify theta into theta 31.156 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.156 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.156 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.156 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (sin (/ -1 theta))) in theta 31.156 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 31.156 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.156 * [taylor]: Taking taylor expansion of -1 in theta 31.156 * [backup-simplify]: Simplify -1 into -1 31.156 * [taylor]: Taking taylor expansion of delta in theta 31.156 * [backup-simplify]: Simplify delta into delta 31.156 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.156 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.156 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.156 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in theta 31.156 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 31.157 * [taylor]: Taking taylor expansion of -1 in theta 31.157 * [backup-simplify]: Simplify -1 into -1 31.157 * [taylor]: Taking taylor expansion of theta in theta 31.157 * [backup-simplify]: Simplify 0 into 0 31.157 * [backup-simplify]: Simplify 1 into 1 31.157 * [backup-simplify]: Simplify (/ -1 1) into -1 31.157 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.157 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (sin (/ -1 theta))) in theta 31.157 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 31.157 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.157 * [taylor]: Taking taylor expansion of -1 in theta 31.157 * [backup-simplify]: Simplify -1 into -1 31.157 * [taylor]: Taking taylor expansion of delta in theta 31.157 * [backup-simplify]: Simplify delta into delta 31.157 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.157 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.157 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.157 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in theta 31.157 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 31.157 * [taylor]: Taking taylor expansion of -1 in theta 31.157 * [backup-simplify]: Simplify -1 into -1 31.157 * [taylor]: Taking taylor expansion of theta in theta 31.157 * [backup-simplify]: Simplify 0 into 0 31.157 * [backup-simplify]: Simplify 1 into 1 31.157 * [backup-simplify]: Simplify (/ -1 1) into -1 31.158 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.158 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 31.158 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 31.158 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 31.158 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (sin (/ -1 theta))) into (* (sin (/ -1 theta)) (sin (/ -1 delta))) 31.158 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in delta 31.158 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in delta 31.158 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 31.158 * [taylor]: Taking taylor expansion of -1 in delta 31.158 * [backup-simplify]: Simplify -1 into -1 31.158 * [taylor]: Taking taylor expansion of theta in delta 31.158 * [backup-simplify]: Simplify theta into theta 31.158 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.158 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.158 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.158 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 31.158 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.158 * [taylor]: Taking taylor expansion of -1 in delta 31.158 * [backup-simplify]: Simplify -1 into -1 31.158 * [taylor]: Taking taylor expansion of delta in delta 31.158 * [backup-simplify]: Simplify 0 into 0 31.158 * [backup-simplify]: Simplify 1 into 1 31.158 * [backup-simplify]: Simplify (/ -1 1) into -1 31.158 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.159 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 1) into (sin (/ -1 theta)) 31.159 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 0) into 0 31.159 * [backup-simplify]: Simplify (+ (sin (/ -1 theta)) 0) into (sin (/ -1 theta)) 31.159 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (sin (/ -1 theta))) 31.159 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (sin (/ -1 theta))) into (* (sin (/ -1 theta)) (sin (/ -1 delta))) 31.159 * [backup-simplify]: Simplify (+ 0) into 0 31.159 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 31.159 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.160 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.160 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 31.160 * [backup-simplify]: Simplify (+ 0 0) into 0 31.160 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (sin (/ -1 theta)))) into 0 31.161 * [taylor]: Taking taylor expansion of 0 in delta 31.161 * [backup-simplify]: Simplify 0 into 0 31.161 * [backup-simplify]: Simplify 0 into 0 31.161 * [backup-simplify]: Simplify (+ 0) into 0 31.161 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 1)) into 0 31.161 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 31.162 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.162 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 0)) into 0 31.162 * [backup-simplify]: Simplify (+ 0 0) into 0 31.162 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 31.162 * [backup-simplify]: Simplify 0 into 0 31.163 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.163 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.163 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.164 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.164 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.164 * [backup-simplify]: Simplify (+ 0 0) into 0 31.165 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 theta))))) into 0 31.165 * [taylor]: Taking taylor expansion of 0 in delta 31.165 * [backup-simplify]: Simplify 0 into 0 31.165 * [backup-simplify]: Simplify 0 into 0 31.165 * [backup-simplify]: Simplify 0 into 0 31.165 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.166 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.166 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.166 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.167 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.167 * [backup-simplify]: Simplify (+ 0 0) into 0 31.168 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 31.168 * [backup-simplify]: Simplify 0 into 0 31.169 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 31.169 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 31.170 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.171 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 31.172 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 31.172 * [backup-simplify]: Simplify (+ 0 0) into 0 31.173 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -1 theta)))))) into 0 31.173 * [taylor]: Taking taylor expansion of 0 in delta 31.173 * [backup-simplify]: Simplify 0 into 0 31.173 * [backup-simplify]: Simplify 0 into 0 31.174 * [backup-simplify]: Simplify (* (sin (/ -1 (/ 1 (- theta)))) (sin (/ -1 (/ 1 (- delta))))) into (* (sin theta) (sin delta)) 31.174 * * * * [progress]: [ 4 / 4 ] generating series at (2 2 2 2) 31.174 * [backup-simplify]: Simplify (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) into (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))) 31.174 * [approximate]: Taking taylor expansion of (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))) in (phi1 delta theta) around 0 31.174 * [taylor]: Taking taylor expansion of (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))) in theta 31.174 * [taylor]: Taking taylor expansion of (sin phi1) in theta 31.174 * [taylor]: Taking taylor expansion of phi1 in theta 31.174 * [backup-simplify]: Simplify phi1 into phi1 31.174 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.174 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.174 * [taylor]: Taking taylor expansion of (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta)))) in theta 31.174 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 31.174 * [taylor]: Taking taylor expansion of (sin phi1) in theta 31.174 * [taylor]: Taking taylor expansion of phi1 in theta 31.174 * [backup-simplify]: Simplify phi1 into phi1 31.174 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.174 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.174 * [taylor]: Taking taylor expansion of (cos delta) in theta 31.175 * [taylor]: Taking taylor expansion of delta in theta 31.175 * [backup-simplify]: Simplify delta into delta 31.175 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.175 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.175 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (sin delta) (cos theta))) in theta 31.175 * [taylor]: Taking taylor expansion of (cos phi1) in theta 31.175 * [taylor]: Taking taylor expansion of phi1 in theta 31.175 * [backup-simplify]: Simplify phi1 into phi1 31.175 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.175 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.175 * [taylor]: Taking taylor expansion of (* (sin delta) (cos theta)) in theta 31.175 * [taylor]: Taking taylor expansion of (sin delta) in theta 31.175 * [taylor]: Taking taylor expansion of delta in theta 31.175 * [backup-simplify]: Simplify delta into delta 31.175 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.175 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.175 * [taylor]: Taking taylor expansion of (cos theta) in theta 31.175 * [taylor]: Taking taylor expansion of theta in theta 31.175 * [backup-simplify]: Simplify 0 into 0 31.175 * [backup-simplify]: Simplify 1 into 1 31.175 * [taylor]: Taking taylor expansion of (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))) in delta 31.175 * [taylor]: Taking taylor expansion of (sin phi1) in delta 31.175 * [taylor]: Taking taylor expansion of phi1 in delta 31.175 * [backup-simplify]: Simplify phi1 into phi1 31.175 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.175 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.175 * [taylor]: Taking taylor expansion of (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta)))) in delta 31.175 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 31.175 * [taylor]: Taking taylor expansion of (sin phi1) in delta 31.175 * [taylor]: Taking taylor expansion of phi1 in delta 31.175 * [backup-simplify]: Simplify phi1 into phi1 31.176 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.176 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.176 * [taylor]: Taking taylor expansion of (cos delta) in delta 31.176 * [taylor]: Taking taylor expansion of delta in delta 31.176 * [backup-simplify]: Simplify 0 into 0 31.176 * [backup-simplify]: Simplify 1 into 1 31.176 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (sin delta) (cos theta))) in delta 31.176 * [taylor]: Taking taylor expansion of (cos phi1) in delta 31.176 * [taylor]: Taking taylor expansion of phi1 in delta 31.176 * [backup-simplify]: Simplify phi1 into phi1 31.176 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.176 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.176 * [taylor]: Taking taylor expansion of (* (sin delta) (cos theta)) in delta 31.176 * [taylor]: Taking taylor expansion of (sin delta) in delta 31.176 * [taylor]: Taking taylor expansion of delta in delta 31.176 * [backup-simplify]: Simplify 0 into 0 31.176 * [backup-simplify]: Simplify 1 into 1 31.176 * [taylor]: Taking taylor expansion of (cos theta) in delta 31.176 * [taylor]: Taking taylor expansion of theta in delta 31.176 * [backup-simplify]: Simplify theta into theta 31.176 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.176 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.176 * [taylor]: Taking taylor expansion of (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))) in phi1 31.176 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.176 * [taylor]: Taking taylor expansion of phi1 in phi1 31.176 * [backup-simplify]: Simplify 0 into 0 31.176 * [backup-simplify]: Simplify 1 into 1 31.176 * [taylor]: Taking taylor expansion of (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta)))) in phi1 31.176 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 31.176 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.176 * [taylor]: Taking taylor expansion of phi1 in phi1 31.176 * [backup-simplify]: Simplify 0 into 0 31.176 * [backup-simplify]: Simplify 1 into 1 31.176 * [taylor]: Taking taylor expansion of (cos delta) in phi1 31.177 * [taylor]: Taking taylor expansion of delta in phi1 31.177 * [backup-simplify]: Simplify delta into delta 31.177 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.177 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.177 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (sin delta) (cos theta))) in phi1 31.177 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 31.177 * [taylor]: Taking taylor expansion of phi1 in phi1 31.177 * [backup-simplify]: Simplify 0 into 0 31.177 * [backup-simplify]: Simplify 1 into 1 31.177 * [taylor]: Taking taylor expansion of (* (sin delta) (cos theta)) in phi1 31.177 * [taylor]: Taking taylor expansion of (sin delta) in phi1 31.177 * [taylor]: Taking taylor expansion of delta in phi1 31.177 * [backup-simplify]: Simplify delta into delta 31.177 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.177 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.177 * [taylor]: Taking taylor expansion of (cos theta) in phi1 31.177 * [taylor]: Taking taylor expansion of theta in phi1 31.177 * [backup-simplify]: Simplify theta into theta 31.177 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.177 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.177 * [taylor]: Taking taylor expansion of (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))) in phi1 31.177 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.177 * [taylor]: Taking taylor expansion of phi1 in phi1 31.177 * [backup-simplify]: Simplify 0 into 0 31.177 * [backup-simplify]: Simplify 1 into 1 31.177 * [taylor]: Taking taylor expansion of (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta)))) in phi1 31.177 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 31.177 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.177 * [taylor]: Taking taylor expansion of phi1 in phi1 31.177 * [backup-simplify]: Simplify 0 into 0 31.177 * [backup-simplify]: Simplify 1 into 1 31.177 * [taylor]: Taking taylor expansion of (cos delta) in phi1 31.177 * [taylor]: Taking taylor expansion of delta in phi1 31.178 * [backup-simplify]: Simplify delta into delta 31.178 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.178 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.178 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (sin delta) (cos theta))) in phi1 31.178 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 31.178 * [taylor]: Taking taylor expansion of phi1 in phi1 31.178 * [backup-simplify]: Simplify 0 into 0 31.178 * [backup-simplify]: Simplify 1 into 1 31.178 * [taylor]: Taking taylor expansion of (* (sin delta) (cos theta)) in phi1 31.178 * [taylor]: Taking taylor expansion of (sin delta) in phi1 31.178 * [taylor]: Taking taylor expansion of delta in phi1 31.178 * [backup-simplify]: Simplify delta into delta 31.178 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.178 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.178 * [taylor]: Taking taylor expansion of (cos theta) in phi1 31.178 * [taylor]: Taking taylor expansion of theta in phi1 31.178 * [backup-simplify]: Simplify theta into theta 31.178 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.178 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.178 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 31.178 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 31.179 * [backup-simplify]: Simplify (- 0) into 0 31.179 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 31.179 * [backup-simplify]: Simplify (* 0 (cos delta)) into 0 31.179 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 31.179 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 31.179 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 31.179 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 31.179 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 31.180 * [backup-simplify]: Simplify (- 0) into 0 31.180 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 31.180 * [backup-simplify]: Simplify (* (sin delta) (cos theta)) into (* (sin delta) (cos theta)) 31.180 * [backup-simplify]: Simplify (* 1 (* (sin delta) (cos theta))) into (* (sin delta) (cos theta)) 31.180 * [backup-simplify]: Simplify (+ 0 (* (sin delta) (cos theta))) into (* (sin delta) (cos theta)) 31.180 * [backup-simplify]: Simplify (* 0 (* (sin delta) (cos theta))) into 0 31.180 * [taylor]: Taking taylor expansion of 0 in delta 31.180 * [backup-simplify]: Simplify 0 into 0 31.180 * [taylor]: Taking taylor expansion of 0 in theta 31.180 * [backup-simplify]: Simplify 0 into 0 31.180 * [backup-simplify]: Simplify 0 into 0 31.181 * [backup-simplify]: Simplify (+ 0) into 0 31.181 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 31.182 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.182 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 31.183 * [backup-simplify]: Simplify (- 0) into 0 31.183 * [backup-simplify]: Simplify (+ 0 0) into 0 31.184 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.185 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos delta))) into (cos delta) 31.185 * [backup-simplify]: Simplify (+ 0) into 0 31.186 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 31.186 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.187 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 31.187 * [backup-simplify]: Simplify (- 0) into 0 31.188 * [backup-simplify]: Simplify (+ 0 0) into 0 31.188 * [backup-simplify]: Simplify (+ 0) into 0 31.188 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 31.189 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.190 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 31.190 * [backup-simplify]: Simplify (+ 0 0) into 0 31.190 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 (cos theta))) into 0 31.190 * [backup-simplify]: Simplify (+ 0) into 0 31.191 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (sin delta) (cos theta)))) into 0 31.191 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 31.192 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.192 * [backup-simplify]: Simplify (+ (* 0 (cos delta)) (* 1 (* (sin delta) (cos theta)))) into (* (sin delta) (cos theta)) 31.192 * [taylor]: Taking taylor expansion of (* (sin delta) (cos theta)) in delta 31.192 * [taylor]: Taking taylor expansion of (sin delta) in delta 31.192 * [taylor]: Taking taylor expansion of delta in delta 31.192 * [backup-simplify]: Simplify 0 into 0 31.192 * [backup-simplify]: Simplify 1 into 1 31.192 * [taylor]: Taking taylor expansion of (cos theta) in delta 31.192 * [taylor]: Taking taylor expansion of theta in delta 31.192 * [backup-simplify]: Simplify theta into theta 31.192 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.192 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.192 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 31.192 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 31.193 * [backup-simplify]: Simplify (- 0) into 0 31.193 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 31.193 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 31.193 * [taylor]: Taking taylor expansion of 0 in theta 31.193 * [backup-simplify]: Simplify 0 into 0 31.193 * [backup-simplify]: Simplify 0 into 0 31.193 * [taylor]: Taking taylor expansion of 0 in theta 31.193 * [backup-simplify]: Simplify 0 into 0 31.193 * [backup-simplify]: Simplify 0 into 0 31.193 * [backup-simplify]: Simplify 0 into 0 31.194 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.195 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 1))) into 0 31.196 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.196 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 0))) into 0 31.197 * [backup-simplify]: Simplify (- 0) into 0 31.197 * [backup-simplify]: Simplify (+ 0 0) into 0 31.198 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.199 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (cos delta)))) into 0 31.199 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.200 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 31.201 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.202 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 31.202 * [backup-simplify]: Simplify (- 0) into 0 31.202 * [backup-simplify]: Simplify (+ 0 0) into 0 31.203 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.204 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 31.205 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.205 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 31.206 * [backup-simplify]: Simplify (+ 0 0) into 0 31.206 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 (cos theta)))) into 0 31.207 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 31.208 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (* (sin delta) (cos theta))))) into (- (* 1/2 (* (sin delta) (cos theta)))) 31.208 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (* (sin delta) (cos theta))))) into (- (* 1/2 (* (sin delta) (cos theta)))) 31.208 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.208 * [backup-simplify]: Simplify (+ (* 0 (- (* 1/2 (* (sin delta) (cos theta))))) (+ (* 1 (cos delta)) (* 0 (* (sin delta) (cos theta))))) into (cos delta) 31.208 * [taylor]: Taking taylor expansion of (cos delta) in delta 31.208 * [taylor]: Taking taylor expansion of delta in delta 31.208 * [backup-simplify]: Simplify 0 into 0 31.208 * [backup-simplify]: Simplify 1 into 1 31.208 * [taylor]: Taking taylor expansion of 1 in theta 31.208 * [backup-simplify]: Simplify 1 into 1 31.208 * [backup-simplify]: Simplify 1 into 1 31.209 * [backup-simplify]: Simplify (+ 0) into 0 31.209 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 31.209 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.210 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 31.210 * [backup-simplify]: Simplify (- 0) into 0 31.210 * [backup-simplify]: Simplify (+ 0 0) into 0 31.211 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.211 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos theta))) into (cos theta) 31.211 * [taylor]: Taking taylor expansion of (cos theta) in theta 31.211 * [taylor]: Taking taylor expansion of theta in theta 31.211 * [backup-simplify]: Simplify 0 into 0 31.211 * [backup-simplify]: Simplify 1 into 1 31.211 * [backup-simplify]: Simplify 1 into 1 31.211 * [taylor]: Taking taylor expansion of 0 in theta 31.211 * [backup-simplify]: Simplify 0 into 0 31.211 * [backup-simplify]: Simplify 0 into 0 31.211 * [backup-simplify]: Simplify 0 into 0 31.211 * [backup-simplify]: Simplify 0 into 0 31.211 * [backup-simplify]: Simplify 0 into 0 31.212 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 31.212 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 31.213 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 31.213 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 31.214 * [backup-simplify]: Simplify (- 0) into 0 31.214 * [backup-simplify]: Simplify (+ 0 0) into 0 31.215 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into -1/6 31.216 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* -1/6 (cos delta))))) into (- (* 1/6 (cos delta))) 31.216 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 31.217 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 31.217 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 31.218 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 31.218 * [backup-simplify]: Simplify (- 0) into 0 31.218 * [backup-simplify]: Simplify (+ 0 0) into 0 31.219 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 31.219 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 31.220 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 31.221 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 31.221 * [backup-simplify]: Simplify (+ 0 0) into 0 31.221 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos theta))))) into 0 31.222 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 1 1) 1) (/ (pow 0 1) 1)) 0) into 0 31.223 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* -1/2 0) (* 0 (* (sin delta) (cos theta)))))) into 0 31.223 * [backup-simplify]: Simplify (+ (- (* 1/6 (cos delta))) 0) into (- (* 1/6 (cos delta))) 31.224 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into -1/6 31.224 * [backup-simplify]: Simplify (+ (* 0 (- (* 1/6 (cos delta)))) (+ (* 1 (- (* 1/2 (* (sin delta) (cos theta))))) (+ (* 0 (cos delta)) (* -1/6 (* (sin delta) (cos theta)))))) into (- (* 2/3 (* (sin delta) (cos theta)))) 31.224 * [taylor]: Taking taylor expansion of (- (* 2/3 (* (sin delta) (cos theta)))) in delta 31.224 * [taylor]: Taking taylor expansion of (* 2/3 (* (sin delta) (cos theta))) in delta 31.224 * [taylor]: Taking taylor expansion of 2/3 in delta 31.224 * [backup-simplify]: Simplify 2/3 into 2/3 31.224 * [taylor]: Taking taylor expansion of (* (sin delta) (cos theta)) in delta 31.224 * [taylor]: Taking taylor expansion of (sin delta) in delta 31.224 * [taylor]: Taking taylor expansion of delta in delta 31.224 * [backup-simplify]: Simplify 0 into 0 31.224 * [backup-simplify]: Simplify 1 into 1 31.224 * [taylor]: Taking taylor expansion of (cos theta) in delta 31.224 * [taylor]: Taking taylor expansion of theta in delta 31.224 * [backup-simplify]: Simplify theta into theta 31.224 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.224 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.224 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 31.224 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 31.225 * [backup-simplify]: Simplify (- 0) into 0 31.225 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 31.225 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 31.225 * [backup-simplify]: Simplify (* 2/3 0) into 0 31.225 * [backup-simplify]: Simplify (- 0) into 0 31.225 * [taylor]: Taking taylor expansion of 0 in theta 31.225 * [backup-simplify]: Simplify 0 into 0 31.225 * [backup-simplify]: Simplify 0 into 0 31.226 * [backup-simplify]: Simplify (+ 0) into 0 31.226 * [taylor]: Taking taylor expansion of 0 in theta 31.226 * [backup-simplify]: Simplify 0 into 0 31.226 * [backup-simplify]: Simplify 0 into 0 31.226 * [backup-simplify]: Simplify (+ (* 1 (* 1 (* delta phi1))) (* 1 (pow (* 1 (* 1 phi1)) 2))) into (+ (* phi1 delta) (pow phi1 2)) 31.226 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (cos (/ 1 theta))))))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) 31.226 * [approximate]: Taking taylor expansion of (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) in (phi1 delta theta) around 0 31.226 * [taylor]: Taking taylor expansion of (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) in theta 31.226 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in theta 31.226 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 31.226 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 31.226 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.226 * [taylor]: Taking taylor expansion of phi1 in theta 31.226 * [backup-simplify]: Simplify phi1 into phi1 31.226 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.226 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.226 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.226 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 31.226 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.226 * [taylor]: Taking taylor expansion of delta in theta 31.226 * [backup-simplify]: Simplify delta into delta 31.226 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.226 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.226 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.226 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in theta 31.226 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 31.226 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.227 * [taylor]: Taking taylor expansion of delta in theta 31.227 * [backup-simplify]: Simplify delta into delta 31.227 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.227 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.227 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.227 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in theta 31.227 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 31.227 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 31.227 * [taylor]: Taking taylor expansion of theta in theta 31.227 * [backup-simplify]: Simplify 0 into 0 31.227 * [backup-simplify]: Simplify 1 into 1 31.227 * [backup-simplify]: Simplify (/ 1 1) into 1 31.227 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.227 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 31.227 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.227 * [taylor]: Taking taylor expansion of phi1 in theta 31.227 * [backup-simplify]: Simplify phi1 into phi1 31.227 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.227 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.227 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.227 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 31.227 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.227 * [taylor]: Taking taylor expansion of phi1 in theta 31.227 * [backup-simplify]: Simplify phi1 into phi1 31.227 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.227 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.227 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.227 * [taylor]: Taking taylor expansion of (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) in delta 31.227 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in delta 31.227 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 31.227 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 31.227 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.228 * [taylor]: Taking taylor expansion of phi1 in delta 31.228 * [backup-simplify]: Simplify phi1 into phi1 31.228 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.228 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.228 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.228 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 31.228 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.228 * [taylor]: Taking taylor expansion of delta in delta 31.228 * [backup-simplify]: Simplify 0 into 0 31.228 * [backup-simplify]: Simplify 1 into 1 31.228 * [backup-simplify]: Simplify (/ 1 1) into 1 31.228 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.228 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 31.228 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 31.228 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.228 * [taylor]: Taking taylor expansion of delta in delta 31.228 * [backup-simplify]: Simplify 0 into 0 31.228 * [backup-simplify]: Simplify 1 into 1 31.228 * [backup-simplify]: Simplify (/ 1 1) into 1 31.228 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.228 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 31.228 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 31.228 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 31.228 * [taylor]: Taking taylor expansion of theta in delta 31.228 * [backup-simplify]: Simplify theta into theta 31.229 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.229 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.229 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.229 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 31.229 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.229 * [taylor]: Taking taylor expansion of phi1 in delta 31.229 * [backup-simplify]: Simplify phi1 into phi1 31.229 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.229 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.229 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.229 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 31.229 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.229 * [taylor]: Taking taylor expansion of phi1 in delta 31.229 * [backup-simplify]: Simplify phi1 into phi1 31.229 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.229 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.229 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.229 * [taylor]: Taking taylor expansion of (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) in phi1 31.229 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in phi1 31.229 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 31.229 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 31.229 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.229 * [taylor]: Taking taylor expansion of phi1 in phi1 31.229 * [backup-simplify]: Simplify 0 into 0 31.229 * [backup-simplify]: Simplify 1 into 1 31.229 * [backup-simplify]: Simplify (/ 1 1) into 1 31.229 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.229 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 31.229 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.229 * [taylor]: Taking taylor expansion of delta in phi1 31.229 * [backup-simplify]: Simplify delta into delta 31.229 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.230 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.230 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.230 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 31.230 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 31.230 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.230 * [taylor]: Taking taylor expansion of delta in phi1 31.230 * [backup-simplify]: Simplify delta into delta 31.230 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.230 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.230 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.230 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 31.230 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 31.230 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 31.230 * [taylor]: Taking taylor expansion of theta in phi1 31.230 * [backup-simplify]: Simplify theta into theta 31.230 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.230 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.230 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.230 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 31.230 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.230 * [taylor]: Taking taylor expansion of phi1 in phi1 31.230 * [backup-simplify]: Simplify 0 into 0 31.230 * [backup-simplify]: Simplify 1 into 1 31.230 * [backup-simplify]: Simplify (/ 1 1) into 1 31.230 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.230 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 31.230 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.230 * [taylor]: Taking taylor expansion of phi1 in phi1 31.230 * [backup-simplify]: Simplify 0 into 0 31.230 * [backup-simplify]: Simplify 1 into 1 31.231 * [backup-simplify]: Simplify (/ 1 1) into 1 31.231 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.231 * [taylor]: Taking taylor expansion of (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) in phi1 31.231 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in phi1 31.231 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 31.231 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 31.231 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.231 * [taylor]: Taking taylor expansion of phi1 in phi1 31.231 * [backup-simplify]: Simplify 0 into 0 31.231 * [backup-simplify]: Simplify 1 into 1 31.231 * [backup-simplify]: Simplify (/ 1 1) into 1 31.231 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.231 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 31.231 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.231 * [taylor]: Taking taylor expansion of delta in phi1 31.231 * [backup-simplify]: Simplify delta into delta 31.231 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.231 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.231 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.231 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 31.231 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 31.231 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.231 * [taylor]: Taking taylor expansion of delta in phi1 31.231 * [backup-simplify]: Simplify delta into delta 31.231 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.231 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.231 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.232 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 31.232 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 31.232 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 31.232 * [taylor]: Taking taylor expansion of theta in phi1 31.232 * [backup-simplify]: Simplify theta into theta 31.232 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.232 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.232 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.232 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 31.232 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.232 * [taylor]: Taking taylor expansion of phi1 in phi1 31.232 * [backup-simplify]: Simplify 0 into 0 31.232 * [backup-simplify]: Simplify 1 into 1 31.232 * [backup-simplify]: Simplify (/ 1 1) into 1 31.232 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.232 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 31.232 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.232 * [taylor]: Taking taylor expansion of phi1 in phi1 31.232 * [backup-simplify]: Simplify 0 into 0 31.232 * [backup-simplify]: Simplify 1 into 1 31.232 * [backup-simplify]: Simplify (/ 1 1) into 1 31.232 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.233 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 31.233 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 31.233 * [backup-simplify]: Simplify (- 0) into 0 31.233 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 31.233 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 31.233 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 31.233 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 31.233 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 31.233 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 31.233 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 31.233 * [backup-simplify]: Simplify (- 0) into 0 31.234 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 31.234 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 31.234 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 31.234 * [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)))) 31.234 * [backup-simplify]: Simplify (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) into (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) 31.234 * [taylor]: Taking taylor expansion of (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) in delta 31.234 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in delta 31.234 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in delta 31.234 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 31.234 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.234 * [taylor]: Taking taylor expansion of delta in delta 31.234 * [backup-simplify]: Simplify 0 into 0 31.235 * [backup-simplify]: Simplify 1 into 1 31.235 * [backup-simplify]: Simplify (/ 1 1) into 1 31.235 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.235 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 31.235 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.235 * [taylor]: Taking taylor expansion of phi1 in delta 31.235 * [backup-simplify]: Simplify phi1 into phi1 31.235 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.235 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.235 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.235 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in delta 31.235 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 31.235 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.235 * [taylor]: Taking taylor expansion of phi1 in delta 31.235 * [backup-simplify]: Simplify phi1 into phi1 31.235 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.235 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.235 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.235 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in delta 31.235 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 31.235 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 31.235 * [taylor]: Taking taylor expansion of theta in delta 31.235 * [backup-simplify]: Simplify theta into theta 31.235 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.235 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.235 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.235 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 31.235 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.235 * [taylor]: Taking taylor expansion of delta in delta 31.235 * [backup-simplify]: Simplify 0 into 0 31.235 * [backup-simplify]: Simplify 1 into 1 31.236 * [backup-simplify]: Simplify (/ 1 1) into 1 31.236 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.236 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 31.236 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.236 * [taylor]: Taking taylor expansion of phi1 in delta 31.236 * [backup-simplify]: Simplify phi1 into phi1 31.236 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.236 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.236 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.236 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 31.236 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 31.236 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 31.236 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 31.236 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 31.236 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 31.237 * [backup-simplify]: Simplify (- 0) into 0 31.237 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 31.237 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 31.237 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 31.237 * [backup-simplify]: Simplify (- 0) into 0 31.237 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 31.237 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 31.237 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 31.237 * [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))))) 31.237 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 31.238 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 31.238 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 31.238 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) 31.238 * [taylor]: Taking taylor expansion of (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) in theta 31.238 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in theta 31.238 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 31.238 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 31.238 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.238 * [taylor]: Taking taylor expansion of phi1 in theta 31.238 * [backup-simplify]: Simplify phi1 into phi1 31.238 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.238 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.238 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.238 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 31.238 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.238 * [taylor]: Taking taylor expansion of delta in theta 31.238 * [backup-simplify]: Simplify delta into delta 31.238 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.238 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.238 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.238 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in theta 31.238 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 31.238 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.238 * [taylor]: Taking taylor expansion of delta in theta 31.238 * [backup-simplify]: Simplify delta into delta 31.238 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.238 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.238 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.238 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in theta 31.238 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 31.238 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 31.238 * [taylor]: Taking taylor expansion of theta in theta 31.238 * [backup-simplify]: Simplify 0 into 0 31.238 * [backup-simplify]: Simplify 1 into 1 31.239 * [backup-simplify]: Simplify (/ 1 1) into 1 31.239 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.239 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 31.239 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.239 * [taylor]: Taking taylor expansion of phi1 in theta 31.239 * [backup-simplify]: Simplify phi1 into phi1 31.239 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.239 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.239 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.239 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 31.239 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.239 * [taylor]: Taking taylor expansion of phi1 in theta 31.239 * [backup-simplify]: Simplify phi1 into phi1 31.239 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.239 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.239 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.239 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 31.239 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 31.239 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 31.239 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 31.239 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 31.240 * [backup-simplify]: Simplify (- 0) into 0 31.240 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 31.240 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 31.240 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 31.240 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 31.240 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 31.240 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 31.240 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 31.240 * [backup-simplify]: Simplify (- 0) into 0 31.240 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 31.240 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 31.241 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 31.241 * [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)))) 31.241 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 31.241 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 31.241 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 31.241 * [backup-simplify]: Simplify (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) into (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) 31.241 * [backup-simplify]: Simplify (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) into (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) 31.243 * [backup-simplify]: Simplify (+ 0) into 0 31.244 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 31.244 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.245 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.246 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 31.246 * [backup-simplify]: Simplify (- 0) into 0 31.246 * [backup-simplify]: Simplify (+ 0 0) into 0 31.247 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 31.247 * [backup-simplify]: Simplify (+ 0) into 0 31.247 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 31.248 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 31.248 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.249 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 31.249 * [backup-simplify]: Simplify (- 0) into 0 31.249 * [backup-simplify]: Simplify (+ 0 0) into 0 31.250 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 31.250 * [backup-simplify]: Simplify (+ 0) into 0 31.250 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 31.251 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.251 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.252 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 31.252 * [backup-simplify]: Simplify (+ 0 0) into 0 31.252 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 31.253 * [backup-simplify]: Simplify (+ 0 0) into 0 31.253 * [backup-simplify]: Simplify (+ (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 0) (* 0 (sin (/ 1 phi1)))) into 0 31.253 * [taylor]: Taking taylor expansion of 0 in delta 31.253 * [backup-simplify]: Simplify 0 into 0 31.253 * [taylor]: Taking taylor expansion of 0 in theta 31.253 * [backup-simplify]: Simplify 0 into 0 31.253 * [backup-simplify]: Simplify 0 into 0 31.254 * [backup-simplify]: Simplify (+ 0) into 0 31.254 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 31.254 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.255 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.255 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 31.256 * [backup-simplify]: Simplify (+ 0 0) into 0 31.256 * [backup-simplify]: Simplify (+ 0) into 0 31.256 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 31.257 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.257 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.258 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 31.258 * [backup-simplify]: Simplify (+ 0 0) into 0 31.258 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 31.259 * [backup-simplify]: Simplify (+ 0) into 0 31.259 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 31.259 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 31.260 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.260 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 31.261 * [backup-simplify]: Simplify (- 0) into 0 31.261 * [backup-simplify]: Simplify (+ 0 0) into 0 31.261 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 31.262 * [backup-simplify]: Simplify (+ 0) into 0 31.262 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 31.262 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.263 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.263 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 31.264 * [backup-simplify]: Simplify (- 0) into 0 31.264 * [backup-simplify]: Simplify (+ 0 0) into 0 31.264 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 31.265 * [backup-simplify]: Simplify (+ 0 0) into 0 31.265 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 31.265 * [taylor]: Taking taylor expansion of 0 in theta 31.265 * [backup-simplify]: Simplify 0 into 0 31.265 * [backup-simplify]: Simplify 0 into 0 31.266 * [backup-simplify]: Simplify (+ 0) into 0 31.266 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 31.266 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.267 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.267 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 31.268 * [backup-simplify]: Simplify (+ 0 0) into 0 31.268 * [backup-simplify]: Simplify (+ 0) into 0 31.268 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 31.269 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.269 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.270 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 31.270 * [backup-simplify]: Simplify (- 0) into 0 31.270 * [backup-simplify]: Simplify (+ 0 0) into 0 31.271 * [backup-simplify]: Simplify (+ 0) into 0 31.271 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 31.271 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.272 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.273 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 31.273 * [backup-simplify]: Simplify (+ 0 0) into 0 31.273 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 31.273 * [backup-simplify]: Simplify (+ 0) into 0 31.274 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 31.274 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.275 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.275 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 31.276 * [backup-simplify]: Simplify (- 0) into 0 31.276 * [backup-simplify]: Simplify (+ 0 0) into 0 31.276 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 31.276 * [backup-simplify]: Simplify (+ 0) into 0 31.277 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 31.277 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.278 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.278 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 31.278 * [backup-simplify]: Simplify (+ 0 0) into 0 31.279 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 31.279 * [backup-simplify]: Simplify (+ 0 0) into 0 31.279 * [backup-simplify]: Simplify (+ (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 0) (* 0 (sin (/ 1 phi1)))) into 0 31.279 * [backup-simplify]: Simplify 0 into 0 31.280 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.281 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.281 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.282 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.282 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.283 * [backup-simplify]: Simplify (- 0) into 0 31.283 * [backup-simplify]: Simplify (+ 0 0) into 0 31.284 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 31.285 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.286 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.286 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.286 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.287 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.287 * [backup-simplify]: Simplify (- 0) into 0 31.288 * [backup-simplify]: Simplify (+ 0 0) into 0 31.288 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 31.289 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.290 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.290 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.291 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.291 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.291 * [backup-simplify]: Simplify (+ 0 0) into 0 31.292 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 31.292 * [backup-simplify]: Simplify (+ 0 0) into 0 31.293 * [backup-simplify]: Simplify (+ (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 31.293 * [taylor]: Taking taylor expansion of 0 in delta 31.293 * [backup-simplify]: Simplify 0 into 0 31.293 * [taylor]: Taking taylor expansion of 0 in theta 31.293 * [backup-simplify]: Simplify 0 into 0 31.293 * [backup-simplify]: Simplify 0 into 0 31.293 * [taylor]: Taking taylor expansion of 0 in theta 31.293 * [backup-simplify]: Simplify 0 into 0 31.293 * [backup-simplify]: Simplify 0 into 0 31.294 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.295 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.295 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.296 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.296 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.297 * [backup-simplify]: Simplify (+ 0 0) into 0 31.298 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.298 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.298 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.299 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.300 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.300 * [backup-simplify]: Simplify (+ 0 0) into 0 31.301 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 31.302 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.303 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.303 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.305 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.305 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.306 * [backup-simplify]: Simplify (- 0) into 0 31.306 * [backup-simplify]: Simplify (+ 0 0) into 0 31.307 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 31.308 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.310 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.310 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.311 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.312 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.312 * [backup-simplify]: Simplify (- 0) into 0 31.313 * [backup-simplify]: Simplify (+ 0 0) into 0 31.314 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 31.314 * [backup-simplify]: Simplify (+ 0 0) into 0 31.315 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 31.315 * [taylor]: Taking taylor expansion of 0 in theta 31.315 * [backup-simplify]: Simplify 0 into 0 31.315 * [backup-simplify]: Simplify 0 into 0 31.316 * [backup-simplify]: Simplify (* (+ (* (cos (/ 1 (/ 1 phi1))) (* (cos (/ 1 (/ 1 theta))) (sin (/ 1 (/ 1 delta))))) (* (cos (/ 1 (/ 1 delta))) (sin (/ 1 (/ 1 phi1))))) (sin (/ 1 (/ 1 phi1)))) into (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta))))) 31.316 * [backup-simplify]: Simplify (* (sin (/ 1 (- phi1))) (sin (asin (+ (* (sin (/ 1 (- phi1))) (cos (/ 1 (- delta)))) (* (* (cos (/ 1 (- phi1))) (sin (/ 1 (- delta)))) (cos (/ 1 (- theta)))))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 31.316 * [approximate]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in (phi1 delta theta) around 0 31.316 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in theta 31.316 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 31.316 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.316 * [taylor]: Taking taylor expansion of -1 in theta 31.316 * [backup-simplify]: Simplify -1 into -1 31.316 * [taylor]: Taking taylor expansion of phi1 in theta 31.316 * [backup-simplify]: Simplify phi1 into phi1 31.316 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.316 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.316 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.316 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in theta 31.316 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 31.316 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 31.316 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.316 * [taylor]: Taking taylor expansion of -1 in theta 31.316 * [backup-simplify]: Simplify -1 into -1 31.316 * [taylor]: Taking taylor expansion of phi1 in theta 31.316 * [backup-simplify]: Simplify phi1 into phi1 31.316 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.316 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.316 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.316 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 31.316 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.316 * [taylor]: Taking taylor expansion of -1 in theta 31.317 * [backup-simplify]: Simplify -1 into -1 31.317 * [taylor]: Taking taylor expansion of delta in theta 31.317 * [backup-simplify]: Simplify delta into delta 31.317 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.317 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.317 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.317 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in theta 31.317 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 31.317 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.317 * [taylor]: Taking taylor expansion of -1 in theta 31.317 * [backup-simplify]: Simplify -1 into -1 31.317 * [taylor]: Taking taylor expansion of phi1 in theta 31.317 * [backup-simplify]: Simplify phi1 into phi1 31.317 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.317 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.317 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.317 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in theta 31.317 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 31.317 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 31.317 * [taylor]: Taking taylor expansion of -1 in theta 31.317 * [backup-simplify]: Simplify -1 into -1 31.317 * [taylor]: Taking taylor expansion of theta in theta 31.317 * [backup-simplify]: Simplify 0 into 0 31.317 * [backup-simplify]: Simplify 1 into 1 31.317 * [backup-simplify]: Simplify (/ -1 1) into -1 31.317 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.317 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 31.317 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.317 * [taylor]: Taking taylor expansion of -1 in theta 31.318 * [backup-simplify]: Simplify -1 into -1 31.318 * [taylor]: Taking taylor expansion of delta in theta 31.318 * [backup-simplify]: Simplify delta into delta 31.318 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.318 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.318 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.318 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in delta 31.318 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 31.318 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.318 * [taylor]: Taking taylor expansion of -1 in delta 31.318 * [backup-simplify]: Simplify -1 into -1 31.318 * [taylor]: Taking taylor expansion of phi1 in delta 31.318 * [backup-simplify]: Simplify phi1 into phi1 31.318 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.318 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.318 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.318 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in delta 31.318 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 31.318 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 31.318 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.318 * [taylor]: Taking taylor expansion of -1 in delta 31.318 * [backup-simplify]: Simplify -1 into -1 31.318 * [taylor]: Taking taylor expansion of phi1 in delta 31.318 * [backup-simplify]: Simplify phi1 into phi1 31.318 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.318 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.318 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.318 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 31.318 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.318 * [taylor]: Taking taylor expansion of -1 in delta 31.318 * [backup-simplify]: Simplify -1 into -1 31.318 * [taylor]: Taking taylor expansion of delta in delta 31.318 * [backup-simplify]: Simplify 0 into 0 31.318 * [backup-simplify]: Simplify 1 into 1 31.319 * [backup-simplify]: Simplify (/ -1 1) into -1 31.319 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.319 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in delta 31.319 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 31.319 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.319 * [taylor]: Taking taylor expansion of -1 in delta 31.319 * [backup-simplify]: Simplify -1 into -1 31.319 * [taylor]: Taking taylor expansion of phi1 in delta 31.319 * [backup-simplify]: Simplify phi1 into phi1 31.319 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.319 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.319 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.319 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in delta 31.319 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 31.319 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 31.319 * [taylor]: Taking taylor expansion of -1 in delta 31.319 * [backup-simplify]: Simplify -1 into -1 31.319 * [taylor]: Taking taylor expansion of theta in delta 31.319 * [backup-simplify]: Simplify theta into theta 31.319 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.319 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.319 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.319 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 31.319 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.319 * [taylor]: Taking taylor expansion of -1 in delta 31.319 * [backup-simplify]: Simplify -1 into -1 31.319 * [taylor]: Taking taylor expansion of delta in delta 31.319 * [backup-simplify]: Simplify 0 into 0 31.319 * [backup-simplify]: Simplify 1 into 1 31.320 * [backup-simplify]: Simplify (/ -1 1) into -1 31.320 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.320 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in phi1 31.320 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 31.320 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.320 * [taylor]: Taking taylor expansion of -1 in phi1 31.320 * [backup-simplify]: Simplify -1 into -1 31.320 * [taylor]: Taking taylor expansion of phi1 in phi1 31.320 * [backup-simplify]: Simplify 0 into 0 31.320 * [backup-simplify]: Simplify 1 into 1 31.320 * [backup-simplify]: Simplify (/ -1 1) into -1 31.320 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.320 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in phi1 31.320 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 31.320 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 31.320 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.320 * [taylor]: Taking taylor expansion of -1 in phi1 31.320 * [backup-simplify]: Simplify -1 into -1 31.320 * [taylor]: Taking taylor expansion of phi1 in phi1 31.320 * [backup-simplify]: Simplify 0 into 0 31.320 * [backup-simplify]: Simplify 1 into 1 31.321 * [backup-simplify]: Simplify (/ -1 1) into -1 31.321 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.321 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 31.321 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.321 * [taylor]: Taking taylor expansion of -1 in phi1 31.321 * [backup-simplify]: Simplify -1 into -1 31.321 * [taylor]: Taking taylor expansion of delta in phi1 31.321 * [backup-simplify]: Simplify delta into delta 31.321 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.321 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.321 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.321 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in phi1 31.321 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 31.321 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.321 * [taylor]: Taking taylor expansion of -1 in phi1 31.321 * [backup-simplify]: Simplify -1 into -1 31.321 * [taylor]: Taking taylor expansion of phi1 in phi1 31.321 * [backup-simplify]: Simplify 0 into 0 31.321 * [backup-simplify]: Simplify 1 into 1 31.321 * [backup-simplify]: Simplify (/ -1 1) into -1 31.321 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.321 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in phi1 31.321 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 31.321 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 31.321 * [taylor]: Taking taylor expansion of -1 in phi1 31.321 * [backup-simplify]: Simplify -1 into -1 31.321 * [taylor]: Taking taylor expansion of theta in phi1 31.321 * [backup-simplify]: Simplify theta into theta 31.322 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.322 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.322 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.322 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 31.322 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.322 * [taylor]: Taking taylor expansion of -1 in phi1 31.322 * [backup-simplify]: Simplify -1 into -1 31.322 * [taylor]: Taking taylor expansion of delta in phi1 31.322 * [backup-simplify]: Simplify delta into delta 31.322 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.322 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.322 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.322 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in phi1 31.322 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 31.322 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.322 * [taylor]: Taking taylor expansion of -1 in phi1 31.322 * [backup-simplify]: Simplify -1 into -1 31.322 * [taylor]: Taking taylor expansion of phi1 in phi1 31.322 * [backup-simplify]: Simplify 0 into 0 31.322 * [backup-simplify]: Simplify 1 into 1 31.322 * [backup-simplify]: Simplify (/ -1 1) into -1 31.322 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.322 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in phi1 31.322 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 31.322 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 31.322 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.322 * [taylor]: Taking taylor expansion of -1 in phi1 31.322 * [backup-simplify]: Simplify -1 into -1 31.322 * [taylor]: Taking taylor expansion of phi1 in phi1 31.322 * [backup-simplify]: Simplify 0 into 0 31.322 * [backup-simplify]: Simplify 1 into 1 31.323 * [backup-simplify]: Simplify (/ -1 1) into -1 31.323 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.323 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 31.323 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.323 * [taylor]: Taking taylor expansion of -1 in phi1 31.323 * [backup-simplify]: Simplify -1 into -1 31.323 * [taylor]: Taking taylor expansion of delta in phi1 31.323 * [backup-simplify]: Simplify delta into delta 31.323 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.323 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.323 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.323 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in phi1 31.323 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 31.323 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.323 * [taylor]: Taking taylor expansion of -1 in phi1 31.323 * [backup-simplify]: Simplify -1 into -1 31.323 * [taylor]: Taking taylor expansion of phi1 in phi1 31.323 * [backup-simplify]: Simplify 0 into 0 31.323 * [backup-simplify]: Simplify 1 into 1 31.323 * [backup-simplify]: Simplify (/ -1 1) into -1 31.323 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.323 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in phi1 31.323 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 31.323 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 31.323 * [taylor]: Taking taylor expansion of -1 in phi1 31.323 * [backup-simplify]: Simplify -1 into -1 31.324 * [taylor]: Taking taylor expansion of theta in phi1 31.324 * [backup-simplify]: Simplify theta into theta 31.324 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.324 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.324 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.324 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 31.324 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.324 * [taylor]: Taking taylor expansion of -1 in phi1 31.324 * [backup-simplify]: Simplify -1 into -1 31.324 * [taylor]: Taking taylor expansion of delta in phi1 31.324 * [backup-simplify]: Simplify delta into delta 31.324 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.324 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.324 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.324 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 31.324 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 31.324 * [backup-simplify]: Simplify (- 0) into 0 31.324 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 31.324 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 31.324 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 31.324 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 31.325 * [backup-simplify]: Simplify (- 0) into 0 31.325 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 31.325 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 31.325 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 31.325 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 31.325 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (cos (/ -1 theta))) 31.325 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 31.325 * [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)))) 31.326 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 31.326 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 31.326 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 31.326 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.326 * [taylor]: Taking taylor expansion of -1 in delta 31.326 * [backup-simplify]: Simplify -1 into -1 31.326 * [taylor]: Taking taylor expansion of phi1 in delta 31.326 * [backup-simplify]: Simplify phi1 into phi1 31.326 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.326 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.326 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.326 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 31.326 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) in delta 31.326 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 31.326 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.326 * [taylor]: Taking taylor expansion of -1 in delta 31.326 * [backup-simplify]: Simplify -1 into -1 31.326 * [taylor]: Taking taylor expansion of phi1 in delta 31.326 * [backup-simplify]: Simplify phi1 into phi1 31.326 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.326 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.327 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.327 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 theta))) in delta 31.327 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 31.327 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.327 * [taylor]: Taking taylor expansion of -1 in delta 31.327 * [backup-simplify]: Simplify -1 into -1 31.327 * [taylor]: Taking taylor expansion of delta in delta 31.327 * [backup-simplify]: Simplify 0 into 0 31.327 * [backup-simplify]: Simplify 1 into 1 31.327 * [backup-simplify]: Simplify (/ -1 1) into -1 31.327 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.327 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 31.327 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 31.327 * [taylor]: Taking taylor expansion of -1 in delta 31.327 * [backup-simplify]: Simplify -1 into -1 31.327 * [taylor]: Taking taylor expansion of theta in delta 31.327 * [backup-simplify]: Simplify theta into theta 31.327 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.327 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.327 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.328 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 31.328 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 31.328 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.328 * [taylor]: Taking taylor expansion of -1 in delta 31.328 * [backup-simplify]: Simplify -1 into -1 31.328 * [taylor]: Taking taylor expansion of phi1 in delta 31.328 * [backup-simplify]: Simplify phi1 into phi1 31.328 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.328 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.328 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.328 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 31.328 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.328 * [taylor]: Taking taylor expansion of -1 in delta 31.328 * [backup-simplify]: Simplify -1 into -1 31.328 * [taylor]: Taking taylor expansion of delta in delta 31.328 * [backup-simplify]: Simplify 0 into 0 31.328 * [backup-simplify]: Simplify 1 into 1 31.328 * [backup-simplify]: Simplify (/ -1 1) into -1 31.328 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.329 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.329 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.329 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.329 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 31.329 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 31.329 * [backup-simplify]: Simplify (- 0) into 0 31.329 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 31.329 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 31.329 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 31.330 * [backup-simplify]: Simplify (- 0) into 0 31.330 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 31.330 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 theta))) into (* (cos (/ -1 theta)) (sin (/ -1 delta))) 31.330 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 31.330 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.330 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.330 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.330 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 31.331 * [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))))) 31.331 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 31.331 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in theta 31.331 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 31.331 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.331 * [taylor]: Taking taylor expansion of -1 in theta 31.331 * [backup-simplify]: Simplify -1 into -1 31.331 * [taylor]: Taking taylor expansion of phi1 in theta 31.331 * [backup-simplify]: Simplify phi1 into phi1 31.331 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.331 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.331 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.331 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in theta 31.331 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 31.331 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 31.331 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.332 * [taylor]: Taking taylor expansion of -1 in theta 31.332 * [backup-simplify]: Simplify -1 into -1 31.332 * [taylor]: Taking taylor expansion of phi1 in theta 31.332 * [backup-simplify]: Simplify phi1 into phi1 31.332 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.332 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.332 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.332 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 31.332 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.332 * [taylor]: Taking taylor expansion of -1 in theta 31.332 * [backup-simplify]: Simplify -1 into -1 31.332 * [taylor]: Taking taylor expansion of delta in theta 31.332 * [backup-simplify]: Simplify delta into delta 31.332 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.332 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.332 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.332 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in theta 31.332 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 31.332 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.332 * [taylor]: Taking taylor expansion of -1 in theta 31.332 * [backup-simplify]: Simplify -1 into -1 31.332 * [taylor]: Taking taylor expansion of phi1 in theta 31.332 * [backup-simplify]: Simplify phi1 into phi1 31.332 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.332 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.332 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.332 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in theta 31.333 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 31.333 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 31.333 * [taylor]: Taking taylor expansion of -1 in theta 31.333 * [backup-simplify]: Simplify -1 into -1 31.333 * [taylor]: Taking taylor expansion of theta in theta 31.333 * [backup-simplify]: Simplify 0 into 0 31.333 * [backup-simplify]: Simplify 1 into 1 31.333 * [backup-simplify]: Simplify (/ -1 1) into -1 31.333 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.333 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 31.333 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.333 * [taylor]: Taking taylor expansion of -1 in theta 31.333 * [backup-simplify]: Simplify -1 into -1 31.333 * [taylor]: Taking taylor expansion of delta in theta 31.333 * [backup-simplify]: Simplify delta into delta 31.333 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.333 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.333 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.334 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.334 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.334 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.334 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.334 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.334 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.334 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 31.334 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 31.334 * [backup-simplify]: Simplify (- 0) into 0 31.334 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 31.335 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 31.335 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 31.335 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 31.335 * [backup-simplify]: Simplify (- 0) into 0 31.335 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 31.335 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 31.335 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 31.335 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 31.336 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (cos (/ -1 theta))) 31.336 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 31.336 * [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)))) 31.336 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 31.337 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 31.337 * [backup-simplify]: Simplify (+ 0) into 0 31.338 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 31.338 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.338 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.339 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 31.339 * [backup-simplify]: Simplify (- 0) into 0 31.339 * [backup-simplify]: Simplify (+ 0 0) into 0 31.340 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 31.340 * [backup-simplify]: Simplify (+ 0) into 0 31.340 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 31.340 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.341 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.342 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 31.342 * [backup-simplify]: Simplify (+ 0 0) into 0 31.342 * [backup-simplify]: Simplify (+ 0) into 0 31.343 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 31.343 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 31.344 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.344 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 31.344 * [backup-simplify]: Simplify (- 0) into 0 31.345 * [backup-simplify]: Simplify (+ 0 0) into 0 31.345 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 31.345 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into 0 31.345 * [backup-simplify]: Simplify (+ 0 0) into 0 31.345 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) into 0 31.345 * [taylor]: Taking taylor expansion of 0 in delta 31.345 * [backup-simplify]: Simplify 0 into 0 31.346 * [taylor]: Taking taylor expansion of 0 in theta 31.346 * [backup-simplify]: Simplify 0 into 0 31.346 * [backup-simplify]: Simplify 0 into 0 31.346 * [backup-simplify]: Simplify (+ 0) into 0 31.346 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 31.346 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 31.347 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.347 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 31.347 * [backup-simplify]: Simplify (- 0) into 0 31.347 * [backup-simplify]: Simplify (+ 0 0) into 0 31.348 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 theta)))) into 0 31.348 * [backup-simplify]: Simplify (+ 0) into 0 31.348 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 31.348 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.349 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.349 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 31.349 * [backup-simplify]: Simplify (- 0) into 0 31.349 * [backup-simplify]: Simplify (+ 0 0) into 0 31.350 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into 0 31.350 * [backup-simplify]: Simplify (+ 0) into 0 31.350 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 31.350 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.351 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.351 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 31.351 * [backup-simplify]: Simplify (+ 0 0) into 0 31.351 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 31.351 * [backup-simplify]: Simplify (+ 0 0) into 0 31.352 * [backup-simplify]: Simplify (+ 0) into 0 31.352 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 31.352 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.353 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.353 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 31.353 * [backup-simplify]: Simplify (+ 0 0) into 0 31.353 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 31.353 * [taylor]: Taking taylor expansion of 0 in theta 31.353 * [backup-simplify]: Simplify 0 into 0 31.353 * [backup-simplify]: Simplify 0 into 0 31.354 * [backup-simplify]: Simplify (+ 0) into 0 31.354 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 31.354 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.355 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.355 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 31.355 * [backup-simplify]: Simplify (- 0) into 0 31.355 * [backup-simplify]: Simplify (+ 0 0) into 0 31.356 * [backup-simplify]: Simplify (+ 0) into 0 31.356 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 31.356 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.356 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.357 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 31.357 * [backup-simplify]: Simplify (+ 0 0) into 0 31.357 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 31.357 * [backup-simplify]: Simplify (+ 0) into 0 31.358 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 31.358 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.358 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.358 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 31.359 * [backup-simplify]: Simplify (+ 0 0) into 0 31.359 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 31.359 * [backup-simplify]: Simplify (+ 0) into 0 31.359 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 31.359 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.360 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.360 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 31.360 * [backup-simplify]: Simplify (- 0) into 0 31.361 * [backup-simplify]: Simplify (+ 0 0) into 0 31.361 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into 0 31.361 * [backup-simplify]: Simplify (+ 0 0) into 0 31.361 * [backup-simplify]: Simplify (+ 0) into 0 31.362 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 31.362 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.362 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.362 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 31.363 * [backup-simplify]: Simplify (+ 0 0) into 0 31.363 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) into 0 31.363 * [backup-simplify]: Simplify 0 into 0 31.363 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.364 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.364 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.364 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.365 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.365 * [backup-simplify]: Simplify (- 0) into 0 31.365 * [backup-simplify]: Simplify (+ 0 0) into 0 31.366 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 31.366 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.367 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.367 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.367 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.367 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.368 * [backup-simplify]: Simplify (+ 0 0) into 0 31.370 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.370 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.371 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.371 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.371 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.372 * [backup-simplify]: Simplify (- 0) into 0 31.372 * [backup-simplify]: Simplify (+ 0 0) into 0 31.372 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 31.373 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 31.373 * [backup-simplify]: Simplify (+ 0 0) into 0 31.373 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) into 0 31.374 * [taylor]: Taking taylor expansion of 0 in delta 31.374 * [backup-simplify]: Simplify 0 into 0 31.374 * [taylor]: Taking taylor expansion of 0 in theta 31.374 * [backup-simplify]: Simplify 0 into 0 31.374 * [backup-simplify]: Simplify 0 into 0 31.374 * [taylor]: Taking taylor expansion of 0 in theta 31.374 * [backup-simplify]: Simplify 0 into 0 31.374 * [backup-simplify]: Simplify 0 into 0 31.374 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.375 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.375 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.375 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.376 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.376 * [backup-simplify]: Simplify (- 0) into 0 31.376 * [backup-simplify]: Simplify (+ 0 0) into 0 31.377 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 31.377 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.378 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.378 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.378 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.378 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.379 * [backup-simplify]: Simplify (- 0) into 0 31.379 * [backup-simplify]: Simplify (+ 0 0) into 0 31.380 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 31.380 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.381 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.381 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.382 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.383 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.383 * [backup-simplify]: Simplify (+ 0 0) into 0 31.384 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 31.384 * [backup-simplify]: Simplify (+ 0 0) into 0 31.385 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.386 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.386 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.387 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.387 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.387 * [backup-simplify]: Simplify (+ 0 0) into 0 31.388 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))))) into 0 31.388 * [taylor]: Taking taylor expansion of 0 in theta 31.388 * [backup-simplify]: Simplify 0 into 0 31.388 * [backup-simplify]: Simplify 0 into 0 31.389 * [backup-simplify]: Simplify (* (sin (/ -1 (/ 1 (- phi1)))) (+ (* (cos (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- delta)))) (cos (/ -1 (/ 1 (- theta)))))) (* (sin (/ -1 (/ 1 (- phi1)))) (cos (/ -1 (/ 1 (- delta))))))) into (* (sin phi1) (+ (* (cos phi1) (* (sin delta) (cos theta))) (* (sin phi1) (cos delta)))) 31.389 * * * [progress]: simplifying candidates 31.389 * * * * [progress]: [ 1 / 74 ] simplifiying candidate # 31.389 * * * * [progress]: [ 2 / 74 ] simplifiying candidate # 31.389 * * * * [progress]: [ 3 / 74 ] simplifiying candidate # 31.389 * * * * [progress]: [ 4 / 74 ] simplifiying candidate # 31.389 * * * * [progress]: [ 5 / 74 ] simplifiying candidate # 31.389 * * * * [progress]: [ 6 / 74 ] simplifiying candidate # 31.389 * * * * [progress]: [ 7 / 74 ] simplifiying candidate # 31.390 * * * * [progress]: [ 8 / 74 ] simplifiying candidate # 31.390 * * * * [progress]: [ 9 / 74 ] simplifiying candidate # 31.390 * * * * [progress]: [ 10 / 74 ] simplifiying candidate # 31.390 * * * * [progress]: [ 11 / 74 ] simplifiying candidate # 31.390 * * * * [progress]: [ 12 / 74 ] simplifiying candidate # 31.390 * * * * [progress]: [ 13 / 74 ] simplifiying candidate #real (real->posit16 (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))))))))> 31.390 * * * * [progress]: [ 14 / 74 ] simplifiying candidate # 31.390 * * * * [progress]: [ 15 / 74 ] simplifiying candidate # 31.390 * * * * [progress]: [ 16 / 74 ] simplifiying candidate # 31.390 * * * * [progress]: [ 17 / 74 ] simplifiying candidate # 31.390 * * * * [progress]: [ 18 / 74 ] simplifiying candidate # 31.390 * * * * [progress]: [ 19 / 74 ] simplifiying candidate # 31.391 * * * * [progress]: [ 20 / 74 ] simplifiying candidate # 31.391 * * * * [progress]: [ 21 / 74 ] simplifiying candidate # 31.391 * * * * [progress]: [ 22 / 74 ] simplifiying candidate #real (real->posit16 (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))))))))> 31.391 * * * * [progress]: [ 23 / 74 ] simplifiying candidate # 31.391 * * * * [progress]: [ 24 / 74 ] simplifiying candidate # 31.391 * * * * [progress]: [ 25 / 74 ] simplifiying candidate # 31.391 * * * * [progress]: [ 26 / 74 ] simplifiying candidate # 31.391 * * * * [progress]: [ 27 / 74 ] simplifiying candidate # 31.391 * * * * [progress]: [ 28 / 74 ] simplifiying candidate # 31.391 * * * * [progress]: [ 29 / 74 ] simplifiying candidate # 31.391 * * * * [progress]: [ 30 / 74 ] simplifiying candidate # 31.391 * * * * [progress]: [ 31 / 74 ] simplifiying candidate # 31.391 * * * * [progress]: [ 32 / 74 ] simplifiying candidate # 31.392 * * * * [progress]: [ 33 / 74 ] simplifiying candidate # 31.392 * * * * [progress]: [ 34 / 74 ] simplifiying candidate # 31.392 * * * * [progress]: [ 35 / 74 ] simplifiying candidate # 31.392 * * * * [progress]: [ 36 / 74 ] simplifiying candidate # 31.392 * * * * [progress]: [ 37 / 74 ] simplifiying candidate # 31.392 * * * * [progress]: [ 38 / 74 ] simplifiying candidate # 31.392 * * * * [progress]: [ 39 / 74 ] simplifiying candidate # 31.392 * * * * [progress]: [ 40 / 74 ] simplifiying candidate # 31.392 * * * * [progress]: [ 41 / 74 ] simplifiying candidate #real (real->posit16 (* (sin theta) (sin delta)))) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))))))> 31.392 * * * * [progress]: [ 42 / 74 ] simplifiying candidate # 31.392 * * * * [progress]: [ 43 / 74 ] simplifiying candidate # 31.392 * * * * [progress]: [ 44 / 74 ] simplifiying candidate # 31.392 * * * * [progress]: [ 45 / 74 ] simplifiying candidate # 31.393 * * * * [progress]: [ 46 / 74 ] simplifiying candidate # 31.393 * * * * [progress]: [ 47 / 74 ] simplifiying candidate # 31.393 * * * * [progress]: [ 48 / 74 ] simplifiying candidate # 31.393 * * * * [progress]: [ 49 / 74 ] simplifiying candidate # 31.393 * * * * [progress]: [ 50 / 74 ] simplifiying candidate # 31.393 * * * * [progress]: [ 51 / 74 ] simplifiying candidate # 31.393 * * * * [progress]: [ 52 / 74 ] simplifiying candidate # 31.393 * * * * [progress]: [ 53 / 74 ] simplifiying candidate # 31.393 * * * * [progress]: [ 54 / 74 ] simplifiying candidate # 31.393 * * * * [progress]: [ 55 / 74 ] simplifiying candidate # 31.393 * * * * [progress]: [ 56 / 74 ] simplifiying candidate # 31.393 * * * * [progress]: [ 57 / 74 ] simplifiying candidate # 31.394 * * * * [progress]: [ 58 / 74 ] simplifiying candidate # 31.394 * * * * [progress]: [ 59 / 74 ] simplifiying candidate # 31.394 * * * * [progress]: [ 60 / 74 ] simplifiying candidate # 31.394 * * * * [progress]: [ 61 / 74 ] simplifiying candidate #real (real->posit16 (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))))))))> 31.394 * * * * [progress]: [ 62 / 74 ] simplifiying candidate # 31.394 * * * * [progress]: [ 63 / 74 ] simplifiying candidate # 31.394 * * * * [progress]: [ 64 / 74 ] simplifiying candidate # 31.394 * * * * [progress]: [ 65 / 74 ] simplifiying candidate # 31.394 * * * * [progress]: [ 66 / 74 ] simplifiying candidate # 31.394 * * * * [progress]: [ 67 / 74 ] simplifiying candidate # 31.394 * * * * [progress]: [ 68 / 74 ] simplifiying candidate # 31.394 * * * * [progress]: [ 69 / 74 ] simplifiying candidate # 31.394 * * * * [progress]: [ 70 / 74 ] simplifiying candidate # 31.394 * * * * [progress]: [ 71 / 74 ] simplifiying candidate # 31.395 * * * * [progress]: [ 72 / 74 ] simplifiying candidate # 31.395 * * * * [progress]: [ 73 / 74 ] simplifiying candidate # 31.395 * * * * [progress]: [ 74 / 74 ] simplifiying candidate # 31.396 * [simplify]: Simplifying (/ (exp (cos delta)) (exp (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))), (log (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))), (exp (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))), (* (cbrt (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))) (cbrt (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))))), (cbrt (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))), (* (* (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))), (sqrt (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))), (sqrt (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))), (- (pow (cos delta) 3) (pow (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) 3)), (+ (* (cos delta) (cos delta)) (+ (* (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (* (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))))), (- (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))), (- (* (cos delta) (cos delta)) (* (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))), (+ (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))), (- (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))), (real->posit16 (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))), (/ PI 2), (acos (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))), (log (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))), (exp (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))), (* (cbrt (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))) (cbrt (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))), (cbrt (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))), (* (* (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))) (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))) (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))), (sqrt (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))), (sqrt (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))), (real->posit16 (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))), (- (cos (- theta delta)) (cos (+ theta delta))), (* (sin theta) (sin delta)), (+ (log (sin theta)) (log (sin delta))), (log (* (sin theta) (sin delta))), (exp (* (sin theta) (sin delta))), (* (* (* (sin theta) (sin theta)) (sin theta)) (* (* (sin delta) (sin delta)) (sin delta))), (* (cbrt (* (sin theta) (sin delta))) (cbrt (* (sin theta) (sin delta)))), (cbrt (* (sin theta) (sin delta))), (* (* (* (sin theta) (sin delta)) (* (sin theta) (sin delta))) (* (sin theta) (sin delta))), (sqrt (* (sin theta) (sin delta))), (sqrt (* (sin theta) (sin delta))), (* (sqrt (sin theta)) (sqrt (sin delta))), (* (sqrt (sin theta)) (sqrt (sin delta))), (* (sin theta) (* (cbrt (sin delta)) (cbrt (sin delta)))), (* (sin theta) (sqrt (sin delta))), (* (sin theta) 1), (* (cbrt (sin theta)) (sin delta)), (* (sqrt (sin theta)) (sin delta)), (* (sin theta) (sin delta)), (real->posit16 (* (sin theta) (sin delta))), (- (cos (- phi1 (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) (cos (+ phi1 (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))), (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))), (+ (log (sin phi1)) (log (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))), (log (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))), (exp (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))), (* (* (* (sin phi1) (sin phi1)) (sin phi1)) (* (* (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))), (* (cbrt (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (cbrt (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))), (cbrt (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))), (* (* (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))), (sqrt (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))), (sqrt (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))), (* (sqrt (sin phi1)) (sqrt (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))), (* (sqrt (sin phi1)) (sqrt (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))), (* (sin phi1) (* (cbrt (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) (cbrt (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))), (* (sin phi1) (sqrt (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))), (* (sin phi1) 1), (* (cbrt (sin phi1)) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))), (* (sqrt (sin phi1)) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))), (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))), (real->posit16 (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))), (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))), (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))), (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (sin delta) (* (cos theta) (cos phi1)))))), (asin (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (sin delta) (cos theta))))), (asin (+ (* (sin phi1) (cos delta)) (* (sin delta) (* (cos theta) (cos phi1))))), (asin (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta))))), (* theta delta), (* (sin theta) (sin delta)), (* (sin theta) (sin delta)), (+ (* phi1 delta) (pow phi1 2)), (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta))))), (* (sin phi1) (+ (* (cos phi1) (* (sin delta) (cos theta))) (* (sin phi1) (cos delta)))) 31.399 * * [simplify]: iteration 1: (148 enodes) 31.444 * * [simplify]: iteration 2: (578 enodes) 31.609 * * [simplify]: iteration 3: (1077 enodes) 32.010 * * [simplify]: Extracting #0: cost 57 inf + 0 32.011 * * [simplify]: Extracting #1: cost 243 inf + 0 32.014 * * [simplify]: Extracting #2: cost 466 inf + 1771 32.021 * * [simplify]: Extracting #3: cost 398 inf + 21335 32.040 * * [simplify]: Extracting #4: cost 302 inf + 42830 32.061 * * [simplify]: Extracting #5: cost 164 inf + 132657 32.104 * * [simplify]: Extracting #6: cost 16 inf + 248093 32.153 * * [simplify]: Extracting #7: cost 0 inf + 260586 32.202 * [simplify]: Simplified to (exp (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta)))))))), (log (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta)))))))), (exp (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta)))))))), (* (cbrt (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta)))))))) (cbrt (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta))))))))), (cbrt (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta)))))))), (* (* (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta))))))) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta)))))))) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta)))))))), (sqrt (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta)))))))), (sqrt (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta)))))))), (- (* (* (cos delta) (cos delta)) (cos delta)) (* (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta)))))) (* (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta)))))) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta))))))))), (+ (* (cos delta) (cos delta)) (* (+ (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta)))))) (cos delta)) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta)))))))), (- (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta))))))), (- (* (cos delta) (cos delta)) (* (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta)))))) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta)))))))), (+ (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta)))))) (cos delta)), (- (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta))))))), (real->posit16 (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta)))))))), (/ PI 2), (acos (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta)))), (log (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta))))), (exp (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta))))), (* (cbrt (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta))))) (cbrt (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta)))))), (cbrt (asin (+ (* (sin phi1) (cos 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(* (* (sin theta) (sin delta)) (* (sin theta) (sin delta)))), (sqrt (* (sin theta) (sin delta))), (sqrt (* (sin theta) (sin delta))), (* (sqrt (sin theta)) (sqrt (sin delta))), (* (sqrt (sin theta)) (sqrt (sin delta))), (* (* (cbrt (sin delta)) (cbrt (sin delta))) (sin theta)), (* (sin theta) (sqrt (sin delta))), (sin theta), (* (sin delta) (cbrt (sin theta))), (* (sqrt (sin theta)) (sin delta)), (* (sin theta) (sin delta)), (real->posit16 (* (sin theta) (sin delta))), (- (cos (- phi1 (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta)))))) (cos (+ phi1 (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta))))))), (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta)))))), (log (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta))))))), (log (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta))))))), (exp (* 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(* (* (sin delta) (cos phi1)) (cos theta))))) (sqrt (sin phi1))), (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta)))))), (real->posit16 (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta))))))), (- 1 (* delta (+ (* delta 1/2) phi1))), (- (cos delta) (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta))))), (- (cos delta) (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta))))), (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta)))), (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta)))), (asin (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta)))), (* theta delta), (* (sin theta) (sin delta)), (* (sin theta) (sin delta)), (* (+ phi1 delta) phi1), (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta)))), (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (* (sin delta) (cos phi1)) (cos theta)))) 32.212 * * * [progress]: adding candidates to table 33.494 * [progress]: [Phase 3 of 3] Extracting. 33.500 * [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))))))))) 33.500 * * [simplify]: iteration 1: (22 enodes) 33.501 * * [simplify]: iteration 2: (30 enodes) 33.502 * * [simplify]: Extracting #0: cost 1 inf + 0 33.502 * * [simplify]: Extracting #1: cost 3 inf + 0 33.502 * * [simplify]: Extracting #2: cost 4 inf + 1 33.502 * * [simplify]: Extracting #3: cost 8 inf + 1 33.502 * * [simplify]: Extracting #4: cost 14 inf + 1 33.502 * * [simplify]: Extracting #5: cost 11 inf + 186 33.502 * * [simplify]: Extracting #6: cost 10 inf + 248 33.502 * * [simplify]: Extracting #7: cost 10 inf + 471 33.503 * * [simplify]: Extracting #8: cost 10 inf + 896 33.503 * * [simplify]: Extracting #9: cost 8 inf + 1119 33.503 * * [simplify]: Extracting #10: cost 6 inf + 1845 33.503 * * [simplify]: Extracting #11: cost 5 inf + 2413 33.504 * * [simplify]: Extracting #12: cost 3 inf + 3709 33.504 * * [simplify]: Extracting #13: cost 1 inf + 5405 33.505 * * [simplify]: Extracting #14: cost 0 inf + 6434 33.505 * [simplify]: Simplified to (+ (atan2 (* (cos phi1) (* (sin delta) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (cos delta) (sin phi1)) (* (cos theta) (* (cos phi1) (sin delta))))))))) lambda1)