0.002 * [progress]: [Phase 1 of 3] Setting up. 0.003 * * * [progress]: [1/2] Preparing points 31.625 * * * [progress]: [2/2] Setting up program. 31.632 * [progress]: [Phase 2 of 3] Improving. 31.632 * * * * [progress]: [ 1 / 1 ] simplifiying candidate # 31.632 * [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))))))))) 31.633 * * [simplify]: iteration 1: (22 enodes) 31.639 * * [simplify]: iteration 2: (80 enodes) 31.653 * * [simplify]: iteration 3: (107 enodes) 31.667 * * [simplify]: iteration 4: (125 enodes) 31.692 * * [simplify]: Extracting #0: cost 1 inf + 0 31.692 * * [simplify]: Extracting #1: cost 4 inf + 0 31.692 * * [simplify]: Extracting #2: cost 6 inf + 1 31.692 * * [simplify]: Extracting #3: cost 21 inf + 1 31.693 * * [simplify]: Extracting #4: cost 38 inf + 1 31.693 * * [simplify]: Extracting #5: cost 28 inf + 734 31.694 * * [simplify]: Extracting #6: cost 24 inf + 1889 31.695 * * [simplify]: Extracting #7: cost 25 inf + 2537 31.696 * * [simplify]: Extracting #8: cost 18 inf + 4766 31.698 * * [simplify]: Extracting #9: cost 12 inf + 7142 31.702 * * [simplify]: Extracting #10: cost 3 inf + 13414 31.706 * * [simplify]: Extracting #11: cost 0 inf + 16385 31.723 * * [simplify]: Extracting #12: cost 0 inf + 16340 31.727 * [simplify]: Simplified to (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1) 31.755 * * [progress]: iteration 1 / 4 31.755 * * * [progress]: picking best candidate 31.768 * * * * [pick]: Picked # 31.768 * * * [progress]: localizing error 31.848 * * * [progress]: generating rewritten candidates 31.848 * * * * [progress]: [ 1 / 4 ] rewriting at (2 1 2) 31.855 * * * * [progress]: [ 2 / 4 ] rewriting at (2 1 2 2 2 1) 31.856 * * * * [progress]: [ 3 / 4 ] rewriting at (2 1 1) 31.879 * * * * [progress]: [ 4 / 4 ] rewriting at (2 1 2 2) 31.895 * * * [progress]: generating series expansions 31.895 * * * * [progress]: [ 1 / 4 ] generating series at (2 1 2) 31.895 * [backup-simplify]: Simplify (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) into (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) 31.896 * [approximate]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in (delta phi1 theta) around 0 31.896 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in theta 31.896 * [taylor]: Taking taylor expansion of (cos delta) in theta 31.896 * [taylor]: Taking taylor expansion of delta in theta 31.896 * [backup-simplify]: Simplify delta into delta 31.896 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.896 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.896 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 31.896 * [taylor]: Taking taylor expansion of (sin phi1) in theta 31.896 * [taylor]: Taking taylor expansion of phi1 in theta 31.896 * [backup-simplify]: Simplify phi1 into phi1 31.896 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.896 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.896 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 31.896 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 31.896 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 31.896 * [taylor]: Taking taylor expansion of (cos theta) in theta 31.896 * [taylor]: Taking taylor expansion of theta in theta 31.896 * [backup-simplify]: Simplify 0 into 0 31.896 * [backup-simplify]: Simplify 1 into 1 31.896 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 31.896 * [taylor]: Taking taylor expansion of (cos phi1) in theta 31.896 * [taylor]: Taking taylor expansion of phi1 in theta 31.896 * [backup-simplify]: Simplify phi1 into phi1 31.896 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.896 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.896 * [taylor]: Taking taylor expansion of (sin delta) in theta 31.896 * [taylor]: Taking taylor expansion of delta in theta 31.897 * [backup-simplify]: Simplify delta into delta 31.897 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.897 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.897 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 31.897 * [taylor]: Taking taylor expansion of (sin phi1) in theta 31.897 * [taylor]: Taking taylor expansion of phi1 in theta 31.897 * [backup-simplify]: Simplify phi1 into phi1 31.897 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.897 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.897 * [taylor]: Taking taylor expansion of (cos delta) in theta 31.897 * [taylor]: Taking taylor expansion of delta in theta 31.897 * [backup-simplify]: Simplify delta into delta 31.897 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.897 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.897 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in phi1 31.897 * [taylor]: Taking taylor expansion of (cos delta) in phi1 31.897 * [taylor]: Taking taylor expansion of delta in phi1 31.897 * [backup-simplify]: Simplify delta into delta 31.897 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.897 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.897 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 31.897 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.897 * [taylor]: Taking taylor expansion of phi1 in phi1 31.897 * [backup-simplify]: Simplify 0 into 0 31.897 * [backup-simplify]: Simplify 1 into 1 31.897 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 31.897 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 31.897 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 31.897 * [taylor]: Taking taylor expansion of (cos theta) in phi1 31.898 * [taylor]: Taking taylor expansion of theta in phi1 31.898 * [backup-simplify]: Simplify theta into theta 31.898 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.898 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.898 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 31.898 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 31.898 * [taylor]: Taking taylor expansion of phi1 in phi1 31.898 * [backup-simplify]: Simplify 0 into 0 31.898 * [backup-simplify]: Simplify 1 into 1 31.898 * [taylor]: Taking taylor expansion of (sin delta) in phi1 31.898 * [taylor]: Taking taylor expansion of delta in phi1 31.898 * [backup-simplify]: Simplify delta into delta 31.898 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.898 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.898 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 31.898 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.898 * [taylor]: Taking taylor expansion of phi1 in phi1 31.898 * [backup-simplify]: Simplify 0 into 0 31.898 * [backup-simplify]: Simplify 1 into 1 31.898 * [taylor]: Taking taylor expansion of (cos delta) in phi1 31.898 * [taylor]: Taking taylor expansion of delta in phi1 31.898 * [backup-simplify]: Simplify delta into delta 31.898 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.898 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.898 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in delta 31.898 * [taylor]: Taking taylor expansion of (cos delta) in delta 31.898 * [taylor]: Taking taylor expansion of delta in delta 31.898 * [backup-simplify]: Simplify 0 into 0 31.898 * [backup-simplify]: Simplify 1 into 1 31.898 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 31.898 * [taylor]: Taking taylor expansion of (sin phi1) in delta 31.898 * [taylor]: Taking taylor expansion of phi1 in delta 31.899 * [backup-simplify]: Simplify phi1 into phi1 31.899 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.899 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.899 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 31.899 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 31.899 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 31.899 * [taylor]: Taking taylor expansion of (cos theta) in delta 31.899 * [taylor]: Taking taylor expansion of theta in delta 31.899 * [backup-simplify]: Simplify theta into theta 31.899 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.899 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.899 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 31.899 * [taylor]: Taking taylor expansion of (cos phi1) in delta 31.899 * [taylor]: Taking taylor expansion of phi1 in delta 31.899 * [backup-simplify]: Simplify phi1 into phi1 31.899 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.899 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.899 * [taylor]: Taking taylor expansion of (sin delta) in delta 31.899 * [taylor]: Taking taylor expansion of delta in delta 31.899 * [backup-simplify]: Simplify 0 into 0 31.899 * [backup-simplify]: Simplify 1 into 1 31.899 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 31.899 * [taylor]: Taking taylor expansion of (sin phi1) in delta 31.899 * [taylor]: Taking taylor expansion of phi1 in delta 31.899 * [backup-simplify]: Simplify phi1 into phi1 31.899 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.899 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.899 * [taylor]: Taking taylor expansion of (cos delta) in delta 31.899 * [taylor]: Taking taylor expansion of delta in delta 31.899 * [backup-simplify]: Simplify 0 into 0 31.900 * [backup-simplify]: Simplify 1 into 1 31.900 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in delta 31.900 * [taylor]: Taking taylor expansion of (cos delta) in delta 31.900 * [taylor]: Taking taylor expansion of delta in delta 31.900 * [backup-simplify]: Simplify 0 into 0 31.900 * [backup-simplify]: Simplify 1 into 1 31.900 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 31.900 * [taylor]: Taking taylor expansion of (sin phi1) in delta 31.900 * [taylor]: Taking taylor expansion of phi1 in delta 31.900 * [backup-simplify]: Simplify phi1 into phi1 31.900 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.900 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.900 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 31.900 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 31.900 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 31.900 * [taylor]: Taking taylor expansion of (cos theta) in delta 31.900 * [taylor]: Taking taylor expansion of theta in delta 31.900 * [backup-simplify]: Simplify theta into theta 31.900 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.900 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.900 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 31.900 * [taylor]: Taking taylor expansion of (cos phi1) in delta 31.900 * [taylor]: Taking taylor expansion of phi1 in delta 31.900 * [backup-simplify]: Simplify phi1 into phi1 31.900 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.900 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.900 * [taylor]: Taking taylor expansion of (sin delta) in delta 31.900 * [taylor]: Taking taylor expansion of delta in delta 31.900 * [backup-simplify]: Simplify 0 into 0 31.900 * [backup-simplify]: Simplify 1 into 1 31.901 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 31.901 * [taylor]: Taking taylor expansion of (sin phi1) in delta 31.901 * [taylor]: Taking taylor expansion of phi1 in delta 31.901 * [backup-simplify]: Simplify phi1 into phi1 31.901 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.901 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.901 * [taylor]: Taking taylor expansion of (cos delta) in delta 31.901 * [taylor]: Taking taylor expansion of delta in delta 31.901 * [backup-simplify]: Simplify 0 into 0 31.901 * [backup-simplify]: Simplify 1 into 1 31.901 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 31.901 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 31.901 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 31.901 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 31.901 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 31.902 * [backup-simplify]: Simplify (- 0) into 0 31.902 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 31.902 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 31.902 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 31.903 * [backup-simplify]: Simplify (- 0) into 0 31.903 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 31.903 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 31.903 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 31.903 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 31.903 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 31.903 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 31.903 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 31.903 * [backup-simplify]: Simplify (+ 0 (sin phi1)) into (sin phi1) 31.903 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 31.903 * [backup-simplify]: Simplify (- (pow (sin phi1) 2)) into (- (pow (sin phi1) 2)) 31.903 * [backup-simplify]: Simplify (+ 1 (- (pow (sin phi1) 2))) into (- 1 (pow (sin phi1) 2)) 31.904 * [taylor]: Taking taylor expansion of (- 1 (pow (sin phi1) 2)) in phi1 31.904 * [taylor]: Taking taylor expansion of 1 in phi1 31.904 * [backup-simplify]: Simplify 1 into 1 31.904 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 31.904 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.904 * [taylor]: Taking taylor expansion of phi1 in phi1 31.904 * [backup-simplify]: Simplify 0 into 0 31.904 * [backup-simplify]: Simplify 1 into 1 31.904 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.905 * [backup-simplify]: Simplify (+ 1 0) into 1 31.905 * [taylor]: Taking taylor expansion of 1 in theta 31.905 * [backup-simplify]: Simplify 1 into 1 31.905 * [backup-simplify]: Simplify 1 into 1 31.905 * [backup-simplify]: Simplify (+ 0) into 0 31.906 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.907 * [backup-simplify]: Simplify (+ 0) into 0 31.907 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 31.908 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.908 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 31.909 * [backup-simplify]: Simplify (- 0) into 0 31.909 * [backup-simplify]: Simplify (+ 0 0) into 0 31.910 * [backup-simplify]: Simplify (+ (* (cos phi1) 1) (* 0 0)) into (cos phi1) 31.910 * [backup-simplify]: Simplify (+ 0) into 0 31.910 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 31.911 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.912 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 31.912 * [backup-simplify]: Simplify (- 0) into 0 31.912 * [backup-simplify]: Simplify (+ 0 0) into 0 31.913 * [backup-simplify]: Simplify (+ (* (cos theta) (cos phi1)) (* 0 0)) into (* (cos theta) (cos phi1)) 31.913 * [backup-simplify]: Simplify (+ 0) into 0 31.914 * [backup-simplify]: Simplify (+ 0) into 0 31.914 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 31.915 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.915 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 31.916 * [backup-simplify]: Simplify (+ 0 0) into 0 31.916 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 31.916 * [backup-simplify]: Simplify (+ (* (cos theta) (cos phi1)) 0) into (* (cos theta) (cos phi1)) 31.917 * [backup-simplify]: Simplify (+ 0) into 0 31.917 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 31.918 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.919 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 31.919 * [backup-simplify]: Simplify (+ 0 0) into 0 31.919 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos theta) (cos phi1))) (* 0 (sin phi1))) into (* (sin phi1) (* (cos theta) (cos phi1))) 31.919 * [backup-simplify]: Simplify (- (* (sin phi1) (* (cos theta) (cos phi1)))) into (- (* (sin phi1) (* (cos theta) (cos phi1)))) 31.920 * [backup-simplify]: Simplify (+ 0 (- (* (sin phi1) (* (cos theta) (cos phi1))))) into (- (* (sin phi1) (* (cos theta) (cos phi1)))) 31.920 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (* (cos theta) (cos phi1)))) in phi1 31.920 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos theta) (cos phi1))) in phi1 31.920 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.920 * [taylor]: Taking taylor expansion of phi1 in phi1 31.920 * [backup-simplify]: Simplify 0 into 0 31.920 * [backup-simplify]: Simplify 1 into 1 31.920 * [taylor]: Taking taylor expansion of (* (cos theta) (cos phi1)) in phi1 31.920 * [taylor]: Taking taylor expansion of (cos theta) in phi1 31.920 * [taylor]: Taking taylor expansion of theta in phi1 31.920 * [backup-simplify]: Simplify theta into theta 31.920 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.920 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.920 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 31.920 * [taylor]: Taking taylor expansion of phi1 in phi1 31.920 * [backup-simplify]: Simplify 0 into 0 31.920 * [backup-simplify]: Simplify 1 into 1 31.921 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 31.921 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 31.921 * [backup-simplify]: Simplify (- 0) into 0 31.921 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 31.921 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 31.921 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 31.922 * [backup-simplify]: Simplify (- 0) into 0 31.922 * [taylor]: Taking taylor expansion of 0 in theta 31.922 * [backup-simplify]: Simplify 0 into 0 31.922 * [backup-simplify]: Simplify 0 into 0 31.922 * [backup-simplify]: Simplify (+ 0 0) into 0 31.922 * [taylor]: Taking taylor expansion of 0 in theta 31.922 * [backup-simplify]: Simplify 0 into 0 31.922 * [backup-simplify]: Simplify 0 into 0 31.922 * [backup-simplify]: Simplify 0 into 0 31.923 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 31.924 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.925 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.926 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 31.927 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.927 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 31.927 * [backup-simplify]: Simplify (- 0) into 0 31.928 * [backup-simplify]: Simplify (+ 0 0) into 0 31.929 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 1) (* 0 0))) into 0 31.929 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.930 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 31.931 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.934 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 31.935 * [backup-simplify]: Simplify (- 0) into 0 31.935 * [backup-simplify]: Simplify (+ 0 0) into 0 31.936 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 (cos phi1)) (* 0 0))) into 0 31.937 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 31.938 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.939 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 31.940 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.940 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 31.941 * [backup-simplify]: Simplify (+ 0 0) into 0 31.941 * [backup-simplify]: Simplify (+ (* (sin phi1) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (sin phi1))) 31.942 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (sin phi1)))) into (- (* 1/2 (sin phi1))) 31.943 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.943 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 31.944 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.945 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 31.945 * [backup-simplify]: Simplify (+ 0 0) into 0 31.945 * [backup-simplify]: Simplify (+ (* (sin phi1) (- (* 1/2 (sin phi1)))) (+ (* 0 (* (cos theta) (cos phi1))) (* 0 (sin phi1)))) into (- (* 1/2 (pow (sin phi1) 2))) 31.946 * [backup-simplify]: Simplify (- (- (* 1/2 (pow (sin phi1) 2)))) into (* 1/2 (pow (sin phi1) 2)) 31.946 * [backup-simplify]: Simplify (+ -1/2 (* 1/2 (pow (sin phi1) 2))) into (- (* 1/2 (pow (sin phi1) 2)) 1/2) 31.946 * [taylor]: Taking taylor expansion of (- (* 1/2 (pow (sin phi1) 2)) 1/2) in phi1 31.946 * [taylor]: Taking taylor expansion of (* 1/2 (pow (sin phi1) 2)) in phi1 31.946 * [taylor]: Taking taylor expansion of 1/2 in phi1 31.946 * [backup-simplify]: Simplify 1/2 into 1/2 31.946 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 31.946 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.946 * [taylor]: Taking taylor expansion of phi1 in phi1 31.946 * [backup-simplify]: Simplify 0 into 0 31.946 * [backup-simplify]: Simplify 1 into 1 31.947 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.947 * [taylor]: Taking taylor expansion of 1/2 in phi1 31.947 * [backup-simplify]: Simplify 1/2 into 1/2 31.947 * [backup-simplify]: Simplify (- 1/2) into -1/2 31.948 * [backup-simplify]: Simplify (+ 0 -1/2) into -1/2 31.948 * [taylor]: Taking taylor expansion of -1/2 in theta 31.948 * [backup-simplify]: Simplify -1/2 into -1/2 31.948 * [backup-simplify]: Simplify -1/2 into -1/2 31.948 * [backup-simplify]: Simplify (+ 0) into 0 31.949 * [backup-simplify]: Simplify (+ 0) into 0 31.950 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 31.951 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.951 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 31.952 * [backup-simplify]: Simplify (- 0) into 0 31.952 * [backup-simplify]: Simplify (+ 0 0) into 0 31.953 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 31.954 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.954 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos theta))) into (cos theta) 31.954 * [backup-simplify]: Simplify (- (cos theta)) into (- (cos theta)) 31.954 * [taylor]: Taking taylor expansion of (- (cos theta)) in theta 31.954 * [taylor]: Taking taylor expansion of (cos theta) in theta 31.954 * [taylor]: Taking taylor expansion of theta in theta 31.954 * [backup-simplify]: Simplify 0 into 0 31.954 * [backup-simplify]: Simplify 1 into 1 31.955 * [backup-simplify]: Simplify (- 1) into -1 31.955 * [backup-simplify]: Simplify -1 into -1 31.955 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* phi1 delta))) (+ (* -1/2 (pow (* 1 (* 1 delta)) 2)) 1)) into (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) 31.956 * [backup-simplify]: Simplify (- (cos (/ 1 delta)) (* (sin (/ 1 phi1)) (sin (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))))))) into (- (cos (/ 1 delta)) (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) 31.956 * [approximate]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) in (delta phi1 theta) around 0 31.956 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) in theta 31.956 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 31.956 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.956 * [taylor]: Taking taylor expansion of delta in theta 31.956 * [backup-simplify]: Simplify delta into delta 31.956 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.956 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.956 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.956 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in theta 31.956 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 31.956 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 31.956 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 31.956 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 31.956 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 31.956 * [taylor]: Taking taylor expansion of theta in theta 31.956 * [backup-simplify]: Simplify 0 into 0 31.956 * [backup-simplify]: Simplify 1 into 1 31.957 * [backup-simplify]: Simplify (/ 1 1) into 1 31.957 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.957 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 31.957 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 31.957 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.957 * [taylor]: Taking taylor expansion of delta in theta 31.957 * [backup-simplify]: Simplify delta into delta 31.957 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.957 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.957 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.957 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 31.957 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.957 * [taylor]: Taking taylor expansion of phi1 in theta 31.957 * [backup-simplify]: Simplify phi1 into phi1 31.957 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.958 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.958 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.958 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 31.958 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 31.958 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.958 * [taylor]: Taking taylor expansion of phi1 in theta 31.958 * [backup-simplify]: Simplify phi1 into phi1 31.958 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.958 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.958 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.958 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 31.958 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.958 * [taylor]: Taking taylor expansion of delta in theta 31.958 * [backup-simplify]: Simplify delta into delta 31.958 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.958 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.958 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.958 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 31.958 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.958 * [taylor]: Taking taylor expansion of phi1 in theta 31.958 * [backup-simplify]: Simplify phi1 into phi1 31.958 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.958 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.959 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.959 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) in phi1 31.959 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 31.959 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.959 * [taylor]: Taking taylor expansion of delta in phi1 31.959 * [backup-simplify]: Simplify delta into delta 31.959 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.959 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.959 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.959 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in phi1 31.959 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 31.959 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 31.959 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 31.959 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 31.959 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 31.959 * [taylor]: Taking taylor expansion of theta in phi1 31.959 * [backup-simplify]: Simplify theta into theta 31.959 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.959 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.959 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.959 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 31.959 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 31.959 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.959 * [taylor]: Taking taylor expansion of delta in phi1 31.960 * [backup-simplify]: Simplify delta into delta 31.960 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.960 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.960 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.960 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 31.960 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.960 * [taylor]: Taking taylor expansion of phi1 in phi1 31.960 * [backup-simplify]: Simplify 0 into 0 31.960 * [backup-simplify]: Simplify 1 into 1 31.960 * [backup-simplify]: Simplify (/ 1 1) into 1 31.960 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.960 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 31.960 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 31.960 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.961 * [taylor]: Taking taylor expansion of phi1 in phi1 31.961 * [backup-simplify]: Simplify 0 into 0 31.961 * [backup-simplify]: Simplify 1 into 1 31.961 * [backup-simplify]: Simplify (/ 1 1) into 1 31.961 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.961 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 31.961 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.961 * [taylor]: Taking taylor expansion of delta in phi1 31.961 * [backup-simplify]: Simplify delta into delta 31.961 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.961 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.961 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.961 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 31.961 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.961 * [taylor]: Taking taylor expansion of phi1 in phi1 31.961 * [backup-simplify]: Simplify 0 into 0 31.961 * [backup-simplify]: Simplify 1 into 1 31.962 * [backup-simplify]: Simplify (/ 1 1) into 1 31.962 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.962 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) in delta 31.962 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 31.962 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.962 * [taylor]: Taking taylor expansion of delta in delta 31.962 * [backup-simplify]: Simplify 0 into 0 31.962 * [backup-simplify]: Simplify 1 into 1 31.963 * [backup-simplify]: Simplify (/ 1 1) into 1 31.963 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.963 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in delta 31.963 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 31.963 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 31.963 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 31.963 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 31.963 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 31.963 * [taylor]: Taking taylor expansion of theta in delta 31.963 * [backup-simplify]: Simplify theta into theta 31.963 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.963 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.963 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.963 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 31.963 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 31.963 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.963 * [taylor]: Taking taylor expansion of delta in delta 31.963 * [backup-simplify]: Simplify 0 into 0 31.963 * [backup-simplify]: Simplify 1 into 1 31.964 * [backup-simplify]: Simplify (/ 1 1) into 1 31.964 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.964 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 31.964 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.964 * [taylor]: Taking taylor expansion of phi1 in delta 31.964 * [backup-simplify]: Simplify phi1 into phi1 31.964 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.964 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.964 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.964 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 31.964 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 31.964 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.964 * [taylor]: Taking taylor expansion of phi1 in delta 31.964 * [backup-simplify]: Simplify phi1 into phi1 31.964 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.964 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.964 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.964 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 31.964 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.965 * [taylor]: Taking taylor expansion of delta in delta 31.965 * [backup-simplify]: Simplify 0 into 0 31.965 * [backup-simplify]: Simplify 1 into 1 31.965 * [backup-simplify]: Simplify (/ 1 1) into 1 31.965 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.965 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 31.965 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.965 * [taylor]: Taking taylor expansion of phi1 in delta 31.965 * [backup-simplify]: Simplify phi1 into phi1 31.965 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.965 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.965 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.965 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) in delta 31.965 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 31.965 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.965 * [taylor]: Taking taylor expansion of delta in delta 31.965 * [backup-simplify]: Simplify 0 into 0 31.966 * [backup-simplify]: Simplify 1 into 1 31.966 * [backup-simplify]: Simplify (/ 1 1) into 1 31.966 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.966 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in delta 31.966 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 31.966 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 31.966 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 31.966 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 31.966 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 31.966 * [taylor]: Taking taylor expansion of theta in delta 31.966 * [backup-simplify]: Simplify theta into theta 31.966 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.966 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.966 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.967 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 31.967 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 31.967 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.967 * [taylor]: Taking taylor expansion of delta in delta 31.967 * [backup-simplify]: Simplify 0 into 0 31.967 * [backup-simplify]: Simplify 1 into 1 31.967 * [backup-simplify]: Simplify (/ 1 1) into 1 31.967 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.967 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 31.967 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.967 * [taylor]: Taking taylor expansion of phi1 in delta 31.967 * [backup-simplify]: Simplify phi1 into phi1 31.967 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.967 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.967 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.967 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 31.967 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 31.968 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.968 * [taylor]: Taking taylor expansion of phi1 in delta 31.968 * [backup-simplify]: Simplify phi1 into phi1 31.968 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.968 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.968 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.968 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 31.968 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.968 * [taylor]: Taking taylor expansion of delta in delta 31.968 * [backup-simplify]: Simplify 0 into 0 31.968 * [backup-simplify]: Simplify 1 into 1 31.968 * [backup-simplify]: Simplify (/ 1 1) into 1 31.968 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.968 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 31.968 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.968 * [taylor]: Taking taylor expansion of phi1 in delta 31.968 * [backup-simplify]: Simplify phi1 into phi1 31.969 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.969 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.969 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.969 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 31.969 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 31.969 * [backup-simplify]: Simplify (- 0) into 0 31.969 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 31.970 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 31.970 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 31.970 * [backup-simplify]: Simplify (- 0) into 0 31.970 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 31.971 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (cos (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 delta))) 31.971 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 31.971 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 31.971 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 31.971 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 31.971 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 31.971 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) into (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 31.972 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 31.972 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 31.972 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 31.972 * [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))) 31.973 * [backup-simplify]: Simplify (- (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1)))) into (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 31.974 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))))) into (- (cos (/ 1 delta)) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 31.974 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) in phi1 31.974 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 31.974 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.974 * [taylor]: Taking taylor expansion of delta in phi1 31.974 * [backup-simplify]: Simplify delta into delta 31.974 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.974 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.974 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.974 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) in phi1 31.974 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in phi1 31.974 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 31.974 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.974 * [taylor]: Taking taylor expansion of phi1 in phi1 31.974 * [backup-simplify]: Simplify 0 into 0 31.974 * [backup-simplify]: Simplify 1 into 1 31.975 * [backup-simplify]: Simplify (/ 1 1) into 1 31.975 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.975 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in phi1 31.975 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 31.975 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.975 * [taylor]: Taking taylor expansion of phi1 in phi1 31.975 * [backup-simplify]: Simplify 0 into 0 31.975 * [backup-simplify]: Simplify 1 into 1 31.975 * [backup-simplify]: Simplify (/ 1 1) into 1 31.976 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.976 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in phi1 31.976 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 31.976 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 31.976 * [taylor]: Taking taylor expansion of theta in phi1 31.976 * [backup-simplify]: Simplify theta into theta 31.976 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.976 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.976 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.976 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 31.976 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.976 * [taylor]: Taking taylor expansion of delta in phi1 31.976 * [backup-simplify]: Simplify delta into delta 31.976 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.976 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.976 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.976 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in phi1 31.976 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 31.976 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.976 * [taylor]: Taking taylor expansion of delta in phi1 31.976 * [backup-simplify]: Simplify delta into delta 31.976 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.976 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.977 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.977 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 31.977 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 31.977 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.977 * [taylor]: Taking taylor expansion of phi1 in phi1 31.977 * [backup-simplify]: Simplify 0 into 0 31.977 * [backup-simplify]: Simplify 1 into 1 31.977 * [backup-simplify]: Simplify (/ 1 1) into 1 31.977 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.977 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 31.977 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 31.978 * [backup-simplify]: Simplify (- 0) into 0 31.978 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 31.978 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 31.978 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 31.978 * [backup-simplify]: Simplify (- 0) into 0 31.979 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 31.979 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 31.979 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 31.979 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 31.979 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 31.979 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) 31.979 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) into (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 31.979 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 31.980 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 31.980 * [backup-simplify]: Simplify (- 0) into 0 31.980 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 31.980 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 31.980 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 31.981 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 31.981 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 31.982 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))))) into (- (cos (/ 1 delta)) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) 31.982 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)))) in theta 31.982 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 31.982 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.982 * [taylor]: Taking taylor expansion of delta in theta 31.982 * [backup-simplify]: Simplify delta into delta 31.982 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.983 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.983 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.983 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2))) in theta 31.983 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) in theta 31.983 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 31.983 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.983 * [taylor]: Taking taylor expansion of phi1 in theta 31.983 * [backup-simplify]: Simplify phi1 into phi1 31.983 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.983 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.983 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.983 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) in theta 31.983 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 31.983 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.983 * [taylor]: Taking taylor expansion of delta in theta 31.983 * [backup-simplify]: Simplify delta into delta 31.983 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.983 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.983 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.983 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 phi1))) in theta 31.983 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 31.983 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 31.983 * [taylor]: Taking taylor expansion of theta in theta 31.983 * [backup-simplify]: Simplify 0 into 0 31.984 * [backup-simplify]: Simplify 1 into 1 31.984 * [backup-simplify]: Simplify (/ 1 1) into 1 31.984 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.984 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 31.984 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.984 * [taylor]: Taking taylor expansion of phi1 in theta 31.984 * [backup-simplify]: Simplify phi1 into phi1 31.984 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.984 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.984 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.984 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in theta 31.984 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 31.984 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.984 * [taylor]: Taking taylor expansion of delta in theta 31.984 * [backup-simplify]: Simplify delta into delta 31.985 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.985 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.985 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.985 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 31.985 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 31.985 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.985 * [taylor]: Taking taylor expansion of phi1 in theta 31.985 * [backup-simplify]: Simplify phi1 into phi1 31.985 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.985 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.985 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.985 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 31.985 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 31.985 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 31.985 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 31.985 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 31.986 * [backup-simplify]: Simplify (- 0) into 0 31.986 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 31.986 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 31.986 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 31.987 * [backup-simplify]: Simplify (- 0) into 0 31.987 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 31.987 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 31.987 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 31.987 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 31.987 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 31.987 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 31.987 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 31.987 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 phi1))) into (* (cos (/ 1 theta)) (sin (/ 1 phi1))) 31.987 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) into (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 31.988 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 31.988 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 31.988 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 31.988 * [backup-simplify]: Simplify (- 0) into 0 31.988 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 31.989 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 31.989 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 31.989 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 31.990 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (+ (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 31.991 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))))) into (- (cos (/ 1 delta)) (+ (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) 31.991 * [backup-simplify]: Simplify (- (cos (/ 1 delta)) (+ (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) into (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 31.992 * [backup-simplify]: Simplify (+ 0) into 0 31.992 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 31.992 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.993 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.994 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 31.994 * [backup-simplify]: Simplify (+ 0 0) into 0 31.994 * [backup-simplify]: Simplify (+ 0) into 0 31.995 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 31.995 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.996 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.996 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 31.997 * [backup-simplify]: Simplify (- 0) into 0 31.997 * [backup-simplify]: Simplify (+ 0 0) into 0 31.997 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 31.998 * [backup-simplify]: Simplify (+ 0) into 0 31.998 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 31.998 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 31.999 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.000 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 32.000 * [backup-simplify]: Simplify (- 0) into 0 32.000 * [backup-simplify]: Simplify (+ 0 0) into 0 32.001 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta))))) into 0 32.001 * [backup-simplify]: Simplify (+ 0) into 0 32.002 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 32.002 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 32.003 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.003 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 32.003 * [backup-simplify]: Simplify (+ 0 0) into 0 32.004 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 32.004 * [backup-simplify]: Simplify (+ 0 0) into 0 32.004 * [backup-simplify]: Simplify (+ (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 32.005 * [backup-simplify]: Simplify (- 0) into 0 32.005 * [backup-simplify]: Simplify (+ 0 0) into 0 32.005 * [taylor]: Taking taylor expansion of 0 in phi1 32.005 * [backup-simplify]: Simplify 0 into 0 32.005 * [taylor]: Taking taylor expansion of 0 in theta 32.005 * [backup-simplify]: Simplify 0 into 0 32.005 * [backup-simplify]: Simplify 0 into 0 32.006 * [backup-simplify]: Simplify (+ 0) into 0 32.006 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 32.006 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 32.007 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.008 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 32.008 * [backup-simplify]: Simplify (- 0) into 0 32.008 * [backup-simplify]: Simplify (+ 0 0) into 0 32.009 * [backup-simplify]: Simplify (+ 0) into 0 32.009 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 32.009 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 32.010 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.011 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 32.011 * [backup-simplify]: Simplify (+ 0 0) into 0 32.011 * [backup-simplify]: Simplify (+ 0) into 0 32.012 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 32.012 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 32.013 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.013 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 32.014 * [backup-simplify]: Simplify (- 0) into 0 32.014 * [backup-simplify]: Simplify (+ 0 0) into 0 32.014 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 32.015 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 32.015 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))))) into 0 32.015 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 32.015 * [backup-simplify]: Simplify (+ 0) into 0 32.016 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 32.016 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 32.017 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.017 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 32.018 * [backup-simplify]: Simplify (- 0) into 0 32.018 * [backup-simplify]: Simplify (+ 0 0) into 0 32.018 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 32.019 * [backup-simplify]: Simplify (+ 0 0) into 0 32.019 * [backup-simplify]: Simplify (- 0) into 0 32.019 * [backup-simplify]: Simplify (+ 0 0) into 0 32.019 * [taylor]: Taking taylor expansion of 0 in theta 32.020 * [backup-simplify]: Simplify 0 into 0 32.020 * [backup-simplify]: Simplify 0 into 0 32.020 * [backup-simplify]: Simplify (+ 0) into 0 32.020 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 32.021 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 32.021 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.022 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 32.022 * [backup-simplify]: Simplify (- 0) into 0 32.023 * [backup-simplify]: Simplify (+ 0 0) into 0 32.023 * [backup-simplify]: Simplify (+ 0) into 0 32.024 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 32.024 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 32.024 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.025 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 32.025 * [backup-simplify]: Simplify (+ 0 0) into 0 32.026 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 32.026 * [backup-simplify]: Simplify (+ 0) into 0 32.026 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 32.027 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 32.028 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.028 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 32.028 * [backup-simplify]: Simplify (+ 0 0) into 0 32.029 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) into 0 32.029 * [backup-simplify]: Simplify (+ 0) into 0 32.030 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 32.030 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 32.031 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.031 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 32.032 * [backup-simplify]: Simplify (- 0) into 0 32.032 * [backup-simplify]: Simplify (+ 0 0) into 0 32.032 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 32.033 * [backup-simplify]: Simplify (+ 0) into 0 32.033 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 32.033 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 32.034 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.035 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 32.035 * [backup-simplify]: Simplify (+ 0 0) into 0 32.035 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 32.036 * [backup-simplify]: Simplify (+ 0) into 0 32.036 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 32.036 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 32.037 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.038 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 32.038 * [backup-simplify]: Simplify (- 0) into 0 32.038 * [backup-simplify]: Simplify (+ 0 0) into 0 32.039 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 32.039 * [backup-simplify]: Simplify (+ 0 0) into 0 32.039 * [backup-simplify]: Simplify (- 0) into 0 32.040 * [backup-simplify]: Simplify (+ 0 0) into 0 32.040 * [backup-simplify]: Simplify 0 into 0 32.040 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.041 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.041 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.042 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.043 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.043 * [backup-simplify]: Simplify (+ 0 0) into 0 32.044 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.045 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.045 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.046 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.046 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.047 * [backup-simplify]: Simplify (- 0) into 0 32.047 * [backup-simplify]: Simplify (+ 0 0) into 0 32.048 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 32.048 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.049 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.049 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 32.050 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.051 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.051 * [backup-simplify]: Simplify (- 0) into 0 32.051 * [backup-simplify]: Simplify (+ 0 0) into 0 32.052 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta)))))) into 0 32.052 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.053 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.053 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.053 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.054 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.054 * [backup-simplify]: Simplify (+ 0 0) into 0 32.054 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 32.054 * [backup-simplify]: Simplify (+ 0 0) into 0 32.055 * [backup-simplify]: Simplify (+ (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 32.055 * [backup-simplify]: Simplify (- 0) into 0 32.055 * [backup-simplify]: Simplify (+ 0 0) into 0 32.055 * [taylor]: Taking taylor expansion of 0 in phi1 32.055 * [backup-simplify]: Simplify 0 into 0 32.055 * [taylor]: Taking taylor expansion of 0 in theta 32.055 * [backup-simplify]: Simplify 0 into 0 32.055 * [backup-simplify]: Simplify 0 into 0 32.056 * [taylor]: Taking taylor expansion of 0 in theta 32.056 * [backup-simplify]: Simplify 0 into 0 32.056 * [backup-simplify]: Simplify 0 into 0 32.056 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.057 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.057 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 32.057 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.058 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.058 * [backup-simplify]: Simplify (- 0) into 0 32.058 * [backup-simplify]: Simplify (+ 0 0) into 0 32.058 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.059 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.059 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 32.060 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.060 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.060 * [backup-simplify]: Simplify (+ 0 0) into 0 32.061 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.061 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.061 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 32.062 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.062 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.062 * [backup-simplify]: Simplify (- 0) into 0 32.063 * [backup-simplify]: Simplify (+ 0 0) into 0 32.063 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 32.063 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 32.064 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))))) into 0 32.064 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 32.065 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.065 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.065 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 32.066 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.066 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.066 * [backup-simplify]: Simplify (- 0) into 0 32.066 * [backup-simplify]: Simplify (+ 0 0) into 0 32.067 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 1 phi1)) 2)))) into 0 32.067 * [backup-simplify]: Simplify (+ 0 0) into 0 32.067 * [backup-simplify]: Simplify (- 0) into 0 32.068 * [backup-simplify]: Simplify (+ 0 0) into 0 32.068 * [taylor]: Taking taylor expansion of 0 in theta 32.068 * [backup-simplify]: Simplify 0 into 0 32.068 * [backup-simplify]: Simplify 0 into 0 32.068 * [backup-simplify]: Simplify (- (cos (/ 1 (/ 1 delta))) (+ (* (sin (/ 1 (/ 1 delta))) (* (sin (/ 1 (/ 1 phi1))) (* (cos (/ 1 (/ 1 theta))) (cos (/ 1 (/ 1 phi1)))))) (* (pow (sin (/ 1 (/ 1 phi1))) 2) (cos (/ 1 (/ 1 delta)))))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (sin phi1) (* (cos theta) (cos phi1)))))) 32.068 * [backup-simplify]: Simplify (- (cos (/ 1 (- delta))) (* (sin (/ 1 (- phi1))) (sin (asin (fma (cos (/ 1 (- theta))) (* (cos (/ 1 (- phi1))) (sin (/ 1 (- delta)))) (* (cos (/ 1 (- delta))) (sin (/ 1 (- phi1))))))))) into (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) 32.068 * [approximate]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in (delta phi1 theta) around 0 32.068 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in theta 32.069 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 32.069 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 32.069 * [taylor]: Taking taylor expansion of -1 in theta 32.069 * [backup-simplify]: Simplify -1 into -1 32.069 * [taylor]: Taking taylor expansion of delta in theta 32.069 * [backup-simplify]: Simplify delta into delta 32.069 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.069 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.069 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.069 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 32.069 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 32.069 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 32.069 * [taylor]: Taking taylor expansion of -1 in theta 32.069 * [backup-simplify]: Simplify -1 into -1 32.069 * [taylor]: Taking taylor expansion of phi1 in theta 32.069 * [backup-simplify]: Simplify phi1 into phi1 32.069 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.069 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.069 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.069 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 32.069 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 32.069 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 32.069 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 32.069 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 32.069 * [taylor]: Taking taylor expansion of -1 in theta 32.069 * [backup-simplify]: Simplify -1 into -1 32.069 * [taylor]: Taking taylor expansion of theta in theta 32.069 * [backup-simplify]: Simplify 0 into 0 32.069 * [backup-simplify]: Simplify 1 into 1 32.069 * [backup-simplify]: Simplify (/ -1 1) into -1 32.070 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 32.070 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 32.070 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 32.070 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 32.070 * [taylor]: Taking taylor expansion of -1 in theta 32.070 * [backup-simplify]: Simplify -1 into -1 32.070 * [taylor]: Taking taylor expansion of phi1 in theta 32.070 * [backup-simplify]: Simplify phi1 into phi1 32.070 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.070 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.070 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.070 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 32.070 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 32.070 * [taylor]: Taking taylor expansion of -1 in theta 32.070 * [backup-simplify]: Simplify -1 into -1 32.070 * [taylor]: Taking taylor expansion of delta in theta 32.070 * [backup-simplify]: Simplify delta into delta 32.070 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.070 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.070 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.070 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 32.070 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 32.070 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 32.070 * [taylor]: Taking taylor expansion of -1 in theta 32.070 * [backup-simplify]: Simplify -1 into -1 32.070 * [taylor]: Taking taylor expansion of phi1 in theta 32.070 * [backup-simplify]: Simplify phi1 into phi1 32.070 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.070 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.070 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.070 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 32.070 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 32.070 * [taylor]: Taking taylor expansion of -1 in theta 32.070 * [backup-simplify]: Simplify -1 into -1 32.070 * [taylor]: Taking taylor expansion of delta in theta 32.070 * [backup-simplify]: Simplify delta into delta 32.070 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.070 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.070 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.070 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in phi1 32.070 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 32.071 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 32.071 * [taylor]: Taking taylor expansion of -1 in phi1 32.071 * [backup-simplify]: Simplify -1 into -1 32.071 * [taylor]: Taking taylor expansion of delta in phi1 32.071 * [backup-simplify]: Simplify delta into delta 32.071 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.071 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.071 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.071 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 32.071 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 32.071 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 32.071 * [taylor]: Taking taylor expansion of -1 in phi1 32.071 * [backup-simplify]: Simplify -1 into -1 32.071 * [taylor]: Taking taylor expansion of phi1 in phi1 32.071 * [backup-simplify]: Simplify 0 into 0 32.071 * [backup-simplify]: Simplify 1 into 1 32.071 * [backup-simplify]: Simplify (/ -1 1) into -1 32.071 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.071 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 32.071 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 32.071 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 32.071 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 32.071 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 32.071 * [taylor]: Taking taylor expansion of -1 in phi1 32.071 * [backup-simplify]: Simplify -1 into -1 32.071 * [taylor]: Taking taylor expansion of theta in phi1 32.071 * [backup-simplify]: Simplify theta into theta 32.071 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 32.072 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 32.072 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 32.072 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 32.072 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 32.072 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 32.072 * [taylor]: Taking taylor expansion of -1 in phi1 32.072 * [backup-simplify]: Simplify -1 into -1 32.072 * [taylor]: Taking taylor expansion of phi1 in phi1 32.072 * [backup-simplify]: Simplify 0 into 0 32.072 * [backup-simplify]: Simplify 1 into 1 32.072 * [backup-simplify]: Simplify (/ -1 1) into -1 32.072 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.072 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 32.072 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 32.072 * [taylor]: Taking taylor expansion of -1 in phi1 32.072 * [backup-simplify]: Simplify -1 into -1 32.072 * [taylor]: Taking taylor expansion of delta in phi1 32.072 * [backup-simplify]: Simplify delta into delta 32.072 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.072 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.072 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.072 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 32.072 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 32.072 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 32.072 * [taylor]: Taking taylor expansion of -1 in phi1 32.072 * [backup-simplify]: Simplify -1 into -1 32.072 * [taylor]: Taking taylor expansion of phi1 in phi1 32.072 * [backup-simplify]: Simplify 0 into 0 32.072 * [backup-simplify]: Simplify 1 into 1 32.073 * [backup-simplify]: Simplify (/ -1 1) into -1 32.073 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.073 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 32.073 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 32.073 * [taylor]: Taking taylor expansion of -1 in phi1 32.073 * [backup-simplify]: Simplify -1 into -1 32.073 * [taylor]: Taking taylor expansion of delta in phi1 32.073 * [backup-simplify]: Simplify delta into delta 32.073 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.073 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.073 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.073 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in delta 32.073 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 32.073 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 32.073 * [taylor]: Taking taylor expansion of -1 in delta 32.073 * [backup-simplify]: Simplify -1 into -1 32.073 * [taylor]: Taking taylor expansion of delta in delta 32.073 * [backup-simplify]: Simplify 0 into 0 32.073 * [backup-simplify]: Simplify 1 into 1 32.073 * [backup-simplify]: Simplify (/ -1 1) into -1 32.073 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.073 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 32.073 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 32.073 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 32.073 * [taylor]: Taking taylor expansion of -1 in delta 32.074 * [backup-simplify]: Simplify -1 into -1 32.074 * [taylor]: Taking taylor expansion of phi1 in delta 32.074 * [backup-simplify]: Simplify phi1 into phi1 32.074 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.074 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.074 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.074 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 32.074 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 32.074 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 32.074 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 32.074 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 32.074 * [taylor]: Taking taylor expansion of -1 in delta 32.074 * [backup-simplify]: Simplify -1 into -1 32.074 * [taylor]: Taking taylor expansion of theta in delta 32.074 * [backup-simplify]: Simplify theta into theta 32.074 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 32.074 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 32.074 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 32.074 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 32.074 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 32.074 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 32.074 * [taylor]: Taking taylor expansion of -1 in delta 32.074 * [backup-simplify]: Simplify -1 into -1 32.074 * [taylor]: Taking taylor expansion of phi1 in delta 32.074 * [backup-simplify]: Simplify phi1 into phi1 32.074 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.074 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.074 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.074 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 32.074 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 32.074 * [taylor]: Taking taylor expansion of -1 in delta 32.074 * [backup-simplify]: Simplify -1 into -1 32.074 * [taylor]: Taking taylor expansion of delta in delta 32.074 * [backup-simplify]: Simplify 0 into 0 32.074 * [backup-simplify]: Simplify 1 into 1 32.076 * [backup-simplify]: Simplify (/ -1 1) into -1 32.076 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.076 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 32.076 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 32.076 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 32.076 * [taylor]: Taking taylor expansion of -1 in delta 32.076 * [backup-simplify]: Simplify -1 into -1 32.076 * [taylor]: Taking taylor expansion of phi1 in delta 32.076 * [backup-simplify]: Simplify phi1 into phi1 32.076 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.076 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.076 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.076 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 32.076 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 32.076 * [taylor]: Taking taylor expansion of -1 in delta 32.076 * [backup-simplify]: Simplify -1 into -1 32.076 * [taylor]: Taking taylor expansion of delta in delta 32.076 * [backup-simplify]: Simplify 0 into 0 32.076 * [backup-simplify]: Simplify 1 into 1 32.077 * [backup-simplify]: Simplify (/ -1 1) into -1 32.077 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.077 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) in delta 32.077 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 32.077 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 32.077 * [taylor]: Taking taylor expansion of -1 in delta 32.077 * [backup-simplify]: Simplify -1 into -1 32.077 * [taylor]: Taking taylor expansion of delta in delta 32.077 * [backup-simplify]: Simplify 0 into 0 32.077 * [backup-simplify]: Simplify 1 into 1 32.077 * [backup-simplify]: Simplify (/ -1 1) into -1 32.077 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.077 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 32.077 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 32.078 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 32.078 * [taylor]: Taking taylor expansion of -1 in delta 32.078 * [backup-simplify]: Simplify -1 into -1 32.078 * [taylor]: Taking taylor expansion of phi1 in delta 32.078 * [backup-simplify]: Simplify phi1 into phi1 32.078 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.078 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.078 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.078 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 32.078 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 32.078 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 32.078 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 32.078 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 32.078 * [taylor]: Taking taylor expansion of -1 in delta 32.078 * [backup-simplify]: Simplify -1 into -1 32.078 * [taylor]: Taking taylor expansion of theta in delta 32.078 * [backup-simplify]: Simplify theta into theta 32.078 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 32.078 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 32.078 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 32.078 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 32.078 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 32.078 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 32.078 * [taylor]: Taking taylor expansion of -1 in delta 32.078 * [backup-simplify]: Simplify -1 into -1 32.078 * [taylor]: Taking taylor expansion of phi1 in delta 32.078 * [backup-simplify]: Simplify phi1 into phi1 32.078 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.078 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.078 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.078 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 32.078 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 32.078 * [taylor]: Taking taylor expansion of -1 in delta 32.078 * [backup-simplify]: Simplify -1 into -1 32.078 * [taylor]: Taking taylor expansion of delta in delta 32.078 * [backup-simplify]: Simplify 0 into 0 32.078 * [backup-simplify]: Simplify 1 into 1 32.079 * [backup-simplify]: Simplify (/ -1 1) into -1 32.079 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.079 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 32.079 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 32.079 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 32.079 * [taylor]: Taking taylor expansion of -1 in delta 32.079 * [backup-simplify]: Simplify -1 into -1 32.079 * [taylor]: Taking taylor expansion of phi1 in delta 32.079 * [backup-simplify]: Simplify phi1 into phi1 32.079 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.079 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.079 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.079 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 32.079 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 32.079 * [taylor]: Taking taylor expansion of -1 in delta 32.079 * [backup-simplify]: Simplify -1 into -1 32.079 * [taylor]: Taking taylor expansion of delta in delta 32.079 * [backup-simplify]: Simplify 0 into 0 32.079 * [backup-simplify]: Simplify 1 into 1 32.079 * [backup-simplify]: Simplify (/ -1 1) into -1 32.079 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.079 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 32.079 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 32.080 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 32.080 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 32.080 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 32.080 * [backup-simplify]: Simplify (- 0) into 0 32.080 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 32.080 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 32.080 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 32.080 * [backup-simplify]: Simplify (- 0) into 0 32.080 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 32.080 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 32.081 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 32.081 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 32.081 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 32.081 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 32.081 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 32.081 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) into (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 32.081 * [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))))) 32.081 * [backup-simplify]: Simplify (- (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 32.082 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 32.082 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) in phi1 32.082 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 32.082 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 32.082 * [taylor]: Taking taylor expansion of -1 in phi1 32.082 * [backup-simplify]: Simplify -1 into -1 32.082 * [taylor]: Taking taylor expansion of delta in phi1 32.082 * [backup-simplify]: Simplify delta into delta 32.082 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.082 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.082 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.082 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) in phi1 32.082 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in phi1 32.082 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 32.082 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 32.082 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 32.082 * [taylor]: Taking taylor expansion of -1 in phi1 32.082 * [backup-simplify]: Simplify -1 into -1 32.082 * [taylor]: Taking taylor expansion of phi1 in phi1 32.082 * [backup-simplify]: Simplify 0 into 0 32.082 * [backup-simplify]: Simplify 1 into 1 32.083 * [backup-simplify]: Simplify (/ -1 1) into -1 32.083 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.083 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 32.083 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 32.083 * [taylor]: Taking taylor expansion of -1 in phi1 32.083 * [backup-simplify]: Simplify -1 into -1 32.083 * [taylor]: Taking taylor expansion of delta in phi1 32.083 * [backup-simplify]: Simplify delta into delta 32.083 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.083 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.083 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.083 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) in phi1 32.083 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 32.083 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 32.083 * [taylor]: Taking taylor expansion of -1 in phi1 32.083 * [backup-simplify]: Simplify -1 into -1 32.083 * [taylor]: Taking taylor expansion of phi1 in phi1 32.083 * [backup-simplify]: Simplify 0 into 0 32.083 * [backup-simplify]: Simplify 1 into 1 32.083 * [backup-simplify]: Simplify (/ -1 1) into -1 32.083 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.083 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))) in phi1 32.083 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 32.083 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 32.083 * [taylor]: Taking taylor expansion of -1 in phi1 32.083 * [backup-simplify]: Simplify -1 into -1 32.083 * [taylor]: Taking taylor expansion of theta in phi1 32.084 * [backup-simplify]: Simplify theta into theta 32.084 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 32.084 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 32.084 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 32.084 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 phi1))) in phi1 32.084 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 32.084 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 32.084 * [taylor]: Taking taylor expansion of -1 in phi1 32.084 * [backup-simplify]: Simplify -1 into -1 32.084 * [taylor]: Taking taylor expansion of delta in phi1 32.084 * [backup-simplify]: Simplify delta into delta 32.084 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.084 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.084 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.084 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 32.084 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 32.084 * [taylor]: Taking taylor expansion of -1 in phi1 32.084 * [backup-simplify]: Simplify -1 into -1 32.084 * [taylor]: Taking taylor expansion of phi1 in phi1 32.084 * [backup-simplify]: Simplify 0 into 0 32.084 * [backup-simplify]: Simplify 1 into 1 32.084 * [backup-simplify]: Simplify (/ -1 1) into -1 32.084 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.084 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 32.084 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 32.085 * [backup-simplify]: Simplify (- 0) into 0 32.085 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 32.085 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 32.085 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 32.085 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 32.085 * [backup-simplify]: Simplify (- 0) into 0 32.085 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 32.085 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 32.085 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 32.085 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 32.086 * [backup-simplify]: Simplify (- 0) into 0 32.086 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 32.086 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 32.086 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 32.086 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 32.086 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 32.086 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 32.086 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) 32.087 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) 32.087 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 32.088 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 32.088 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) in theta 32.088 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 32.088 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 32.088 * [taylor]: Taking taylor expansion of -1 in theta 32.088 * [backup-simplify]: Simplify -1 into -1 32.088 * [taylor]: Taking taylor expansion of delta in theta 32.088 * [backup-simplify]: Simplify delta into delta 32.088 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.088 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.088 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.088 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) in theta 32.088 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in theta 32.088 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in theta 32.088 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 32.088 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 32.088 * [taylor]: Taking taylor expansion of -1 in theta 32.088 * [backup-simplify]: Simplify -1 into -1 32.088 * [taylor]: Taking taylor expansion of phi1 in theta 32.088 * [backup-simplify]: Simplify phi1 into phi1 32.088 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.088 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.088 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.088 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 32.088 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 32.088 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 32.089 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 32.089 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 32.089 * [taylor]: Taking taylor expansion of -1 in theta 32.089 * [backup-simplify]: Simplify -1 into -1 32.089 * [taylor]: Taking taylor expansion of delta in theta 32.089 * [backup-simplify]: Simplify delta into delta 32.089 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.089 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.089 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.089 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) in theta 32.089 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 32.089 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 32.089 * [taylor]: Taking taylor expansion of -1 in theta 32.089 * [backup-simplify]: Simplify -1 into -1 32.089 * [taylor]: Taking taylor expansion of phi1 in theta 32.089 * [backup-simplify]: Simplify phi1 into phi1 32.089 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.089 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.089 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.089 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))) in theta 32.089 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 32.089 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 32.089 * [taylor]: Taking taylor expansion of -1 in theta 32.089 * [backup-simplify]: Simplify -1 into -1 32.089 * [taylor]: Taking taylor expansion of theta in theta 32.089 * [backup-simplify]: Simplify 0 into 0 32.089 * [backup-simplify]: Simplify 1 into 1 32.090 * [backup-simplify]: Simplify (/ -1 1) into -1 32.090 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 32.090 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 phi1))) in theta 32.090 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 32.090 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 32.090 * [taylor]: Taking taylor expansion of -1 in theta 32.090 * [backup-simplify]: Simplify -1 into -1 32.090 * [taylor]: Taking taylor expansion of delta in theta 32.090 * [backup-simplify]: Simplify delta into delta 32.090 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.090 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.090 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.090 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 32.090 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 32.090 * [taylor]: Taking taylor expansion of -1 in theta 32.090 * [backup-simplify]: Simplify -1 into -1 32.090 * [taylor]: Taking taylor expansion of phi1 in theta 32.090 * [backup-simplify]: Simplify phi1 into phi1 32.090 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.090 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.090 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.090 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 32.090 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 32.091 * [backup-simplify]: Simplify (- 0) into 0 32.091 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 32.091 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 32.091 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 32.091 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 32.091 * [backup-simplify]: Simplify (- 0) into 0 32.091 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 32.091 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 32.092 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 32.092 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 32.092 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 32.092 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 32.092 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 32.092 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 32.092 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 32.092 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 32.092 * [backup-simplify]: Simplify (- 0) into 0 32.092 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 32.092 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 32.092 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 32.093 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) 32.093 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))) 32.093 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 32.093 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 32.094 * [backup-simplify]: Simplify (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))))) 32.094 * [backup-simplify]: Simplify (+ 0) into 0 32.094 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 32.095 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 32.095 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.095 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 32.096 * [backup-simplify]: Simplify (- 0) into 0 32.096 * [backup-simplify]: Simplify (+ 0 0) into 0 32.096 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 32.096 * [backup-simplify]: Simplify (+ 0) into 0 32.096 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 32.097 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 32.097 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.097 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 32.098 * [backup-simplify]: Simplify (- 0) into 0 32.098 * [backup-simplify]: Simplify (+ 0 0) into 0 32.098 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 32.098 * [backup-simplify]: Simplify (+ 0) into 0 32.098 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 32.099 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 32.099 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.099 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 32.100 * [backup-simplify]: Simplify (+ 0 0) into 0 32.100 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 32.100 * [backup-simplify]: Simplify (+ 0 0) into 0 32.100 * [backup-simplify]: Simplify (+ 0) into 0 32.100 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 32.101 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 32.101 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.101 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 32.101 * [backup-simplify]: Simplify (+ 0 0) into 0 32.102 * [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 32.102 * [backup-simplify]: Simplify (- 0) into 0 32.102 * [backup-simplify]: Simplify (+ 0 0) into 0 32.102 * [taylor]: Taking taylor expansion of 0 in phi1 32.102 * [backup-simplify]: Simplify 0 into 0 32.102 * [taylor]: Taking taylor expansion of 0 in theta 32.102 * [backup-simplify]: Simplify 0 into 0 32.102 * [backup-simplify]: Simplify 0 into 0 32.103 * [backup-simplify]: Simplify (+ 0) into 0 32.103 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 32.103 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 32.103 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.104 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 32.104 * [backup-simplify]: Simplify (- 0) into 0 32.104 * [backup-simplify]: Simplify (+ 0 0) into 0 32.104 * [backup-simplify]: Simplify (+ 0) into 0 32.105 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 32.105 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 32.105 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.106 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 32.106 * [backup-simplify]: Simplify (- 0) into 0 32.106 * [backup-simplify]: Simplify (+ 0 0) into 0 32.106 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 32.106 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 32.107 * [backup-simplify]: Simplify (+ 0) into 0 32.107 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 32.107 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 32.107 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.108 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 32.108 * [backup-simplify]: Simplify (+ 0 0) into 0 32.108 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 32.108 * [backup-simplify]: Simplify (+ 0) into 0 32.109 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 32.109 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 32.109 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.109 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 32.110 * [backup-simplify]: Simplify (- 0) into 0 32.110 * [backup-simplify]: Simplify (+ 0 0) into 0 32.110 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 32.110 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 32.110 * [backup-simplify]: Simplify (+ 0 0) into 0 32.111 * [backup-simplify]: Simplify (- 0) into 0 32.111 * [backup-simplify]: Simplify (+ 0 0) into 0 32.111 * [taylor]: Taking taylor expansion of 0 in theta 32.111 * [backup-simplify]: Simplify 0 into 0 32.111 * [backup-simplify]: Simplify 0 into 0 32.111 * [backup-simplify]: Simplify (+ 0) into 0 32.112 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 32.112 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 32.112 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.112 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 32.113 * [backup-simplify]: Simplify (- 0) into 0 32.113 * [backup-simplify]: Simplify (+ 0 0) into 0 32.113 * [backup-simplify]: Simplify (+ 0) into 0 32.113 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 32.113 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 32.114 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.114 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 32.114 * [backup-simplify]: Simplify (- 0) into 0 32.115 * [backup-simplify]: Simplify (+ 0 0) into 0 32.115 * [backup-simplify]: Simplify (+ 0) into 0 32.115 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 32.115 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 32.116 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.116 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 32.116 * [backup-simplify]: Simplify (+ 0 0) into 0 32.116 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 32.117 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 32.117 * [backup-simplify]: Simplify (+ 0) into 0 32.117 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 32.117 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 32.118 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.118 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 32.118 * [backup-simplify]: Simplify (- 0) into 0 32.118 * [backup-simplify]: Simplify (+ 0 0) into 0 32.119 * [backup-simplify]: Simplify (+ 0) into 0 32.119 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 32.119 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 32.120 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.120 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 32.120 * [backup-simplify]: Simplify (+ 0 0) into 0 32.120 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 32.120 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 32.121 * [backup-simplify]: Simplify (+ 0) into 0 32.121 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 32.121 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 32.121 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.122 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 32.122 * [backup-simplify]: Simplify (+ 0 0) into 0 32.122 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 32.122 * [backup-simplify]: Simplify (+ 0 0) into 0 32.123 * [backup-simplify]: Simplify (- 0) into 0 32.123 * [backup-simplify]: Simplify (+ 0 0) into 0 32.123 * [backup-simplify]: Simplify 0 into 0 32.123 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.124 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.124 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.125 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.125 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.125 * [backup-simplify]: Simplify (- 0) into 0 32.125 * [backup-simplify]: Simplify (+ 0 0) into 0 32.126 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 32.126 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.127 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.127 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 32.128 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.128 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.129 * [backup-simplify]: Simplify (- 0) into 0 32.129 * [backup-simplify]: Simplify (+ 0 0) into 0 32.130 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 32.131 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.132 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.132 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.133 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.133 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.134 * [backup-simplify]: Simplify (+ 0 0) into 0 32.134 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 32.135 * [backup-simplify]: Simplify (+ 0 0) into 0 32.136 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.136 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.137 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.137 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.138 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.138 * [backup-simplify]: Simplify (+ 0 0) into 0 32.139 * [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 32.140 * [backup-simplify]: Simplify (- 0) into 0 32.140 * [backup-simplify]: Simplify (+ 0 0) into 0 32.140 * [taylor]: Taking taylor expansion of 0 in phi1 32.140 * [backup-simplify]: Simplify 0 into 0 32.140 * [taylor]: Taking taylor expansion of 0 in theta 32.140 * [backup-simplify]: Simplify 0 into 0 32.140 * [backup-simplify]: Simplify 0 into 0 32.140 * [taylor]: Taking taylor expansion of 0 in theta 32.140 * [backup-simplify]: Simplify 0 into 0 32.140 * [backup-simplify]: Simplify 0 into 0 32.142 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.143 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.144 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 32.145 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.145 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.146 * [backup-simplify]: Simplify (- 0) into 0 32.146 * [backup-simplify]: Simplify (+ 0 0) into 0 32.147 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.148 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.148 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 32.149 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.150 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.150 * [backup-simplify]: Simplify (- 0) into 0 32.150 * [backup-simplify]: Simplify (+ 0 0) into 0 32.151 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 32.151 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 32.152 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.153 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.153 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 32.154 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.155 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.155 * [backup-simplify]: Simplify (+ 0 0) into 0 32.156 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 phi1))))) into 0 32.157 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.157 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.157 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 32.158 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.159 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.159 * [backup-simplify]: Simplify (- 0) into 0 32.159 * [backup-simplify]: Simplify (+ 0 0) into 0 32.160 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 32.161 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))))) into 0 32.161 * [backup-simplify]: Simplify (+ 0 0) into 0 32.161 * [backup-simplify]: Simplify (- 0) into 0 32.162 * [backup-simplify]: Simplify (+ 0 0) into 0 32.162 * [taylor]: Taking taylor expansion of 0 in theta 32.162 * [backup-simplify]: Simplify 0 into 0 32.162 * [backup-simplify]: Simplify 0 into 0 32.163 * [backup-simplify]: Simplify (- (cos (/ -1 (/ 1 (- delta)))) (+ (* (pow (sin (/ -1 (/ 1 (- phi1)))) 2) (cos (/ -1 (/ 1 (- delta))))) (* (sin (/ -1 (/ 1 (- phi1)))) (* (cos (/ -1 (/ 1 (- theta)))) (* (sin (/ -1 (/ 1 (- delta)))) (cos (/ -1 (/ 1 (- phi1))))))))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos theta) (* (sin delta) (cos phi1)))))) 32.163 * * * * [progress]: [ 2 / 4 ] generating series at (2 1 2 2 2 1) 32.163 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 32.163 * [approximate]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in (theta phi1 delta) around 0 32.163 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 32.163 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 32.163 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 32.164 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 32.164 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 32.164 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 32.164 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 32.164 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 32.164 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 32.164 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 32.164 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 32.165 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 32.165 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 32.165 * [taylor]: Taking taylor expansion of 0 in phi1 32.165 * [backup-simplify]: Simplify 0 into 0 32.165 * [taylor]: Taking taylor expansion of 0 in delta 32.165 * [backup-simplify]: Simplify 0 into 0 32.165 * [backup-simplify]: Simplify 0 into 0 32.165 * [taylor]: Taking taylor expansion of 0 in delta 32.165 * [backup-simplify]: Simplify 0 into 0 32.165 * [backup-simplify]: Simplify 0 into 0 32.165 * [backup-simplify]: Simplify 0 into 0 32.165 * [taylor]: Taking taylor expansion of 0 in phi1 32.165 * [backup-simplify]: Simplify 0 into 0 32.165 * [taylor]: Taking taylor expansion of 0 in delta 32.165 * [backup-simplify]: Simplify 0 into 0 32.165 * [backup-simplify]: Simplify 0 into 0 32.165 * [taylor]: Taking taylor expansion of 0 in delta 32.165 * [backup-simplify]: Simplify 0 into 0 32.165 * [backup-simplify]: Simplify 0 into 0 32.165 * [taylor]: Taking taylor expansion of 0 in delta 32.165 * [backup-simplify]: Simplify 0 into 0 32.165 * [backup-simplify]: Simplify 0 into 0 32.166 * [backup-simplify]: Simplify (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 32.166 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) into (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) 32.166 * [approximate]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in (theta phi1 delta) around 0 32.166 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in delta 32.166 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) into (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) 32.166 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in phi1 32.167 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) into (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) 32.167 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in theta 32.167 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) into (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) 32.167 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in theta 32.167 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) into (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) 32.167 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in phi1 32.168 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) into (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) 32.168 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in delta 32.168 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) into (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) 32.168 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) into (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) 32.168 * [taylor]: Taking taylor expansion of 0 in phi1 32.168 * [backup-simplify]: Simplify 0 into 0 32.168 * [taylor]: Taking taylor expansion of 0 in delta 32.168 * [backup-simplify]: Simplify 0 into 0 32.168 * [backup-simplify]: Simplify 0 into 0 32.168 * [taylor]: Taking taylor expansion of 0 in delta 32.168 * [backup-simplify]: Simplify 0 into 0 32.168 * [backup-simplify]: Simplify 0 into 0 32.168 * [backup-simplify]: Simplify 0 into 0 32.169 * [taylor]: Taking taylor expansion of 0 in phi1 32.169 * [backup-simplify]: Simplify 0 into 0 32.169 * [taylor]: Taking taylor expansion of 0 in delta 32.169 * [backup-simplify]: Simplify 0 into 0 32.169 * [backup-simplify]: Simplify 0 into 0 32.169 * [taylor]: Taking taylor expansion of 0 in delta 32.169 * [backup-simplify]: Simplify 0 into 0 32.169 * [backup-simplify]: Simplify 0 into 0 32.169 * [taylor]: Taking taylor expansion of 0 in delta 32.169 * [backup-simplify]: Simplify 0 into 0 32.169 * [backup-simplify]: Simplify 0 into 0 32.169 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 (/ 1 theta))) (* (sin (/ 1 (/ 1 delta))) (cos (/ 1 (/ 1 phi1)))) (* (sin (/ 1 (/ 1 phi1))) (cos (/ 1 (/ 1 delta)))))) into (asin (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta)))) 32.170 * [backup-simplify]: Simplify (asin (fma (cos (/ 1 (- theta))) (* (cos (/ 1 (- phi1))) (sin (/ 1 (- delta)))) (* (cos (/ 1 (- delta))) (sin (/ 1 (- phi1)))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 32.170 * [approximate]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in (theta phi1 delta) around 0 32.170 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 32.170 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 32.170 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 32.170 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 32.170 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 32.171 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 32.171 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 32.171 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 32.171 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 32.172 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 32.172 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 32.172 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 32.172 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 32.172 * [taylor]: Taking taylor expansion of 0 in phi1 32.172 * [backup-simplify]: Simplify 0 into 0 32.172 * [taylor]: Taking taylor expansion of 0 in delta 32.172 * [backup-simplify]: Simplify 0 into 0 32.172 * [backup-simplify]: Simplify 0 into 0 32.172 * [taylor]: Taking taylor expansion of 0 in delta 32.172 * [backup-simplify]: Simplify 0 into 0 32.172 * [backup-simplify]: Simplify 0 into 0 32.172 * [backup-simplify]: Simplify 0 into 0 32.173 * [taylor]: Taking taylor expansion of 0 in phi1 32.173 * [backup-simplify]: Simplify 0 into 0 32.173 * [taylor]: Taking taylor expansion of 0 in delta 32.173 * [backup-simplify]: Simplify 0 into 0 32.173 * [backup-simplify]: Simplify 0 into 0 32.173 * [taylor]: Taking taylor expansion of 0 in delta 32.173 * [backup-simplify]: Simplify 0 into 0 32.173 * [backup-simplify]: Simplify 0 into 0 32.173 * [taylor]: Taking taylor expansion of 0 in delta 32.173 * [backup-simplify]: Simplify 0 into 0 32.173 * [backup-simplify]: Simplify 0 into 0 32.173 * [backup-simplify]: Simplify (asin (fma (cos (/ -1 (/ 1 (- theta)))) (* (cos (/ -1 (/ 1 (- phi1)))) (sin (/ -1 (/ 1 (- delta))))) (* (sin (/ -1 (/ 1 (- phi1)))) (cos (/ -1 (/ 1 (- delta))))))) into (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 32.173 * * * * [progress]: [ 3 / 4 ] generating series at (2 1 1) 32.173 * [backup-simplify]: Simplify (* (sin delta) (* (cos phi1) (sin theta))) into (* (sin delta) (* (cos phi1) (sin theta))) 32.173 * [approximate]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in (delta phi1 theta) around 0 32.173 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in theta 32.174 * [taylor]: Taking taylor expansion of (sin delta) in theta 32.174 * [taylor]: Taking taylor expansion of delta in theta 32.174 * [backup-simplify]: Simplify delta into delta 32.174 * [backup-simplify]: Simplify (sin delta) into (sin delta) 32.174 * [backup-simplify]: Simplify (cos delta) into (cos delta) 32.174 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in theta 32.174 * [taylor]: Taking taylor expansion of (cos phi1) in theta 32.174 * [taylor]: Taking taylor expansion of phi1 in theta 32.174 * [backup-simplify]: Simplify phi1 into phi1 32.174 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 32.174 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 32.174 * [taylor]: Taking taylor expansion of (sin theta) in theta 32.174 * [taylor]: Taking taylor expansion of theta in theta 32.174 * [backup-simplify]: Simplify 0 into 0 32.174 * [backup-simplify]: Simplify 1 into 1 32.174 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in phi1 32.174 * [taylor]: Taking taylor expansion of (sin delta) in phi1 32.174 * [taylor]: Taking taylor expansion of delta in phi1 32.174 * [backup-simplify]: Simplify delta into delta 32.174 * [backup-simplify]: Simplify (sin delta) into (sin delta) 32.174 * [backup-simplify]: Simplify (cos delta) into (cos delta) 32.174 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in phi1 32.174 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 32.174 * [taylor]: Taking taylor expansion of phi1 in phi1 32.174 * [backup-simplify]: Simplify 0 into 0 32.174 * [backup-simplify]: Simplify 1 into 1 32.174 * [taylor]: Taking taylor expansion of (sin theta) in phi1 32.174 * [taylor]: Taking taylor expansion of theta in phi1 32.174 * [backup-simplify]: Simplify theta into theta 32.174 * [backup-simplify]: Simplify (sin theta) into (sin theta) 32.175 * [backup-simplify]: Simplify (cos theta) into (cos theta) 32.175 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in delta 32.175 * [taylor]: Taking taylor expansion of (sin delta) in delta 32.175 * [taylor]: Taking taylor expansion of delta in delta 32.175 * [backup-simplify]: Simplify 0 into 0 32.175 * [backup-simplify]: Simplify 1 into 1 32.175 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in delta 32.175 * [taylor]: Taking taylor expansion of (cos phi1) in delta 32.175 * [taylor]: Taking taylor expansion of phi1 in delta 32.175 * [backup-simplify]: Simplify phi1 into phi1 32.175 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 32.175 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 32.175 * [taylor]: Taking taylor expansion of (sin theta) in delta 32.175 * [taylor]: Taking taylor expansion of theta in delta 32.175 * [backup-simplify]: Simplify theta into theta 32.175 * [backup-simplify]: Simplify (sin theta) into (sin theta) 32.175 * [backup-simplify]: Simplify (cos theta) into (cos theta) 32.175 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in delta 32.175 * [taylor]: Taking taylor expansion of (sin delta) in delta 32.175 * [taylor]: Taking taylor expansion of delta in delta 32.175 * [backup-simplify]: Simplify 0 into 0 32.175 * [backup-simplify]: Simplify 1 into 1 32.175 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in delta 32.175 * [taylor]: Taking taylor expansion of (cos phi1) in delta 32.175 * [taylor]: Taking taylor expansion of phi1 in delta 32.175 * [backup-simplify]: Simplify phi1 into phi1 32.175 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 32.175 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 32.175 * [taylor]: Taking taylor expansion of (sin theta) in delta 32.175 * [taylor]: Taking taylor expansion of theta in delta 32.175 * [backup-simplify]: Simplify theta into theta 32.176 * [backup-simplify]: Simplify (sin theta) into (sin theta) 32.176 * [backup-simplify]: Simplify (cos theta) into (cos theta) 32.176 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 32.176 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 32.176 * [backup-simplify]: Simplify (- 0) into 0 32.176 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 32.177 * [backup-simplify]: Simplify (* (sin theta) 1) into (sin theta) 32.177 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 32.177 * [backup-simplify]: Simplify (+ (sin theta) 0) into (sin theta) 32.177 * [backup-simplify]: Simplify (* (cos phi1) (sin theta)) into (* (cos phi1) (sin theta)) 32.177 * [backup-simplify]: Simplify (* 0 (* (cos phi1) (sin theta))) into 0 32.177 * [taylor]: Taking taylor expansion of 0 in phi1 32.177 * [backup-simplify]: Simplify 0 into 0 32.177 * [taylor]: Taking taylor expansion of 0 in theta 32.177 * [backup-simplify]: Simplify 0 into 0 32.177 * [backup-simplify]: Simplify 0 into 0 32.177 * [backup-simplify]: Simplify (+ 0) into 0 32.178 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 1)) into 0 32.179 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.179 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 0)) into 0 32.179 * [backup-simplify]: Simplify (+ 0 0) into 0 32.180 * [backup-simplify]: Simplify (+ 0) into 0 32.180 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 32.181 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.181 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 32.182 * [backup-simplify]: Simplify (- 0) into 0 32.182 * [backup-simplify]: Simplify (+ 0 0) into 0 32.182 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 (sin theta))) into 0 32.183 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 32.184 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos phi1) (sin theta)))) into (* (cos phi1) (sin theta)) 32.184 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in phi1 32.184 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 32.184 * [taylor]: Taking taylor expansion of phi1 in phi1 32.184 * [backup-simplify]: Simplify 0 into 0 32.184 * [backup-simplify]: Simplify 1 into 1 32.184 * [taylor]: Taking taylor expansion of (sin theta) in phi1 32.184 * [taylor]: Taking taylor expansion of theta in phi1 32.184 * [backup-simplify]: Simplify theta into theta 32.184 * [backup-simplify]: Simplify (sin theta) into (sin theta) 32.184 * [backup-simplify]: Simplify (cos theta) into (cos theta) 32.184 * [backup-simplify]: Simplify (* (sin theta) 1) into (sin theta) 32.184 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 32.184 * [backup-simplify]: Simplify (+ (sin theta) 0) into (sin theta) 32.184 * [backup-simplify]: Simplify (* 1 (sin theta)) into (sin theta) 32.184 * [taylor]: Taking taylor expansion of (sin theta) in theta 32.184 * [taylor]: Taking taylor expansion of theta in theta 32.184 * [backup-simplify]: Simplify 0 into 0 32.184 * [backup-simplify]: Simplify 1 into 1 32.184 * [backup-simplify]: Simplify 0 into 0 32.184 * [taylor]: Taking taylor expansion of 0 in theta 32.184 * [backup-simplify]: Simplify 0 into 0 32.184 * [backup-simplify]: Simplify 0 into 0 32.184 * [backup-simplify]: Simplify 0 into 0 32.185 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.186 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 1))) into 0 32.187 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.187 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 0))) into 0 32.188 * [backup-simplify]: Simplify (+ 0 0) into 0 32.189 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.189 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 32.190 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.191 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 32.191 * [backup-simplify]: Simplify (- 0) into 0 32.191 * [backup-simplify]: Simplify (+ 0 0) into 0 32.192 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 (sin theta)))) into 0 32.193 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.194 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (cos phi1) (sin theta))))) into 0 32.194 * [taylor]: Taking taylor expansion of 0 in phi1 32.194 * [backup-simplify]: Simplify 0 into 0 32.194 * [taylor]: Taking taylor expansion of 0 in theta 32.194 * [backup-simplify]: Simplify 0 into 0 32.194 * [backup-simplify]: Simplify 0 into 0 32.194 * [backup-simplify]: Simplify (+ 0) into 0 32.195 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 1)) into 0 32.195 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.196 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 0)) into 0 32.199 * [backup-simplify]: Simplify (+ 0 0) into 0 32.199 * [backup-simplify]: Simplify (+ 0) into 0 32.200 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin theta))) into 0 32.200 * [taylor]: Taking taylor expansion of 0 in theta 32.200 * [backup-simplify]: Simplify 0 into 0 32.200 * [backup-simplify]: Simplify 0 into 0 32.200 * [backup-simplify]: Simplify 0 into 0 32.200 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) 32.200 * [approximate]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in (delta phi1 theta) around 0 32.200 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in theta 32.200 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 32.200 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 32.200 * [taylor]: Taking taylor expansion of phi1 in theta 32.200 * [backup-simplify]: Simplify phi1 into phi1 32.200 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 32.200 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 32.200 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 32.201 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in theta 32.201 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in theta 32.201 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 32.201 * [taylor]: Taking taylor expansion of theta in theta 32.201 * [backup-simplify]: Simplify 0 into 0 32.201 * [backup-simplify]: Simplify 1 into 1 32.201 * [backup-simplify]: Simplify (/ 1 1) into 1 32.201 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 32.201 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 32.201 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 32.201 * [taylor]: Taking taylor expansion of delta in theta 32.201 * [backup-simplify]: Simplify delta into delta 32.201 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 32.201 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 32.201 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 32.201 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in phi1 32.201 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 32.202 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 32.202 * [taylor]: Taking taylor expansion of phi1 in phi1 32.202 * [backup-simplify]: Simplify 0 into 0 32.202 * [backup-simplify]: Simplify 1 into 1 32.202 * [backup-simplify]: Simplify (/ 1 1) into 1 32.202 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 32.202 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in phi1 32.202 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in phi1 32.202 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 32.202 * [taylor]: Taking taylor expansion of theta in phi1 32.202 * [backup-simplify]: Simplify theta into theta 32.202 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 32.202 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 32.202 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 32.202 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 32.202 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 32.202 * [taylor]: Taking taylor expansion of delta in phi1 32.202 * [backup-simplify]: Simplify delta into delta 32.202 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 32.203 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 32.203 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 32.203 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in delta 32.203 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 32.203 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 32.203 * [taylor]: Taking taylor expansion of phi1 in delta 32.203 * [backup-simplify]: Simplify phi1 into phi1 32.203 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 32.203 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 32.203 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 32.203 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in delta 32.203 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in delta 32.203 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 32.203 * [taylor]: Taking taylor expansion of theta in delta 32.203 * [backup-simplify]: Simplify theta into theta 32.203 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 32.203 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 32.203 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 32.203 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 32.203 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 32.203 * [taylor]: Taking taylor expansion of delta in delta 32.203 * [backup-simplify]: Simplify 0 into 0 32.203 * [backup-simplify]: Simplify 1 into 1 32.204 * [backup-simplify]: Simplify (/ 1 1) into 1 32.204 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 32.204 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in delta 32.204 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 32.204 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 32.204 * [taylor]: Taking taylor expansion of phi1 in delta 32.204 * [backup-simplify]: Simplify phi1 into phi1 32.204 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 32.204 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 32.204 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 32.204 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in delta 32.204 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in delta 32.204 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 32.204 * [taylor]: Taking taylor expansion of theta in delta 32.204 * [backup-simplify]: Simplify theta into theta 32.204 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 32.204 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 32.204 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 32.204 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 32.204 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 32.204 * [taylor]: Taking taylor expansion of delta in delta 32.204 * [backup-simplify]: Simplify 0 into 0 32.204 * [backup-simplify]: Simplify 1 into 1 32.204 * [backup-simplify]: Simplify (/ 1 1) into 1 32.204 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 32.204 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 32.205 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 32.205 * [backup-simplify]: Simplify (- 0) into 0 32.205 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 32.205 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 1) into (sin (/ 1 theta)) 32.205 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 0) into 0 32.205 * [backup-simplify]: Simplify (+ (sin (/ 1 theta)) 0) into (sin (/ 1 theta)) 32.205 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (sin (/ 1 delta))) into (* (sin (/ 1 theta)) (sin (/ 1 delta))) 32.205 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) 32.205 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 32.205 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 32.205 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 32.205 * [taylor]: Taking taylor expansion of delta in phi1 32.205 * [backup-simplify]: Simplify delta into delta 32.205 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 32.205 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 32.205 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 32.205 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (cos (/ 1 phi1))) in phi1 32.205 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in phi1 32.205 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 32.205 * [taylor]: Taking taylor expansion of theta in phi1 32.205 * [backup-simplify]: Simplify theta into theta 32.205 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 32.206 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 32.206 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 32.206 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 32.206 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 32.206 * [taylor]: Taking taylor expansion of phi1 in phi1 32.206 * [backup-simplify]: Simplify 0 into 0 32.206 * [backup-simplify]: Simplify 1 into 1 32.206 * [backup-simplify]: Simplify (/ 1 1) into 1 32.206 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 32.206 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 32.206 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 32.206 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 32.206 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 1) into (sin (/ 1 theta)) 32.206 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 0) into 0 32.206 * [backup-simplify]: Simplify (+ (sin (/ 1 theta)) 0) into (sin (/ 1 theta)) 32.206 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (cos (/ 1 phi1))) into (* (sin (/ 1 theta)) (cos (/ 1 phi1))) 32.206 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) 32.206 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in theta 32.206 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 32.206 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 32.206 * [taylor]: Taking taylor expansion of phi1 in theta 32.206 * [backup-simplify]: Simplify phi1 into phi1 32.207 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 32.207 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 32.207 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 32.207 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in theta 32.207 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in theta 32.207 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 32.207 * [taylor]: Taking taylor expansion of theta in theta 32.207 * [backup-simplify]: Simplify 0 into 0 32.207 * [backup-simplify]: Simplify 1 into 1 32.207 * [backup-simplify]: Simplify (/ 1 1) into 1 32.207 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 32.207 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 32.207 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 32.207 * [taylor]: Taking taylor expansion of delta in theta 32.207 * [backup-simplify]: Simplify delta into delta 32.207 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 32.207 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 32.207 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 32.207 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 32.207 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 32.208 * [backup-simplify]: Simplify (- 0) into 0 32.208 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 32.208 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 32.208 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 32.208 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 32.208 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (sin (/ 1 delta))) into (* (sin (/ 1 theta)) (sin (/ 1 delta))) 32.208 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) 32.208 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) 32.208 * [backup-simplify]: Simplify (+ 0) into 0 32.209 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 1)) into 0 32.209 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 32.209 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.209 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 0)) into 0 32.210 * [backup-simplify]: Simplify (+ 0 0) into 0 32.210 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 32.210 * [backup-simplify]: Simplify (+ 0) into 0 32.210 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 32.210 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 32.211 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.211 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 32.211 * [backup-simplify]: Simplify (- 0) into 0 32.212 * [backup-simplify]: Simplify (+ 0 0) into 0 32.212 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 theta)) (sin (/ 1 delta))))) into 0 32.212 * [taylor]: Taking taylor expansion of 0 in phi1 32.212 * [backup-simplify]: Simplify 0 into 0 32.212 * [taylor]: Taking taylor expansion of 0 in theta 32.212 * [backup-simplify]: Simplify 0 into 0 32.212 * [backup-simplify]: Simplify 0 into 0 32.212 * [backup-simplify]: Simplify (+ 0) into 0 32.212 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 1)) into 0 32.213 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 32.213 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.213 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 0)) into 0 32.214 * [backup-simplify]: Simplify (+ 0 0) into 0 32.214 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 32.214 * [backup-simplify]: Simplify (+ 0) into 0 32.214 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 32.214 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 32.215 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.215 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 32.215 * [backup-simplify]: Simplify (+ 0 0) into 0 32.215 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (sin (/ 1 theta)) (cos (/ 1 phi1))))) into 0 32.215 * [taylor]: Taking taylor expansion of 0 in theta 32.215 * [backup-simplify]: Simplify 0 into 0 32.216 * [backup-simplify]: Simplify 0 into 0 32.216 * [backup-simplify]: Simplify (+ 0) into 0 32.216 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 32.216 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 32.217 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.217 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 32.217 * [backup-simplify]: Simplify (+ 0 0) into 0 32.217 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 32.217 * [backup-simplify]: Simplify (+ 0) into 0 32.218 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 32.218 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 32.218 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.219 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 32.219 * [backup-simplify]: Simplify (- 0) into 0 32.219 * [backup-simplify]: Simplify (+ 0 0) into 0 32.219 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 theta)) (sin (/ 1 delta))))) into 0 32.219 * [backup-simplify]: Simplify 0 into 0 32.220 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.220 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.220 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 32.221 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.221 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.221 * [backup-simplify]: Simplify (+ 0 0) into 0 32.222 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 32.223 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.224 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.224 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.225 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.225 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.226 * [backup-simplify]: Simplify (- 0) into 0 32.226 * [backup-simplify]: Simplify (+ 0 0) into 0 32.227 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 theta)) (sin (/ 1 delta)))))) into 0 32.227 * [taylor]: Taking taylor expansion of 0 in phi1 32.227 * [backup-simplify]: Simplify 0 into 0 32.227 * [taylor]: Taking taylor expansion of 0 in theta 32.227 * [backup-simplify]: Simplify 0 into 0 32.227 * [backup-simplify]: Simplify 0 into 0 32.227 * [taylor]: Taking taylor expansion of 0 in theta 32.227 * [backup-simplify]: Simplify 0 into 0 32.227 * [backup-simplify]: Simplify 0 into 0 32.228 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.229 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.229 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 32.230 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.230 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.231 * [backup-simplify]: Simplify (+ 0 0) into 0 32.232 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 32.233 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.233 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.234 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 32.234 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.235 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.236 * [backup-simplify]: Simplify (+ 0 0) into 0 32.237 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 32.237 * [taylor]: Taking taylor expansion of 0 in theta 32.237 * [backup-simplify]: Simplify 0 into 0 32.237 * [backup-simplify]: Simplify 0 into 0 32.237 * [backup-simplify]: Simplify (* (cos (/ 1 (/ 1 phi1))) (* (sin (/ 1 (/ 1 theta))) (sin (/ 1 (/ 1 delta))))) into (* (cos phi1) (* (sin theta) (sin delta))) 32.237 * [backup-simplify]: Simplify (* (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (sin (/ 1 (- theta))))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) 32.237 * [approximate]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in (delta phi1 theta) around 0 32.237 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in theta 32.237 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 32.237 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 32.237 * [taylor]: Taking taylor expansion of -1 in theta 32.237 * [backup-simplify]: Simplify -1 into -1 32.238 * [taylor]: Taking taylor expansion of phi1 in theta 32.238 * [backup-simplify]: Simplify phi1 into phi1 32.238 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.238 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.238 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.238 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in theta 32.238 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in theta 32.238 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 32.238 * [taylor]: Taking taylor expansion of -1 in theta 32.238 * [backup-simplify]: Simplify -1 into -1 32.238 * [taylor]: Taking taylor expansion of theta in theta 32.238 * [backup-simplify]: Simplify 0 into 0 32.238 * [backup-simplify]: Simplify 1 into 1 32.238 * [backup-simplify]: Simplify (/ -1 1) into -1 32.239 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 32.239 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 32.239 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 32.239 * [taylor]: Taking taylor expansion of -1 in theta 32.239 * [backup-simplify]: Simplify -1 into -1 32.239 * [taylor]: Taking taylor expansion of delta in theta 32.239 * [backup-simplify]: Simplify delta into delta 32.239 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.239 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.239 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.239 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in phi1 32.239 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 32.239 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 32.239 * [taylor]: Taking taylor expansion of -1 in phi1 32.239 * [backup-simplify]: Simplify -1 into -1 32.239 * [taylor]: Taking taylor expansion of phi1 in phi1 32.239 * [backup-simplify]: Simplify 0 into 0 32.239 * [backup-simplify]: Simplify 1 into 1 32.240 * [backup-simplify]: Simplify (/ -1 1) into -1 32.240 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.240 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in phi1 32.240 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in phi1 32.240 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 32.240 * [taylor]: Taking taylor expansion of -1 in phi1 32.240 * [backup-simplify]: Simplify -1 into -1 32.240 * [taylor]: Taking taylor expansion of theta in phi1 32.240 * [backup-simplify]: Simplify theta into theta 32.240 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 32.240 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 32.240 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 32.240 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 32.240 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 32.240 * [taylor]: Taking taylor expansion of -1 in phi1 32.240 * [backup-simplify]: Simplify -1 into -1 32.240 * [taylor]: Taking taylor expansion of delta in phi1 32.240 * [backup-simplify]: Simplify delta into delta 32.240 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.240 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.240 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.241 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in delta 32.241 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 32.241 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 32.241 * [taylor]: Taking taylor expansion of -1 in delta 32.241 * [backup-simplify]: Simplify -1 into -1 32.241 * [taylor]: Taking taylor expansion of phi1 in delta 32.241 * [backup-simplify]: Simplify phi1 into phi1 32.241 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.241 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.241 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.241 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in delta 32.241 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in delta 32.241 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 32.241 * [taylor]: Taking taylor expansion of -1 in delta 32.241 * [backup-simplify]: Simplify -1 into -1 32.241 * [taylor]: Taking taylor expansion of theta in delta 32.241 * [backup-simplify]: Simplify theta into theta 32.241 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 32.241 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 32.241 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 32.241 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 32.241 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 32.241 * [taylor]: Taking taylor expansion of -1 in delta 32.241 * [backup-simplify]: Simplify -1 into -1 32.241 * [taylor]: Taking taylor expansion of delta in delta 32.241 * [backup-simplify]: Simplify 0 into 0 32.242 * [backup-simplify]: Simplify 1 into 1 32.242 * [backup-simplify]: Simplify (/ -1 1) into -1 32.242 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.242 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in delta 32.242 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 32.242 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 32.242 * [taylor]: Taking taylor expansion of -1 in delta 32.242 * [backup-simplify]: Simplify -1 into -1 32.242 * [taylor]: Taking taylor expansion of phi1 in delta 32.242 * [backup-simplify]: Simplify phi1 into phi1 32.242 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.242 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.242 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.243 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in delta 32.243 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in delta 32.243 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 32.243 * [taylor]: Taking taylor expansion of -1 in delta 32.243 * [backup-simplify]: Simplify -1 into -1 32.243 * [taylor]: Taking taylor expansion of theta in delta 32.243 * [backup-simplify]: Simplify theta into theta 32.243 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 32.243 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 32.243 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 32.243 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 32.243 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 32.243 * [taylor]: Taking taylor expansion of -1 in delta 32.243 * [backup-simplify]: Simplify -1 into -1 32.243 * [taylor]: Taking taylor expansion of delta in delta 32.243 * [backup-simplify]: Simplify 0 into 0 32.243 * [backup-simplify]: Simplify 1 into 1 32.244 * [backup-simplify]: Simplify (/ -1 1) into -1 32.244 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.244 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 32.244 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 32.244 * [backup-simplify]: Simplify (- 0) into 0 32.244 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 32.245 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 1) into (sin (/ -1 theta)) 32.245 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 0) into 0 32.245 * [backup-simplify]: Simplify (+ (sin (/ -1 theta)) 0) into (sin (/ -1 theta)) 32.245 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (sin (/ -1 theta))) 32.245 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) 32.245 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) in phi1 32.245 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 32.245 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 32.245 * [taylor]: Taking taylor expansion of -1 in phi1 32.245 * [backup-simplify]: Simplify -1 into -1 32.245 * [taylor]: Taking taylor expansion of phi1 in phi1 32.245 * [backup-simplify]: Simplify 0 into 0 32.245 * [backup-simplify]: Simplify 1 into 1 32.246 * [backup-simplify]: Simplify (/ -1 1) into -1 32.246 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.246 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (sin (/ -1 theta))) in phi1 32.246 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 32.246 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 32.246 * [taylor]: Taking taylor expansion of -1 in phi1 32.246 * [backup-simplify]: Simplify -1 into -1 32.246 * [taylor]: Taking taylor expansion of delta in phi1 32.246 * [backup-simplify]: Simplify delta into delta 32.246 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.246 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.246 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.246 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in phi1 32.246 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 32.246 * [taylor]: Taking taylor expansion of -1 in phi1 32.246 * [backup-simplify]: Simplify -1 into -1 32.246 * [taylor]: Taking taylor expansion of theta in phi1 32.246 * [backup-simplify]: Simplify theta into theta 32.246 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 32.247 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 32.247 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 32.247 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 32.247 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 32.247 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 32.247 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 1) into (sin (/ -1 theta)) 32.247 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 0) into 0 32.247 * [backup-simplify]: Simplify (+ (sin (/ -1 theta)) 0) into (sin (/ -1 theta)) 32.247 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (sin (/ -1 theta))) into (* (sin (/ -1 theta)) (sin (/ -1 delta))) 32.248 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) 32.248 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in theta 32.248 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 32.248 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 32.248 * [taylor]: Taking taylor expansion of -1 in theta 32.248 * [backup-simplify]: Simplify -1 into -1 32.248 * [taylor]: Taking taylor expansion of phi1 in theta 32.248 * [backup-simplify]: Simplify phi1 into phi1 32.248 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.248 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.248 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.248 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in theta 32.248 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in theta 32.248 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 32.248 * [taylor]: Taking taylor expansion of -1 in theta 32.248 * [backup-simplify]: Simplify -1 into -1 32.248 * [taylor]: Taking taylor expansion of theta in theta 32.248 * [backup-simplify]: Simplify 0 into 0 32.248 * [backup-simplify]: Simplify 1 into 1 32.249 * [backup-simplify]: Simplify (/ -1 1) into -1 32.249 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 32.249 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 32.249 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 32.249 * [taylor]: Taking taylor expansion of -1 in theta 32.249 * [backup-simplify]: Simplify -1 into -1 32.249 * [taylor]: Taking taylor expansion of delta in theta 32.249 * [backup-simplify]: Simplify delta into delta 32.249 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.249 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.249 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.249 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 32.249 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 32.250 * [backup-simplify]: Simplify (- 0) into 0 32.250 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 32.250 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 32.250 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 32.250 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 32.250 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (sin (/ -1 theta))) 32.251 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) 32.251 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) 32.251 * [backup-simplify]: Simplify (+ 0) into 0 32.252 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 1)) into 0 32.252 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 32.253 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.254 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 0)) into 0 32.254 * [backup-simplify]: Simplify (+ 0 0) into 0 32.254 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 32.255 * [backup-simplify]: Simplify (+ 0) into 0 32.255 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 32.255 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 32.256 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.257 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 32.257 * [backup-simplify]: Simplify (- 0) into 0 32.258 * [backup-simplify]: Simplify (+ 0 0) into 0 32.258 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (sin (/ -1 theta))))) into 0 32.258 * [taylor]: Taking taylor expansion of 0 in phi1 32.258 * [backup-simplify]: Simplify 0 into 0 32.258 * [taylor]: Taking taylor expansion of 0 in theta 32.258 * [backup-simplify]: Simplify 0 into 0 32.258 * [backup-simplify]: Simplify 0 into 0 32.258 * [backup-simplify]: Simplify (+ 0) into 0 32.259 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 1)) into 0 32.259 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 32.260 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.260 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 0)) into 0 32.261 * [backup-simplify]: Simplify (+ 0 0) into 0 32.261 * [backup-simplify]: Simplify (+ 0) into 0 32.262 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 32.262 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 32.263 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.263 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 32.264 * [backup-simplify]: Simplify (+ 0 0) into 0 32.264 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (sin (/ -1 theta)))) into 0 32.264 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 theta)) (sin (/ -1 delta))))) into 0 32.264 * [taylor]: Taking taylor expansion of 0 in theta 32.264 * [backup-simplify]: Simplify 0 into 0 32.264 * [backup-simplify]: Simplify 0 into 0 32.265 * [backup-simplify]: Simplify (+ 0) into 0 32.265 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 32.265 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 32.266 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.267 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 32.267 * [backup-simplify]: Simplify (+ 0 0) into 0 32.267 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 32.268 * [backup-simplify]: Simplify (+ 0) into 0 32.268 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 32.268 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 32.269 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.270 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 32.270 * [backup-simplify]: Simplify (- 0) into 0 32.270 * [backup-simplify]: Simplify (+ 0 0) into 0 32.271 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (sin (/ -1 theta))))) into 0 32.271 * [backup-simplify]: Simplify 0 into 0 32.272 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.272 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.273 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 32.273 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.274 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.274 * [backup-simplify]: Simplify (+ 0 0) into 0 32.275 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 32.276 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.277 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.277 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.278 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.278 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.279 * [backup-simplify]: Simplify (- 0) into 0 32.279 * [backup-simplify]: Simplify (+ 0 0) into 0 32.280 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -1 delta)) (sin (/ -1 theta)))))) into 0 32.280 * [taylor]: Taking taylor expansion of 0 in phi1 32.280 * [backup-simplify]: Simplify 0 into 0 32.280 * [taylor]: Taking taylor expansion of 0 in theta 32.280 * [backup-simplify]: Simplify 0 into 0 32.280 * [backup-simplify]: Simplify 0 into 0 32.280 * [taylor]: Taking taylor expansion of 0 in theta 32.280 * [backup-simplify]: Simplify 0 into 0 32.280 * [backup-simplify]: Simplify 0 into 0 32.281 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.282 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.282 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 32.283 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.284 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.284 * [backup-simplify]: Simplify (+ 0 0) into 0 32.285 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.286 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.286 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 32.287 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.288 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.288 * [backup-simplify]: Simplify (+ 0 0) into 0 32.289 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 theta))))) into 0 32.289 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -1 theta)) (sin (/ -1 delta)))))) into 0 32.289 * [taylor]: Taking taylor expansion of 0 in theta 32.289 * [backup-simplify]: Simplify 0 into 0 32.289 * [backup-simplify]: Simplify 0 into 0 32.290 * [backup-simplify]: Simplify (* (cos (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- delta)))) (sin (/ -1 (/ 1 (- theta)))))) into (* (cos phi1) (* (sin delta) (sin theta))) 32.290 * * * * [progress]: [ 4 / 4 ] generating series at (2 1 2 2) 32.290 * [backup-simplify]: Simplify (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) into (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) 32.290 * [approximate]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in (phi1 theta delta) around 0 32.290 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 32.290 * [taylor]: Taking taylor expansion of (sin phi1) in delta 32.290 * [taylor]: Taking taylor expansion of phi1 in delta 32.290 * [backup-simplify]: Simplify phi1 into phi1 32.290 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 32.290 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 32.290 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 32.290 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 32.290 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 32.290 * [taylor]: Taking taylor expansion of (cos theta) in delta 32.290 * [taylor]: Taking taylor expansion of theta in delta 32.291 * [backup-simplify]: Simplify theta into theta 32.291 * [backup-simplify]: Simplify (cos theta) into (cos theta) 32.291 * [backup-simplify]: Simplify (sin theta) into (sin theta) 32.291 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 32.291 * [taylor]: Taking taylor expansion of (cos phi1) in delta 32.291 * [taylor]: Taking taylor expansion of phi1 in delta 32.291 * [backup-simplify]: Simplify phi1 into phi1 32.291 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 32.291 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 32.291 * [taylor]: Taking taylor expansion of (sin delta) in delta 32.291 * [taylor]: Taking taylor expansion of delta in delta 32.291 * [backup-simplify]: Simplify 0 into 0 32.291 * [backup-simplify]: Simplify 1 into 1 32.291 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 32.291 * [taylor]: Taking taylor expansion of (sin phi1) in delta 32.291 * [taylor]: Taking taylor expansion of phi1 in delta 32.291 * [backup-simplify]: Simplify phi1 into phi1 32.291 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 32.291 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 32.291 * [taylor]: Taking taylor expansion of (cos delta) in delta 32.291 * [taylor]: Taking taylor expansion of delta in delta 32.291 * [backup-simplify]: Simplify 0 into 0 32.291 * [backup-simplify]: Simplify 1 into 1 32.291 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 32.291 * [taylor]: Taking taylor expansion of (sin phi1) in theta 32.291 * [taylor]: Taking taylor expansion of phi1 in theta 32.291 * [backup-simplify]: Simplify phi1 into phi1 32.291 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 32.291 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 32.292 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 32.292 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 32.292 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 32.292 * [taylor]: Taking taylor expansion of (cos theta) in theta 32.292 * [taylor]: Taking taylor expansion of theta in theta 32.292 * [backup-simplify]: Simplify 0 into 0 32.292 * [backup-simplify]: Simplify 1 into 1 32.292 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 32.292 * [taylor]: Taking taylor expansion of (cos phi1) in theta 32.292 * [taylor]: Taking taylor expansion of phi1 in theta 32.292 * [backup-simplify]: Simplify phi1 into phi1 32.292 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 32.292 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 32.292 * [taylor]: Taking taylor expansion of (sin delta) in theta 32.292 * [taylor]: Taking taylor expansion of delta in theta 32.292 * [backup-simplify]: Simplify delta into delta 32.292 * [backup-simplify]: Simplify (sin delta) into (sin delta) 32.292 * [backup-simplify]: Simplify (cos delta) into (cos delta) 32.292 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 32.292 * [taylor]: Taking taylor expansion of (sin phi1) in theta 32.292 * [taylor]: Taking taylor expansion of phi1 in theta 32.292 * [backup-simplify]: Simplify phi1 into phi1 32.292 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 32.292 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 32.292 * [taylor]: Taking taylor expansion of (cos delta) in theta 32.292 * [taylor]: Taking taylor expansion of delta in theta 32.292 * [backup-simplify]: Simplify delta into delta 32.292 * [backup-simplify]: Simplify (cos delta) into (cos delta) 32.292 * [backup-simplify]: Simplify (sin delta) into (sin delta) 32.292 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 32.293 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 32.293 * [taylor]: Taking taylor expansion of phi1 in phi1 32.293 * [backup-simplify]: Simplify 0 into 0 32.293 * [backup-simplify]: Simplify 1 into 1 32.293 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 32.293 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 32.293 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 32.293 * [taylor]: Taking taylor expansion of (cos theta) in phi1 32.293 * [taylor]: Taking taylor expansion of theta in phi1 32.293 * [backup-simplify]: Simplify theta into theta 32.293 * [backup-simplify]: Simplify (cos theta) into (cos theta) 32.293 * [backup-simplify]: Simplify (sin theta) into (sin theta) 32.293 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 32.293 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 32.293 * [taylor]: Taking taylor expansion of phi1 in phi1 32.293 * [backup-simplify]: Simplify 0 into 0 32.293 * [backup-simplify]: Simplify 1 into 1 32.293 * [taylor]: Taking taylor expansion of (sin delta) in phi1 32.293 * [taylor]: Taking taylor expansion of delta in phi1 32.293 * [backup-simplify]: Simplify delta into delta 32.293 * [backup-simplify]: Simplify (sin delta) into (sin delta) 32.293 * [backup-simplify]: Simplify (cos delta) into (cos delta) 32.293 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 32.293 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 32.293 * [taylor]: Taking taylor expansion of phi1 in phi1 32.293 * [backup-simplify]: Simplify 0 into 0 32.293 * [backup-simplify]: Simplify 1 into 1 32.293 * [taylor]: Taking taylor expansion of (cos delta) in phi1 32.293 * [taylor]: Taking taylor expansion of delta in phi1 32.293 * [backup-simplify]: Simplify delta into delta 32.294 * [backup-simplify]: Simplify (cos delta) into (cos delta) 32.294 * [backup-simplify]: Simplify (sin delta) into (sin delta) 32.294 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 32.294 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 32.294 * [taylor]: Taking taylor expansion of phi1 in phi1 32.294 * [backup-simplify]: Simplify 0 into 0 32.294 * [backup-simplify]: Simplify 1 into 1 32.294 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 32.294 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 32.294 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 32.294 * [taylor]: Taking taylor expansion of (cos theta) in phi1 32.294 * [taylor]: Taking taylor expansion of theta in phi1 32.294 * [backup-simplify]: Simplify theta into theta 32.294 * [backup-simplify]: Simplify (cos theta) into (cos theta) 32.294 * [backup-simplify]: Simplify (sin theta) into (sin theta) 32.294 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 32.294 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 32.294 * [taylor]: Taking taylor expansion of phi1 in phi1 32.294 * [backup-simplify]: Simplify 0 into 0 32.294 * [backup-simplify]: Simplify 1 into 1 32.294 * [taylor]: Taking taylor expansion of (sin delta) in phi1 32.294 * [taylor]: Taking taylor expansion of delta in phi1 32.294 * [backup-simplify]: Simplify delta into delta 32.294 * [backup-simplify]: Simplify (sin delta) into (sin delta) 32.294 * [backup-simplify]: Simplify (cos delta) into (cos delta) 32.294 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 32.294 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 32.294 * [taylor]: Taking taylor expansion of phi1 in phi1 32.294 * [backup-simplify]: Simplify 0 into 0 32.295 * [backup-simplify]: Simplify 1 into 1 32.295 * [taylor]: Taking taylor expansion of (cos delta) in phi1 32.295 * [taylor]: Taking taylor expansion of delta in phi1 32.295 * [backup-simplify]: Simplify delta into delta 32.295 * [backup-simplify]: Simplify (cos delta) into (cos delta) 32.295 * [backup-simplify]: Simplify (sin delta) into (sin delta) 32.295 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 32.295 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 32.296 * [backup-simplify]: Simplify (- 0) into 0 32.296 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 32.296 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 32.296 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 32.296 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 32.296 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 32.296 * [backup-simplify]: Simplify (* (cos theta) (sin delta)) into (* (cos theta) (sin delta)) 32.296 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 32.296 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 32.297 * [backup-simplify]: Simplify (- 0) into 0 32.297 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 32.297 * [backup-simplify]: Simplify (* 0 (cos delta)) into 0 32.297 * [backup-simplify]: Simplify (+ (* (cos theta) (sin delta)) 0) into (* (cos theta) (sin delta)) 32.297 * [backup-simplify]: Simplify (* 0 (* (cos theta) (sin delta))) into 0 32.297 * [taylor]: Taking taylor expansion of 0 in theta 32.297 * [backup-simplify]: Simplify 0 into 0 32.297 * [taylor]: Taking taylor expansion of 0 in delta 32.297 * [backup-simplify]: Simplify 0 into 0 32.297 * [backup-simplify]: Simplify 0 into 0 32.298 * [backup-simplify]: Simplify (+ 0) into 0 32.298 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 32.299 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.300 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 32.301 * [backup-simplify]: Simplify (+ 0 0) into 0 32.301 * [backup-simplify]: Simplify (+ 0) into 0 32.302 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin delta))) into 0 32.302 * [backup-simplify]: Simplify (+ 0) into 0 32.303 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 32.303 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.304 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 32.304 * [backup-simplify]: Simplify (- 0) into 0 32.305 * [backup-simplify]: Simplify (+ 0 0) into 0 32.305 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 (sin delta))) into 0 32.305 * [backup-simplify]: Simplify (+ 0) into 0 32.306 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 32.306 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.307 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 32.307 * [backup-simplify]: Simplify (- 0) into 0 32.308 * [backup-simplify]: Simplify (+ 0 0) into 0 32.308 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 32.309 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos delta))) into (cos delta) 32.309 * [backup-simplify]: Simplify (+ 0 (cos delta)) into (cos delta) 32.309 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 32.310 * [backup-simplify]: Simplify (+ (* 0 (cos delta)) (* 1 (* (cos theta) (sin delta)))) into (* (cos theta) (sin delta)) 32.310 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in theta 32.310 * [taylor]: Taking taylor expansion of (cos theta) in theta 32.310 * [taylor]: Taking taylor expansion of theta in theta 32.310 * [backup-simplify]: Simplify 0 into 0 32.310 * [backup-simplify]: Simplify 1 into 1 32.310 * [taylor]: Taking taylor expansion of (sin delta) in theta 32.310 * [taylor]: Taking taylor expansion of delta in theta 32.310 * [backup-simplify]: Simplify delta into delta 32.310 * [backup-simplify]: Simplify (sin delta) into (sin delta) 32.310 * [backup-simplify]: Simplify (cos delta) into (cos delta) 32.310 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 32.310 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 32.310 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 32.310 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 32.310 * [taylor]: Taking taylor expansion of (sin delta) in delta 32.310 * [taylor]: Taking taylor expansion of delta in delta 32.310 * [backup-simplify]: Simplify 0 into 0 32.310 * [backup-simplify]: Simplify 1 into 1 32.310 * [backup-simplify]: Simplify 0 into 0 32.310 * [taylor]: Taking taylor expansion of 0 in delta 32.311 * [backup-simplify]: Simplify 0 into 0 32.311 * [backup-simplify]: Simplify 0 into 0 32.311 * [backup-simplify]: Simplify 0 into 0 32.311 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.312 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 32.313 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.314 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 32.314 * [backup-simplify]: Simplify (+ 0 0) into 0 32.315 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 32.316 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (sin delta)))) into (- (* 1/2 (sin delta))) 32.317 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.318 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 32.318 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.319 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 32.319 * [backup-simplify]: Simplify (- 0) into 0 32.320 * [backup-simplify]: Simplify (+ 0 0) into 0 32.320 * [backup-simplify]: Simplify (+ (* (cos theta) (- (* 1/2 (sin delta)))) (+ (* 0 0) (* 0 (sin delta)))) into (- (* 1/2 (* (cos theta) (sin delta)))) 32.321 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.322 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 1))) into 0 32.323 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.323 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 0))) into 0 32.324 * [backup-simplify]: Simplify (- 0) into 0 32.324 * [backup-simplify]: Simplify (+ 0 0) into 0 32.325 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.326 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (cos delta)))) into 0 32.326 * [backup-simplify]: Simplify (+ (- (* 1/2 (* (cos theta) (sin delta)))) 0) into (- (* 1/2 (* (cos theta) (sin delta)))) 32.327 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.327 * [backup-simplify]: Simplify (+ (* 0 (- (* 1/2 (* (cos theta) (sin delta))))) (+ (* 1 (cos delta)) (* 0 (* (cos theta) (sin delta))))) into (cos delta) 32.327 * [taylor]: Taking taylor expansion of (cos delta) in theta 32.327 * [taylor]: Taking taylor expansion of delta in theta 32.327 * [backup-simplify]: Simplify delta into delta 32.327 * [backup-simplify]: Simplify (cos delta) into (cos delta) 32.327 * [backup-simplify]: Simplify (sin delta) into (sin delta) 32.327 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 32.327 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 32.328 * [backup-simplify]: Simplify (- 0) into 0 32.328 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 32.328 * [taylor]: Taking taylor expansion of (cos delta) in delta 32.328 * [taylor]: Taking taylor expansion of delta in delta 32.328 * [backup-simplify]: Simplify 0 into 0 32.328 * [backup-simplify]: Simplify 1 into 1 32.328 * [backup-simplify]: Simplify 1 into 1 32.328 * [backup-simplify]: Simplify (+ 0) into 0 32.329 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 32.329 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.330 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 32.330 * [backup-simplify]: Simplify (+ 0 0) into 0 32.331 * [backup-simplify]: Simplify (+ 0) into 0 32.331 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin delta))) into 0 32.331 * [taylor]: Taking taylor expansion of 0 in delta 32.331 * [backup-simplify]: Simplify 0 into 0 32.331 * [backup-simplify]: Simplify 0 into 0 32.331 * [taylor]: Taking taylor expansion of 0 in delta 32.331 * [backup-simplify]: Simplify 0 into 0 32.331 * [backup-simplify]: Simplify 0 into 0 32.332 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 32.332 * [backup-simplify]: Simplify 1 into 1 32.332 * [backup-simplify]: Simplify 0 into 0 32.332 * [backup-simplify]: Simplify 0 into 0 32.333 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 32.334 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 32.335 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 32.336 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 32.336 * [backup-simplify]: Simplify (+ 0 0) into 0 32.338 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 1 1) 1) (/ (pow 0 1) 1)) 0) into 0 32.339 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* -1/2 0) (* 0 (sin delta))))) into 0 32.340 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 32.341 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 32.342 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 32.343 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 32.343 * [backup-simplify]: Simplify (- 0) into 0 32.344 * [backup-simplify]: Simplify (+ 0 0) into 0 32.346 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 (- (* 1/2 (sin delta)))) (+ (* 0 0) (* 0 (sin delta))))) into 0 32.347 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 32.348 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 32.349 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 32.350 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 32.351 * [backup-simplify]: Simplify (- 0) into 0 32.351 * [backup-simplify]: Simplify (+ 0 0) into 0 32.353 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into -1/6 32.354 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* -1/6 (cos delta))))) into (- (* 1/6 (cos delta))) 32.354 * [backup-simplify]: Simplify (+ 0 (- (* 1/6 (cos delta)))) into (- (* 1/6 (cos delta))) 32.356 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into -1/6 32.356 * [backup-simplify]: Simplify (+ (* 0 (- (* 1/6 (cos delta)))) (+ (* 1 (- (* 1/2 (* (cos theta) (sin delta))))) (+ (* 0 (cos delta)) (* -1/6 (* (cos theta) (sin delta)))))) into (- (* 2/3 (* (cos theta) (sin delta)))) 32.356 * [taylor]: Taking taylor expansion of (- (* 2/3 (* (cos theta) (sin delta)))) in theta 32.356 * [taylor]: Taking taylor expansion of (* 2/3 (* (cos theta) (sin delta))) in theta 32.356 * [taylor]: Taking taylor expansion of 2/3 in theta 32.356 * [backup-simplify]: Simplify 2/3 into 2/3 32.356 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in theta 32.356 * [taylor]: Taking taylor expansion of (cos theta) in theta 32.356 * [taylor]: Taking taylor expansion of theta in theta 32.357 * [backup-simplify]: Simplify 0 into 0 32.357 * [backup-simplify]: Simplify 1 into 1 32.357 * [taylor]: Taking taylor expansion of (sin delta) in theta 32.357 * [taylor]: Taking taylor expansion of delta in theta 32.357 * [backup-simplify]: Simplify delta into delta 32.357 * [backup-simplify]: Simplify (sin delta) into (sin delta) 32.357 * [backup-simplify]: Simplify (cos delta) into (cos delta) 32.357 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 32.357 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 32.357 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 32.357 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 32.357 * [backup-simplify]: Simplify (* 2/3 (sin delta)) into (* 2/3 (sin delta)) 32.357 * [backup-simplify]: Simplify (- (* 2/3 (sin delta))) into (- (* 2/3 (sin delta))) 32.357 * [taylor]: Taking taylor expansion of (- (* 2/3 (sin delta))) in delta 32.357 * [taylor]: Taking taylor expansion of (* 2/3 (sin delta)) in delta 32.357 * [taylor]: Taking taylor expansion of 2/3 in delta 32.357 * [backup-simplify]: Simplify 2/3 into 2/3 32.357 * [taylor]: Taking taylor expansion of (sin delta) in delta 32.357 * [taylor]: Taking taylor expansion of delta in delta 32.357 * [backup-simplify]: Simplify 0 into 0 32.357 * [backup-simplify]: Simplify 1 into 1 32.358 * [backup-simplify]: Simplify (* 2/3 0) into 0 32.358 * [backup-simplify]: Simplify (- 0) into 0 32.358 * [backup-simplify]: Simplify 0 into 0 32.359 * [backup-simplify]: Simplify (+ 0) into 0 32.359 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 32.360 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.361 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 32.361 * [backup-simplify]: Simplify (- 0) into 0 32.361 * [backup-simplify]: Simplify (+ 0 0) into 0 32.361 * [taylor]: Taking taylor expansion of 0 in delta 32.361 * [backup-simplify]: Simplify 0 into 0 32.361 * [backup-simplify]: Simplify 0 into 0 32.363 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.363 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 32.364 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.365 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 32.365 * [backup-simplify]: Simplify (+ 0 0) into 0 32.366 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 32.367 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (sin delta)))) into (- (* 1/2 (sin delta))) 32.367 * [taylor]: Taking taylor expansion of (- (* 1/2 (sin delta))) in delta 32.367 * [taylor]: Taking taylor expansion of (* 1/2 (sin delta)) in delta 32.367 * [taylor]: Taking taylor expansion of 1/2 in delta 32.367 * [backup-simplify]: Simplify 1/2 into 1/2 32.367 * [taylor]: Taking taylor expansion of (sin delta) in delta 32.367 * [taylor]: Taking taylor expansion of delta in delta 32.367 * [backup-simplify]: Simplify 0 into 0 32.367 * [backup-simplify]: Simplify 1 into 1 32.368 * [backup-simplify]: Simplify (* 1/2 0) into 0 32.368 * [backup-simplify]: Simplify (- 0) into 0 32.368 * [backup-simplify]: Simplify 0 into 0 32.368 * [taylor]: Taking taylor expansion of 0 in delta 32.368 * [backup-simplify]: Simplify 0 into 0 32.368 * [backup-simplify]: Simplify 0 into 0 32.368 * [backup-simplify]: Simplify (+ (* 1 (* delta (* 1 phi1))) (* 1 (pow (* 1 (* 1 phi1)) 2))) into (+ (* phi1 delta) (pow phi1 2)) 32.369 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))))) into (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) 32.369 * [approximate]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in (phi1 theta delta) around 0 32.369 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in delta 32.369 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 32.369 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 32.369 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 32.369 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 32.369 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 32.369 * [taylor]: Taking taylor expansion of theta in delta 32.369 * [backup-simplify]: Simplify theta into theta 32.369 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 32.369 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 32.369 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 32.369 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 32.369 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 32.369 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 32.369 * [taylor]: Taking taylor expansion of delta in delta 32.369 * [backup-simplify]: Simplify 0 into 0 32.370 * [backup-simplify]: Simplify 1 into 1 32.370 * [backup-simplify]: Simplify (/ 1 1) into 1 32.370 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 32.370 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 32.370 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 32.370 * [taylor]: Taking taylor expansion of phi1 in delta 32.370 * [backup-simplify]: Simplify phi1 into phi1 32.370 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 32.370 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 32.370 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 32.370 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 32.370 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 32.370 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 32.370 * [taylor]: Taking taylor expansion of phi1 in delta 32.370 * [backup-simplify]: Simplify phi1 into phi1 32.370 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 32.370 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 32.371 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 32.371 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 32.371 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 32.371 * [taylor]: Taking taylor expansion of delta in delta 32.371 * [backup-simplify]: Simplify 0 into 0 32.371 * [backup-simplify]: Simplify 1 into 1 32.371 * [backup-simplify]: Simplify (/ 1 1) into 1 32.371 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 32.371 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 32.371 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 32.371 * [taylor]: Taking taylor expansion of phi1 in delta 32.371 * [backup-simplify]: Simplify phi1 into phi1 32.371 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 32.371 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 32.371 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 32.372 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in theta 32.372 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 32.372 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 32.372 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 32.372 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 32.372 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 32.372 * [taylor]: Taking taylor expansion of theta in theta 32.372 * [backup-simplify]: Simplify 0 into 0 32.372 * [backup-simplify]: Simplify 1 into 1 32.372 * [backup-simplify]: Simplify (/ 1 1) into 1 32.372 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 32.372 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 32.372 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 32.372 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 32.372 * [taylor]: Taking taylor expansion of delta in theta 32.372 * [backup-simplify]: Simplify delta into delta 32.373 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 32.373 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 32.373 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 32.373 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 32.373 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 32.373 * [taylor]: Taking taylor expansion of phi1 in theta 32.373 * [backup-simplify]: Simplify phi1 into phi1 32.373 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 32.373 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 32.373 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 32.373 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 32.373 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 32.373 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 32.373 * [taylor]: Taking taylor expansion of phi1 in theta 32.373 * [backup-simplify]: Simplify phi1 into phi1 32.373 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 32.373 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 32.373 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 32.373 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 32.373 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 32.373 * [taylor]: Taking taylor expansion of delta in theta 32.373 * [backup-simplify]: Simplify delta into delta 32.373 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 32.374 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 32.374 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 32.374 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 32.374 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 32.374 * [taylor]: Taking taylor expansion of phi1 in theta 32.374 * [backup-simplify]: Simplify phi1 into phi1 32.374 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 32.374 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 32.374 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 32.374 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in phi1 32.374 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 32.374 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 32.374 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 32.374 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 32.374 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 32.374 * [taylor]: Taking taylor expansion of theta in phi1 32.374 * [backup-simplify]: Simplify theta into theta 32.374 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 32.374 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 32.374 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 32.374 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 32.375 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 32.375 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 32.375 * [taylor]: Taking taylor expansion of delta in phi1 32.375 * [backup-simplify]: Simplify delta into delta 32.375 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 32.375 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 32.375 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 32.375 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 32.375 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 32.375 * [taylor]: Taking taylor expansion of phi1 in phi1 32.375 * [backup-simplify]: Simplify 0 into 0 32.375 * [backup-simplify]: Simplify 1 into 1 32.375 * [backup-simplify]: Simplify (/ 1 1) into 1 32.376 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 32.376 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 32.376 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 32.376 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 32.376 * [taylor]: Taking taylor expansion of phi1 in phi1 32.376 * [backup-simplify]: Simplify 0 into 0 32.376 * [backup-simplify]: Simplify 1 into 1 32.376 * [backup-simplify]: Simplify (/ 1 1) into 1 32.376 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 32.376 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 32.376 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 32.376 * [taylor]: Taking taylor expansion of delta in phi1 32.376 * [backup-simplify]: Simplify delta into delta 32.376 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 32.376 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 32.377 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 32.377 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 32.377 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 32.377 * [taylor]: Taking taylor expansion of phi1 in phi1 32.377 * [backup-simplify]: Simplify 0 into 0 32.377 * [backup-simplify]: Simplify 1 into 1 32.377 * [backup-simplify]: Simplify (/ 1 1) into 1 32.377 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 32.377 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in phi1 32.377 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 32.377 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 32.377 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 32.377 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 32.377 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 32.377 * [taylor]: Taking taylor expansion of theta in phi1 32.377 * [backup-simplify]: Simplify theta into theta 32.377 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 32.377 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 32.378 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 32.378 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 32.378 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 32.378 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 32.378 * [taylor]: Taking taylor expansion of delta in phi1 32.378 * [backup-simplify]: Simplify delta into delta 32.378 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 32.378 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 32.378 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 32.378 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 32.378 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 32.378 * [taylor]: Taking taylor expansion of phi1 in phi1 32.378 * [backup-simplify]: Simplify 0 into 0 32.378 * [backup-simplify]: Simplify 1 into 1 32.378 * [backup-simplify]: Simplify (/ 1 1) into 1 32.378 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 32.378 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 32.379 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 32.379 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 32.379 * [taylor]: Taking taylor expansion of phi1 in phi1 32.379 * [backup-simplify]: Simplify 0 into 0 32.379 * [backup-simplify]: Simplify 1 into 1 32.379 * [backup-simplify]: Simplify (/ 1 1) into 1 32.379 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 32.379 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 32.379 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 32.379 * [taylor]: Taking taylor expansion of delta in phi1 32.379 * [backup-simplify]: Simplify delta into delta 32.379 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 32.379 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 32.379 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 32.379 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 32.379 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 32.379 * [taylor]: Taking taylor expansion of phi1 in phi1 32.379 * [backup-simplify]: Simplify 0 into 0 32.379 * [backup-simplify]: Simplify 1 into 1 32.380 * [backup-simplify]: Simplify (/ 1 1) into 1 32.380 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 32.380 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 32.380 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 32.381 * [backup-simplify]: Simplify (- 0) into 0 32.381 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 32.381 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 32.381 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 32.381 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 32.381 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (cos (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 delta))) 32.381 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 32.381 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 32.381 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 32.382 * [backup-simplify]: Simplify (- 0) into 0 32.382 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 32.382 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 32.382 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) into (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 32.383 * [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))) 32.383 * [taylor]: Taking taylor expansion of (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) in theta 32.383 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in theta 32.383 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in theta 32.383 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 32.383 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 32.383 * [taylor]: Taking taylor expansion of phi1 in theta 32.383 * [backup-simplify]: Simplify phi1 into phi1 32.383 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 32.383 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 32.383 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 32.383 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in theta 32.383 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 32.383 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 32.383 * [taylor]: Taking taylor expansion of theta in theta 32.383 * [backup-simplify]: Simplify 0 into 0 32.383 * [backup-simplify]: Simplify 1 into 1 32.384 * [backup-simplify]: Simplify (/ 1 1) into 1 32.384 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 32.384 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 32.384 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 32.384 * [taylor]: Taking taylor expansion of delta in theta 32.384 * [backup-simplify]: Simplify delta into delta 32.384 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 32.384 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 32.384 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 32.384 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in theta 32.384 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 32.384 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 32.384 * [taylor]: Taking taylor expansion of delta in theta 32.384 * [backup-simplify]: Simplify delta into delta 32.384 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 32.384 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 32.385 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 32.385 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 32.385 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 32.385 * [taylor]: Taking taylor expansion of phi1 in theta 32.385 * [backup-simplify]: Simplify phi1 into phi1 32.385 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 32.385 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 32.385 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 32.385 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 32.385 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 32.385 * [taylor]: Taking taylor expansion of phi1 in theta 32.385 * [backup-simplify]: Simplify phi1 into phi1 32.385 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 32.385 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 32.385 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 32.385 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 32.385 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 32.386 * [backup-simplify]: Simplify (- 0) into 0 32.386 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 32.386 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 32.386 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 32.386 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 32.386 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 32.386 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 32.386 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 32.386 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 32.387 * [backup-simplify]: Simplify (- 0) into 0 32.387 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 32.387 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 32.387 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 32.387 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 32.387 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 32.388 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) into (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 32.388 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 32.388 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 32.388 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 32.388 * [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))) 32.388 * [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 32.388 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in delta 32.388 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 32.388 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 32.388 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 32.388 * [taylor]: Taking taylor expansion of phi1 in delta 32.388 * [backup-simplify]: Simplify phi1 into phi1 32.388 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 32.389 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 32.389 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 32.389 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 32.389 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 32.389 * [taylor]: Taking taylor expansion of delta in delta 32.389 * [backup-simplify]: Simplify 0 into 0 32.389 * [backup-simplify]: Simplify 1 into 1 32.389 * [backup-simplify]: Simplify (/ 1 1) into 1 32.389 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 32.389 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 32.389 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 32.389 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 32.389 * [taylor]: Taking taylor expansion of delta in delta 32.389 * [backup-simplify]: Simplify 0 into 0 32.389 * [backup-simplify]: Simplify 1 into 1 32.390 * [backup-simplify]: Simplify (/ 1 1) into 1 32.390 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 32.390 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 32.390 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 32.390 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 32.390 * [taylor]: Taking taylor expansion of theta in delta 32.390 * [backup-simplify]: Simplify theta into theta 32.390 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 32.390 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 32.390 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 32.390 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 32.390 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 32.390 * [taylor]: Taking taylor expansion of phi1 in delta 32.390 * [backup-simplify]: Simplify phi1 into phi1 32.390 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 32.390 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 32.391 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 32.391 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 32.391 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 32.391 * [taylor]: Taking taylor expansion of phi1 in delta 32.391 * [backup-simplify]: Simplify phi1 into phi1 32.391 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 32.391 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 32.391 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 32.391 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 32.391 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 32.391 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 32.391 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 32.391 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 32.391 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 32.392 * [backup-simplify]: Simplify (- 0) into 0 32.392 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 32.392 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 32.392 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 32.393 * [backup-simplify]: Simplify (- 0) into 0 32.393 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 32.393 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 32.393 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 32.393 * [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)))) 32.393 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 32.393 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 32.394 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 32.394 * [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))) 32.394 * [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))) 32.395 * [backup-simplify]: Simplify (+ 0) into 0 32.395 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 32.395 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 32.396 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.397 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 32.397 * [backup-simplify]: Simplify (+ 0 0) into 0 32.397 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 32.398 * [backup-simplify]: Simplify (+ 0) into 0 32.398 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 32.398 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 32.399 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.399 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 32.400 * [backup-simplify]: Simplify (- 0) into 0 32.400 * [backup-simplify]: Simplify (+ 0 0) into 0 32.400 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta))))) into 0 32.401 * [backup-simplify]: Simplify (+ 0) into 0 32.401 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 32.401 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 32.402 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.403 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 32.403 * [backup-simplify]: Simplify (- 0) into 0 32.403 * [backup-simplify]: Simplify (+ 0 0) into 0 32.403 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 32.404 * [backup-simplify]: Simplify (+ 0 0) into 0 32.404 * [backup-simplify]: Simplify (+ (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 32.404 * [taylor]: Taking taylor expansion of 0 in theta 32.404 * [backup-simplify]: Simplify 0 into 0 32.404 * [taylor]: Taking taylor expansion of 0 in delta 32.405 * [backup-simplify]: Simplify 0 into 0 32.405 * [backup-simplify]: Simplify 0 into 0 32.405 * [backup-simplify]: Simplify (+ 0) into 0 32.405 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 32.406 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 32.406 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.407 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 32.407 * [backup-simplify]: Simplify (+ 0 0) into 0 32.408 * [backup-simplify]: Simplify (+ 0) into 0 32.408 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 32.408 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 32.409 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.409 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 32.410 * [backup-simplify]: Simplify (+ 0 0) into 0 32.410 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 32.410 * [backup-simplify]: Simplify (+ 0) into 0 32.411 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 32.411 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 32.412 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.412 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 32.413 * [backup-simplify]: Simplify (- 0) into 0 32.413 * [backup-simplify]: Simplify (+ 0 0) into 0 32.413 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 32.414 * [backup-simplify]: Simplify (+ 0) into 0 32.414 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 32.414 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 32.415 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.415 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 32.416 * [backup-simplify]: Simplify (+ 0 0) into 0 32.416 * [backup-simplify]: Simplify (+ 0) into 0 32.417 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 32.417 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 32.417 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.418 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 32.418 * [backup-simplify]: Simplify (- 0) into 0 32.419 * [backup-simplify]: Simplify (+ 0 0) into 0 32.419 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 32.419 * [backup-simplify]: Simplify (+ 0 0) into 0 32.420 * [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 32.420 * [taylor]: Taking taylor expansion of 0 in delta 32.420 * [backup-simplify]: Simplify 0 into 0 32.420 * [backup-simplify]: Simplify 0 into 0 32.420 * [backup-simplify]: Simplify (+ 0) into 0 32.421 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 32.421 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 32.422 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.422 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 32.423 * [backup-simplify]: Simplify (+ 0 0) into 0 32.423 * [backup-simplify]: Simplify (+ 0) into 0 32.424 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 32.424 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 32.425 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.425 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 32.425 * [backup-simplify]: Simplify (+ 0 0) into 0 32.426 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 32.426 * [backup-simplify]: Simplify (+ 0) into 0 32.426 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 32.427 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 32.427 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.428 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 32.428 * [backup-simplify]: Simplify (- 0) into 0 32.429 * [backup-simplify]: Simplify (+ 0 0) into 0 32.429 * [backup-simplify]: Simplify (+ 0) into 0 32.429 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 32.430 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 32.430 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.431 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 32.431 * [backup-simplify]: Simplify (- 0) into 0 32.432 * [backup-simplify]: Simplify (+ 0 0) into 0 32.432 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 32.432 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 32.433 * [backup-simplify]: Simplify (+ 0 0) into 0 32.433 * [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 32.433 * [backup-simplify]: Simplify 0 into 0 32.434 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.435 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.435 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 32.436 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.436 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.437 * [backup-simplify]: Simplify (+ 0 0) into 0 32.437 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 32.438 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.439 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.439 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 32.440 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.440 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.441 * [backup-simplify]: Simplify (- 0) into 0 32.441 * [backup-simplify]: Simplify (+ 0 0) into 0 32.442 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta)))))) into 0 32.443 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.443 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.444 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 32.444 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.445 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.445 * [backup-simplify]: Simplify (- 0) into 0 32.446 * [backup-simplify]: Simplify (+ 0 0) into 0 32.446 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 32.447 * [backup-simplify]: Simplify (+ 0 0) into 0 32.448 * [backup-simplify]: Simplify (+ (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 32.448 * [taylor]: Taking taylor expansion of 0 in theta 32.448 * [backup-simplify]: Simplify 0 into 0 32.448 * [taylor]: Taking taylor expansion of 0 in delta 32.448 * [backup-simplify]: Simplify 0 into 0 32.448 * [backup-simplify]: Simplify 0 into 0 32.448 * [taylor]: Taking taylor expansion of 0 in delta 32.448 * [backup-simplify]: Simplify 0 into 0 32.448 * [backup-simplify]: Simplify 0 into 0 32.449 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.450 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.450 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.451 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.451 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.452 * [backup-simplify]: Simplify (+ 0 0) into 0 32.452 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.453 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.453 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 32.454 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.455 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.455 * [backup-simplify]: Simplify (+ 0 0) into 0 32.456 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 32.457 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.457 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.458 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.458 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.459 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.459 * [backup-simplify]: Simplify (- 0) into 0 32.460 * [backup-simplify]: Simplify (+ 0 0) into 0 32.460 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 32.461 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.462 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.462 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.464 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.465 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.465 * [backup-simplify]: Simplify (+ 0 0) into 0 32.466 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.467 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.467 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 32.468 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.469 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.469 * [backup-simplify]: Simplify (- 0) into 0 32.469 * [backup-simplify]: Simplify (+ 0 0) into 0 32.470 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 32.470 * [backup-simplify]: Simplify (+ 0 0) into 0 32.471 * [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 32.471 * [taylor]: Taking taylor expansion of 0 in delta 32.471 * [backup-simplify]: Simplify 0 into 0 32.471 * [backup-simplify]: Simplify 0 into 0 32.472 * [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))))) 32.472 * [backup-simplify]: Simplify (* (sin (/ 1 (- phi1))) (sin (asin (fma (cos (/ 1 (- theta))) (* (cos (/ 1 (- phi1))) (sin (/ 1 (- delta)))) (* (cos (/ 1 (- delta))) (sin (/ 1 (- phi1)))))))) into (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 32.472 * [approximate]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in (phi1 theta delta) around 0 32.472 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 32.472 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 32.472 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 32.472 * [taylor]: Taking taylor expansion of -1 in delta 32.472 * [backup-simplify]: Simplify -1 into -1 32.472 * [taylor]: Taking taylor expansion of phi1 in delta 32.472 * [backup-simplify]: Simplify phi1 into phi1 32.473 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.473 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.473 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.473 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 32.473 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 32.473 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 32.473 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 32.473 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 32.473 * [taylor]: Taking taylor expansion of -1 in delta 32.473 * [backup-simplify]: Simplify -1 into -1 32.473 * [taylor]: Taking taylor expansion of theta in delta 32.473 * [backup-simplify]: Simplify theta into theta 32.473 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 32.473 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 32.473 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 32.473 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 32.473 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 32.473 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 32.474 * [taylor]: Taking taylor expansion of -1 in delta 32.474 * [backup-simplify]: Simplify -1 into -1 32.474 * [taylor]: Taking taylor expansion of phi1 in delta 32.474 * [backup-simplify]: Simplify phi1 into phi1 32.474 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.474 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.474 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.474 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 32.474 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 32.474 * [taylor]: Taking taylor expansion of -1 in delta 32.474 * [backup-simplify]: Simplify -1 into -1 32.474 * [taylor]: Taking taylor expansion of delta in delta 32.474 * [backup-simplify]: Simplify 0 into 0 32.474 * [backup-simplify]: Simplify 1 into 1 32.474 * [backup-simplify]: Simplify (/ -1 1) into -1 32.475 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.475 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 32.475 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 32.475 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 32.475 * [taylor]: Taking taylor expansion of -1 in delta 32.475 * [backup-simplify]: Simplify -1 into -1 32.475 * [taylor]: Taking taylor expansion of phi1 in delta 32.475 * [backup-simplify]: Simplify phi1 into phi1 32.475 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.475 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.475 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.475 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 32.475 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 32.475 * [taylor]: Taking taylor expansion of -1 in delta 32.475 * [backup-simplify]: Simplify -1 into -1 32.475 * [taylor]: Taking taylor expansion of delta in delta 32.475 * [backup-simplify]: Simplify 0 into 0 32.475 * [backup-simplify]: Simplify 1 into 1 32.475 * [backup-simplify]: Simplify (/ -1 1) into -1 32.476 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.476 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 32.476 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 32.476 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 32.476 * [taylor]: Taking taylor expansion of -1 in theta 32.476 * [backup-simplify]: Simplify -1 into -1 32.476 * [taylor]: Taking taylor expansion of phi1 in theta 32.476 * [backup-simplify]: Simplify phi1 into phi1 32.476 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.476 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.476 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.476 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 32.476 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 32.476 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 32.476 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 32.476 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 32.476 * [taylor]: Taking taylor expansion of -1 in theta 32.476 * [backup-simplify]: Simplify -1 into -1 32.476 * [taylor]: Taking taylor expansion of theta in theta 32.476 * [backup-simplify]: Simplify 0 into 0 32.476 * [backup-simplify]: Simplify 1 into 1 32.477 * [backup-simplify]: Simplify (/ -1 1) into -1 32.477 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 32.477 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 32.477 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 32.477 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 32.477 * [taylor]: Taking taylor expansion of -1 in theta 32.477 * [backup-simplify]: Simplify -1 into -1 32.477 * [taylor]: Taking taylor expansion of phi1 in theta 32.477 * [backup-simplify]: Simplify phi1 into phi1 32.477 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.477 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.477 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.477 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 32.477 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 32.477 * [taylor]: Taking taylor expansion of -1 in theta 32.477 * [backup-simplify]: Simplify -1 into -1 32.477 * [taylor]: Taking taylor expansion of delta in theta 32.477 * [backup-simplify]: Simplify delta into delta 32.477 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.478 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.478 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.478 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 32.478 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 32.478 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 32.478 * [taylor]: Taking taylor expansion of -1 in theta 32.478 * [backup-simplify]: Simplify -1 into -1 32.478 * [taylor]: Taking taylor expansion of phi1 in theta 32.478 * [backup-simplify]: Simplify phi1 into phi1 32.478 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.478 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.478 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.478 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 32.478 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 32.478 * [taylor]: Taking taylor expansion of -1 in theta 32.478 * [backup-simplify]: Simplify -1 into -1 32.478 * [taylor]: Taking taylor expansion of delta in theta 32.478 * [backup-simplify]: Simplify delta into delta 32.478 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.478 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.478 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.478 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 32.478 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 32.478 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 32.478 * [taylor]: Taking taylor expansion of -1 in phi1 32.478 * [backup-simplify]: Simplify -1 into -1 32.478 * [taylor]: Taking taylor expansion of phi1 in phi1 32.479 * [backup-simplify]: Simplify 0 into 0 32.479 * [backup-simplify]: Simplify 1 into 1 32.479 * [backup-simplify]: Simplify (/ -1 1) into -1 32.479 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.479 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 32.479 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 32.479 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 32.479 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 32.479 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 32.479 * [taylor]: Taking taylor expansion of -1 in phi1 32.479 * [backup-simplify]: Simplify -1 into -1 32.479 * [taylor]: Taking taylor expansion of theta in phi1 32.479 * [backup-simplify]: Simplify theta into theta 32.479 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 32.480 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 32.480 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 32.480 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 32.480 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 32.480 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 32.480 * [taylor]: Taking taylor expansion of -1 in phi1 32.480 * [backup-simplify]: Simplify -1 into -1 32.480 * [taylor]: Taking taylor expansion of phi1 in phi1 32.480 * [backup-simplify]: Simplify 0 into 0 32.480 * [backup-simplify]: Simplify 1 into 1 32.480 * [backup-simplify]: Simplify (/ -1 1) into -1 32.480 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.480 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 32.480 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 32.480 * [taylor]: Taking taylor expansion of -1 in phi1 32.480 * [backup-simplify]: Simplify -1 into -1 32.481 * [taylor]: Taking taylor expansion of delta in phi1 32.481 * [backup-simplify]: Simplify delta into delta 32.481 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.481 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.481 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.481 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 32.481 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 32.481 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 32.481 * [taylor]: Taking taylor expansion of -1 in phi1 32.481 * [backup-simplify]: Simplify -1 into -1 32.481 * [taylor]: Taking taylor expansion of phi1 in phi1 32.481 * [backup-simplify]: Simplify 0 into 0 32.481 * [backup-simplify]: Simplify 1 into 1 32.481 * [backup-simplify]: Simplify (/ -1 1) into -1 32.481 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.481 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 32.482 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 32.482 * [taylor]: Taking taylor expansion of -1 in phi1 32.482 * [backup-simplify]: Simplify -1 into -1 32.482 * [taylor]: Taking taylor expansion of delta in phi1 32.482 * [backup-simplify]: Simplify delta into delta 32.482 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.482 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.482 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.482 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 32.482 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 32.482 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 32.482 * [taylor]: Taking taylor expansion of -1 in phi1 32.482 * [backup-simplify]: Simplify -1 into -1 32.482 * [taylor]: Taking taylor expansion of phi1 in phi1 32.482 * [backup-simplify]: Simplify 0 into 0 32.482 * [backup-simplify]: Simplify 1 into 1 32.482 * [backup-simplify]: Simplify (/ -1 1) into -1 32.482 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.483 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 32.483 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 32.483 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 32.483 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 32.483 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 32.483 * [taylor]: Taking taylor expansion of -1 in phi1 32.483 * [backup-simplify]: Simplify -1 into -1 32.483 * [taylor]: Taking taylor expansion of theta in phi1 32.483 * [backup-simplify]: Simplify theta into theta 32.483 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 32.483 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 32.483 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 32.483 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 32.483 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 32.483 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 32.483 * [taylor]: Taking taylor expansion of -1 in phi1 32.483 * [backup-simplify]: Simplify -1 into -1 32.483 * [taylor]: Taking taylor expansion of phi1 in phi1 32.483 * [backup-simplify]: Simplify 0 into 0 32.483 * [backup-simplify]: Simplify 1 into 1 32.484 * [backup-simplify]: Simplify (/ -1 1) into -1 32.484 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.484 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 32.484 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 32.484 * [taylor]: Taking taylor expansion of -1 in phi1 32.484 * [backup-simplify]: Simplify -1 into -1 32.484 * [taylor]: Taking taylor expansion of delta in phi1 32.484 * [backup-simplify]: Simplify delta into delta 32.484 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.484 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.484 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.484 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 32.484 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 32.484 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 32.484 * [taylor]: Taking taylor expansion of -1 in phi1 32.484 * [backup-simplify]: Simplify -1 into -1 32.484 * [taylor]: Taking taylor expansion of phi1 in phi1 32.484 * [backup-simplify]: Simplify 0 into 0 32.484 * [backup-simplify]: Simplify 1 into 1 32.485 * [backup-simplify]: Simplify (/ -1 1) into -1 32.485 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.485 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 32.485 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 32.485 * [taylor]: Taking taylor expansion of -1 in phi1 32.485 * [backup-simplify]: Simplify -1 into -1 32.485 * [taylor]: Taking taylor expansion of delta in phi1 32.485 * [backup-simplify]: Simplify delta into delta 32.485 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.485 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.485 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.485 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 32.485 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 32.486 * [backup-simplify]: Simplify (- 0) into 0 32.486 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 32.486 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 32.486 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 32.486 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 32.486 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 32.486 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 32.486 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 32.487 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 32.487 * [backup-simplify]: Simplify (- 0) into 0 32.487 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 32.487 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 32.487 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) into (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 32.488 * [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))))) 32.488 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 32.488 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 32.488 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 32.488 * [taylor]: Taking taylor expansion of -1 in theta 32.488 * [backup-simplify]: Simplify -1 into -1 32.488 * [taylor]: Taking taylor expansion of phi1 in theta 32.488 * [backup-simplify]: Simplify phi1 into phi1 32.488 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.488 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.488 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.488 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 32.488 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) in theta 32.488 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 32.488 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 32.488 * [taylor]: Taking taylor expansion of -1 in theta 32.488 * [backup-simplify]: Simplify -1 into -1 32.488 * [taylor]: Taking taylor expansion of phi1 in theta 32.489 * [backup-simplify]: Simplify phi1 into phi1 32.489 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.489 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.489 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.489 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 theta))) in theta 32.489 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 32.489 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 32.489 * [taylor]: Taking taylor expansion of -1 in theta 32.489 * [backup-simplify]: Simplify -1 into -1 32.489 * [taylor]: Taking taylor expansion of delta in theta 32.489 * [backup-simplify]: Simplify delta into delta 32.489 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.489 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.489 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.489 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 32.489 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 32.489 * [taylor]: Taking taylor expansion of -1 in theta 32.489 * [backup-simplify]: Simplify -1 into -1 32.489 * [taylor]: Taking taylor expansion of theta in theta 32.489 * [backup-simplify]: Simplify 0 into 0 32.489 * [backup-simplify]: Simplify 1 into 1 32.490 * [backup-simplify]: Simplify (/ -1 1) into -1 32.490 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 32.490 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 32.490 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 32.490 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 32.490 * [taylor]: Taking taylor expansion of -1 in theta 32.490 * [backup-simplify]: Simplify -1 into -1 32.490 * [taylor]: Taking taylor expansion of phi1 in theta 32.490 * [backup-simplify]: Simplify phi1 into phi1 32.490 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.490 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.490 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.490 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 32.490 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 32.490 * [taylor]: Taking taylor expansion of -1 in theta 32.490 * [backup-simplify]: Simplify -1 into -1 32.490 * [taylor]: Taking taylor expansion of delta in theta 32.490 * [backup-simplify]: Simplify delta into delta 32.490 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 32.490 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.491 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.491 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 32.491 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 32.491 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 32.491 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 32.491 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 32.491 * [backup-simplify]: Simplify (- 0) into 0 32.491 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 32.492 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 32.492 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 32.492 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 32.492 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 theta))) into (* (cos (/ -1 theta)) (sin (/ -1 delta))) 32.492 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 32.492 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 32.492 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 32.492 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 32.492 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 32.492 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 32.493 * [backup-simplify]: Simplify (- 0) into 0 32.493 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 32.493 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 32.493 * [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))))) 32.494 * [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)))))) 32.494 * [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 32.494 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 32.494 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 32.494 * [taylor]: Taking taylor expansion of -1 in delta 32.494 * [backup-simplify]: Simplify -1 into -1 32.494 * [taylor]: Taking taylor expansion of phi1 in delta 32.494 * [backup-simplify]: Simplify phi1 into phi1 32.494 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.494 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.494 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.494 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in delta 32.494 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 32.494 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 32.494 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 32.494 * [taylor]: Taking taylor expansion of -1 in delta 32.494 * [backup-simplify]: Simplify -1 into -1 32.494 * [taylor]: Taking taylor expansion of phi1 in delta 32.494 * [backup-simplify]: Simplify phi1 into phi1 32.495 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.495 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.495 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.495 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 32.495 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 32.495 * [taylor]: Taking taylor expansion of -1 in delta 32.495 * [backup-simplify]: Simplify -1 into -1 32.495 * [taylor]: Taking taylor expansion of delta in delta 32.495 * [backup-simplify]: Simplify 0 into 0 32.495 * [backup-simplify]: Simplify 1 into 1 32.495 * [backup-simplify]: Simplify (/ -1 1) into -1 32.495 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 32.495 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in delta 32.495 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 32.495 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 32.495 * [taylor]: Taking taylor expansion of -1 in delta 32.496 * [backup-simplify]: Simplify -1 into -1 32.496 * [taylor]: Taking taylor expansion of phi1 in delta 32.496 * [backup-simplify]: Simplify phi1 into phi1 32.496 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 32.496 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 32.496 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 32.496 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in delta 32.496 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 32.496 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 32.496 * [taylor]: Taking taylor expansion of -1 in delta 32.496 * [backup-simplify]: Simplify -1 into -1 32.496 * [taylor]: Taking taylor expansion of theta in delta 32.496 * [backup-simplify]: Simplify theta into theta 32.496 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 32.496 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 32.496 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 32.496 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 32.496 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 32.496 * [taylor]: Taking taylor expansion of -1 in delta 32.496 * [backup-simplify]: Simplify -1 into -1 32.496 * [taylor]: Taking taylor expansion of delta in delta 32.496 * [backup-simplify]: Simplify 0 into 0 32.496 * [backup-simplify]: Simplify 1 into 1 32.497 * [backup-simplify]: Simplify (/ -1 1) into -1 32.497 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 32.497 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 32.497 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 32.497 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 32.497 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 32.497 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 32.497 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 32.497 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 32.498 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 32.498 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 32.498 * [backup-simplify]: Simplify (- 0) into 0 32.498 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 32.498 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 32.498 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 32.499 * [backup-simplify]: Simplify (- 0) into 0 32.499 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 32.499 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (cos (/ -1 theta))) 32.499 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 32.499 * [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)))) 32.500 * [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))))) 32.500 * [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))))) 32.501 * [backup-simplify]: Simplify (+ 0) into 0 32.503 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 32.503 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 32.504 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.505 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 32.505 * [backup-simplify]: Simplify (+ 0 0) into 0 32.505 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 32.506 * [backup-simplify]: Simplify (+ 0) into 0 32.506 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 32.506 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 32.507 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.508 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 32.508 * [backup-simplify]: Simplify (- 0) into 0 32.508 * [backup-simplify]: Simplify (+ 0 0) into 0 32.509 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 32.509 * [backup-simplify]: Simplify (+ 0) into 0 32.510 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 32.510 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 32.511 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.511 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 32.512 * [backup-simplify]: Simplify (- 0) into 0 32.512 * [backup-simplify]: Simplify (+ 0 0) into 0 32.512 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 32.513 * [backup-simplify]: Simplify (+ 0 0) into 0 32.513 * [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 32.513 * [taylor]: Taking taylor expansion of 0 in theta 32.513 * [backup-simplify]: Simplify 0 into 0 32.513 * [taylor]: Taking taylor expansion of 0 in delta 32.513 * [backup-simplify]: Simplify 0 into 0 32.513 * [backup-simplify]: Simplify 0 into 0 32.514 * [backup-simplify]: Simplify (+ 0) into 0 32.514 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 32.514 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 32.515 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.516 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 32.516 * [backup-simplify]: Simplify (+ 0 0) into 0 32.516 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 theta)))) into 0 32.517 * [backup-simplify]: Simplify (+ 0) into 0 32.517 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 32.517 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 32.518 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.519 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 32.519 * [backup-simplify]: Simplify (- 0) into 0 32.519 * [backup-simplify]: Simplify (+ 0 0) into 0 32.520 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into 0 32.520 * [backup-simplify]: Simplify (+ 0) into 0 32.520 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 32.521 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 32.521 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.522 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 32.522 * [backup-simplify]: Simplify (- 0) into 0 32.523 * [backup-simplify]: Simplify (+ 0 0) into 0 32.523 * [backup-simplify]: Simplify (+ 0) into 0 32.524 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 32.524 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 32.525 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.525 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 32.526 * [backup-simplify]: Simplify (+ 0 0) into 0 32.526 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 32.527 * [backup-simplify]: Simplify (+ 0 0) into 0 32.528 * [backup-simplify]: Simplify (+ 0) into 0 32.528 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 32.528 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 32.529 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.530 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 32.530 * [backup-simplify]: Simplify (+ 0 0) into 0 32.531 * [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 32.531 * [taylor]: Taking taylor expansion of 0 in delta 32.531 * [backup-simplify]: Simplify 0 into 0 32.531 * [backup-simplify]: Simplify 0 into 0 32.531 * [backup-simplify]: Simplify (+ 0) into 0 32.532 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 32.532 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 32.533 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.533 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 32.534 * [backup-simplify]: Simplify (+ 0 0) into 0 32.534 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 32.534 * [backup-simplify]: Simplify (+ 0) into 0 32.535 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 32.535 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 32.536 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.536 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 32.536 * [backup-simplify]: Simplify (- 0) into 0 32.537 * [backup-simplify]: Simplify (+ 0 0) into 0 32.537 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 32.537 * [backup-simplify]: Simplify (+ 0) into 0 32.538 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 32.538 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 32.539 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.539 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 32.540 * [backup-simplify]: Simplify (- 0) into 0 32.540 * [backup-simplify]: Simplify (+ 0 0) into 0 32.540 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into 0 32.541 * [backup-simplify]: Simplify (+ 0 0) into 0 32.541 * [backup-simplify]: Simplify (+ 0) into 0 32.541 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 32.542 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 32.542 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.543 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 32.543 * [backup-simplify]: Simplify (+ 0 0) into 0 32.544 * [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 32.544 * [backup-simplify]: Simplify 0 into 0 32.544 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.545 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.545 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 32.546 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.547 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.547 * [backup-simplify]: Simplify (+ 0 0) into 0 32.547 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 32.548 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.549 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.549 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 32.550 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.551 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.551 * [backup-simplify]: Simplify (- 0) into 0 32.551 * [backup-simplify]: Simplify (+ 0 0) into 0 32.552 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 32.553 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.554 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.554 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 32.554 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.555 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.555 * [backup-simplify]: Simplify (- 0) into 0 32.556 * [backup-simplify]: Simplify (+ 0 0) into 0 32.556 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 32.557 * [backup-simplify]: Simplify (+ 0 0) into 0 32.558 * [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 32.558 * [taylor]: Taking taylor expansion of 0 in theta 32.558 * [backup-simplify]: Simplify 0 into 0 32.558 * [taylor]: Taking taylor expansion of 0 in delta 32.558 * [backup-simplify]: Simplify 0 into 0 32.558 * [backup-simplify]: Simplify 0 into 0 32.558 * [taylor]: Taking taylor expansion of 0 in delta 32.558 * [backup-simplify]: Simplify 0 into 0 32.558 * [backup-simplify]: Simplify 0 into 0 32.559 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.559 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.560 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 32.560 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.561 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.561 * [backup-simplify]: Simplify (+ 0 0) into 0 32.562 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 32.563 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.563 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.564 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.564 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.565 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.565 * [backup-simplify]: Simplify (- 0) into 0 32.566 * [backup-simplify]: Simplify (+ 0 0) into 0 32.566 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 32.567 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.568 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 32.568 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 32.569 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.569 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 32.570 * [backup-simplify]: Simplify (- 0) into 0 32.570 * [backup-simplify]: Simplify (+ 0 0) into 0 32.571 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.572 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.572 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.573 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.573 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.574 * [backup-simplify]: Simplify (+ 0 0) into 0 32.574 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 32.574 * [backup-simplify]: Simplify (+ 0 0) into 0 32.575 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.576 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.576 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.577 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.578 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.578 * [backup-simplify]: Simplify (+ 0 0) into 0 32.579 * [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 32.579 * [taylor]: Taking taylor expansion of 0 in delta 32.579 * [backup-simplify]: Simplify 0 into 0 32.579 * [backup-simplify]: Simplify 0 into 0 32.579 * [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)))) 32.579 * * * [progress]: simplifying candidates 32.579 * * * * [progress]: [ 1 / 87 ] simplifiying candidate # 32.580 * * * * [progress]: [ 2 / 87 ] simplifiying candidate # 32.580 * * * * [progress]: [ 3 / 87 ] simplifiying candidate # 32.580 * * * * [progress]: [ 4 / 87 ] simplifiying candidate # 32.580 * * * * [progress]: [ 5 / 87 ] simplifiying candidate # 32.580 * * * * [progress]: [ 6 / 87 ] simplifiying candidate # 32.580 * * * * [progress]: [ 7 / 87 ] simplifiying candidate # 32.580 * * * * [progress]: [ 8 / 87 ] simplifiying candidate # 32.580 * * * * [progress]: [ 9 / 87 ] simplifiying candidate # 32.580 * * * * [progress]: [ 10 / 87 ] simplifiying candidate # 32.580 * * * * [progress]: [ 11 / 87 ] simplifiying candidate # 32.580 * * * * [progress]: [ 12 / 87 ] simplifiying candidate # 32.580 * * * * [progress]: [ 13 / 87 ] simplifiying candidate # 32.580 * * * * [progress]: [ 14 / 87 ] simplifiying candidate # 32.581 * * * * [progress]: [ 15 / 87 ] simplifiying candidate # 32.581 * * * * [progress]: [ 16 / 87 ] simplifiying candidate # 32.581 * * * * [progress]: [ 17 / 87 ] simplifiying candidate # 32.581 * * * * [progress]: [ 18 / 87 ] simplifiying candidate # 32.581 * * * * [progress]: [ 19 / 87 ] simplifiying candidate # 32.581 * * * * [progress]: [ 20 / 87 ] simplifiying candidate # 32.581 * * * * [progress]: [ 21 / 87 ] simplifiying candidate #real (real->posit16 (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 32.581 * * * * [progress]: [ 22 / 87 ] simplifiying candidate # 32.581 * * * * [progress]: [ 23 / 87 ] simplifiying candidate # 32.581 * * * * [progress]: [ 24 / 87 ] simplifiying candidate # 32.581 * * * * [progress]: [ 25 / 87 ] simplifiying candidate # 32.581 * * * * [progress]: [ 26 / 87 ] simplifiying candidate # 32.581 * * * * [progress]: [ 27 / 87 ] simplifiying candidate # 32.582 * * * * [progress]: [ 28 / 87 ] simplifiying candidate # 32.582 * * * * [progress]: [ 29 / 87 ] simplifiying candidate # 32.582 * * * * [progress]: [ 30 / 87 ] simplifiying candidate # 32.582 * * * * [progress]: [ 31 / 87 ] simplifiying candidate # 32.582 * * * * [progress]: [ 32 / 87 ] simplifiying candidate #real (real->posit16 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 32.582 * * * * [progress]: [ 33 / 87 ] simplifiying candidate # 32.582 * * * * [progress]: [ 34 / 87 ] simplifiying candidate # 32.582 * * * * [progress]: [ 35 / 87 ] simplifiying candidate # 32.582 * * * * [progress]: [ 36 / 87 ] simplifiying candidate # 32.582 * * * * [progress]: [ 37 / 87 ] simplifiying candidate # 32.582 * * * * [progress]: [ 38 / 87 ] simplifiying candidate # 32.582 * * * * [progress]: [ 39 / 87 ] simplifiying candidate # 32.582 * * * * [progress]: [ 40 / 87 ] simplifiying candidate # 32.583 * * * * [progress]: [ 41 / 87 ] simplifiying candidate # 32.583 * * * * [progress]: [ 42 / 87 ] simplifiying candidate # 32.583 * * * * [progress]: [ 43 / 87 ] simplifiying candidate # 32.583 * * * * [progress]: [ 44 / 87 ] simplifiying candidate # 32.583 * * * * [progress]: [ 45 / 87 ] simplifiying candidate # 32.583 * * * * [progress]: [ 46 / 87 ] simplifiying candidate # 32.583 * * * * [progress]: [ 47 / 87 ] simplifiying candidate # 32.583 * * * * [progress]: [ 48 / 87 ] simplifiying candidate # 32.583 * * * * [progress]: [ 49 / 87 ] simplifiying candidate # 32.583 * * * * [progress]: [ 50 / 87 ] simplifiying candidate # 32.583 * * * * [progress]: [ 51 / 87 ] simplifiying candidate # 32.584 * * * * [progress]: [ 52 / 87 ] simplifiying candidate #real (real->posit16 (* (sin delta) (* (cos phi1) (sin theta))))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1))> 32.584 * * * * [progress]: [ 53 / 87 ] simplifiying candidate # 32.584 * * * * [progress]: [ 54 / 87 ] simplifiying candidate # 32.584 * * * * [progress]: [ 55 / 87 ] simplifiying candidate # 32.584 * * * * [progress]: [ 56 / 87 ] simplifiying candidate # 32.584 * * * * [progress]: [ 57 / 87 ] simplifiying candidate # 32.584 * * * * [progress]: [ 58 / 87 ] simplifiying candidate # 32.584 * * * * [progress]: [ 59 / 87 ] simplifiying candidate # 32.584 * * * * [progress]: [ 60 / 87 ] simplifiying candidate # 32.584 * * * * [progress]: [ 61 / 87 ] simplifiying candidate # 32.584 * * * * [progress]: [ 62 / 87 ] simplifiying candidate # 32.584 * * * * [progress]: [ 63 / 87 ] simplifiying candidate # 32.585 * * * * [progress]: [ 64 / 87 ] simplifiying candidate # 32.585 * * * * [progress]: [ 65 / 87 ] simplifiying candidate # 32.585 * * * * [progress]: [ 66 / 87 ] simplifiying candidate # 32.585 * * * * [progress]: [ 67 / 87 ] simplifiying candidate # 32.585 * * * * [progress]: [ 68 / 87 ] simplifiying candidate # 32.585 * * * * [progress]: [ 69 / 87 ] simplifiying candidate # 32.585 * * * * [progress]: [ 70 / 87 ] simplifiying candidate # 32.585 * * * * [progress]: [ 71 / 87 ] simplifiying candidate # 32.585 * * * * [progress]: [ 72 / 87 ] simplifiying candidate # 32.585 * * * * [progress]: [ 73 / 87 ] simplifiying candidate # 32.585 * * * * [progress]: [ 74 / 87 ] simplifiying candidate #real (real->posit16 (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 32.585 * * * * [progress]: [ 75 / 87 ] simplifiying candidate # 32.585 * * * * [progress]: [ 76 / 87 ] simplifiying candidate # 32.585 * * * * [progress]: [ 77 / 87 ] simplifiying candidate # 32.586 * * * * [progress]: [ 78 / 87 ] simplifiying candidate # 32.586 * * * * [progress]: [ 79 / 87 ] simplifiying candidate # 32.586 * * * * [progress]: [ 80 / 87 ] simplifiying candidate # 32.586 * * * * [progress]: [ 81 / 87 ] simplifiying candidate # 32.586 * * * * [progress]: [ 82 / 87 ] simplifiying candidate # 32.586 * * * * [progress]: [ 83 / 87 ] simplifiying candidate # 32.586 * * * * [progress]: [ 84 / 87 ] simplifiying candidate # 32.586 * * * * [progress]: [ 85 / 87 ] simplifiying candidate # 32.586 * * * * [progress]: [ 86 / 87 ] simplifiying candidate # 32.586 * * * * [progress]: [ 87 / 87 ] simplifiying candidate # 32.588 * [simplify]: Simplifying (fma (* (cbrt (cos delta)) (cbrt (cos delta))) (cbrt (cos delta)) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))), (fma (- (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin phi1) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1))), (fma (sqrt (cos delta)) (sqrt (cos delta)) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))), (fma (- (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin phi1) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1))), (fma 1 (cos delta) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))), (fma (- (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin phi1) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1))), (expm1 (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))), (log1p (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))), (- (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (- (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (- (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (/ (exp (cos delta)) (exp (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))), (log (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))), (exp (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))), (* (cbrt (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) (cbrt (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))))), (cbrt (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))), (* (* (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))), (sqrt (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))), (sqrt (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))), (- (pow (cos delta) 3) (pow (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) 3)), (+ (* (cos delta) (cos delta)) (+ (* (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (* (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))))), (- (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (- (* (cos delta) (cos delta)) (* (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))), (+ (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (- (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (real->posit16 (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))), (expm1 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))), (log1p (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))), (/ PI 2), (acos (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))), (log (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))), (exp (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))), (* (cbrt (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (cbrt (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))), (cbrt (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))), (* (* (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))) (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))), (sqrt (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))), (sqrt (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))), (real->posit16 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))), (expm1 (* (sin delta) (* (cos phi1) (sin theta)))), (log1p (* (sin delta) (* (cos phi1) (sin theta)))), (* (sin delta) (* (cos phi1) (sin theta))), (* (sin delta) (* (cos phi1) (sin theta))), (+ (log (sin delta)) (+ (log (cos phi1)) (log (sin theta)))), (+ (log (sin delta)) (log (* (cos phi1) (sin theta)))), (log (* (sin delta) (* (cos phi1) (sin theta)))), (exp (* (sin delta) (* (cos phi1) (sin theta)))), (* (* (* (sin delta) (sin delta)) (sin delta)) (* (* (* (cos phi1) (cos phi1)) (cos phi1)) (* (* (sin theta) (sin theta)) (sin theta)))), (* (* (* (sin delta) (sin delta)) (sin delta)) (* (* (* (cos phi1) (sin theta)) (* (cos phi1) (sin theta))) (* (cos phi1) (sin theta)))), (* (cbrt (* (sin delta) (* (cos phi1) (sin theta)))) (cbrt (* (sin delta) (* (cos phi1) (sin theta))))), (cbrt (* (sin delta) (* (cos phi1) (sin theta)))), (* (* (* (sin delta) (* (cos phi1) (sin theta))) (* (sin delta) (* (cos phi1) (sin theta)))) (* (sin delta) (* (cos phi1) (sin theta)))), (sqrt (* (sin delta) (* (cos phi1) (sin theta)))), (sqrt (* (sin delta) (* (cos phi1) (sin theta)))), (* (sin delta) (cos phi1)), (* (cbrt (sin delta)) (* (cos phi1) (sin theta))), (* (sqrt (sin delta)) (* (cos phi1) (sin theta))), (* (sin delta) (* (cos phi1) (sin theta))), (real->posit16 (* (sin delta) (* (cos phi1) (sin theta)))), (expm1 (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (log1p (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (- (cos (- phi1 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (cos (+ phi1 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))), (+ (log (sin phi1)) (log (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (log (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (exp (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (* (* (* (sin phi1) (sin phi1)) (sin phi1)) (* (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (* (cbrt (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (cbrt (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))), (cbrt (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (* (* (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (sqrt (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (sqrt (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (* (sqrt (sin phi1)) (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (* (sin phi1) (* (cbrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (cbrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))), (* (sin phi1) (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (* (sin phi1) 1), (* (cbrt (sin phi1)) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))), (* (sqrt (sin phi1)) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))), (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))), (real->posit16 (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))), (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))), (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (sin phi1) (* (cos theta) (cos phi1)))))), (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos theta) (* (sin delta) (cos phi1)))))), (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))), (asin (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta)))), (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))), 0, (* (cos phi1) (* (sin theta) (sin delta))), (* (cos phi1) (* (sin delta) (sin theta))), (+ (* 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)))) 32.591 * * [simplify]: iteration 1: (170 enodes) 32.663 * * [simplify]: iteration 2: (683 enodes) 32.881 * * [simplify]: iteration 3: (1359 enodes) 33.586 * * [simplify]: Extracting #0: cost 64 inf + 0 33.587 * * [simplify]: Extracting #1: cost 328 inf + 1 33.590 * * [simplify]: Extracting #2: cost 641 inf + 3279 33.597 * * [simplify]: Extracting #3: cost 527 inf + 28226 33.619 * * [simplify]: Extracting #4: cost 329 inf + 84720 33.668 * * [simplify]: Extracting #5: cost 169 inf + 159579 33.751 * * [simplify]: Extracting #6: cost 36 inf + 260591 33.821 * * [simplify]: Extracting #7: cost 0 inf + 288847 33.918 * [simplify]: Simplified to (- (* (cbrt (cos delta)) (* (cbrt (cos delta)) (cbrt (cos delta)))) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1))), (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (+ (- (sin phi1)) (sin phi1))), (- (cos delta) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1))), (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (+ (- (sin phi1)) (sin phi1))), (- (cos delta) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1))), (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (+ (- (sin phi1)) (sin phi1))), (expm1 (- (cos delta) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1)))), (log1p (- (cos delta) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1)))), (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1))), (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1))), (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1))), (exp (- (cos delta) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1)))), (log (- (cos delta) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1)))), (exp (- (cos delta) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1)))), (* (cbrt (- (cos delta) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1)))) (cbrt (- (cos delta) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1))))), (cbrt (- (cos delta) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1)))), (* (* (- (cos delta) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1))) (- (cos delta) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1)))) (- (cos delta) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1)))), (sqrt (- (cos delta) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1)))), (sqrt (- (cos delta) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1)))), (- (* (cos delta) (* (cos delta) (cos delta))) (* (* (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1)) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1))) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1)))), (fma (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (* (sin phi1) (cos delta)) (fma (cos delta) (cos delta) (* (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1)) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1))))), (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1))), (- (* (cos delta) (cos delta)) (* (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1)) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1)))), (fma (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1) (cos delta)), (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1))), (real->posit16 (- (cos delta) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1)))), (expm1 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))), (log1p (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))), (/ PI 2), (acos (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))), (log (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))), (exp (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))), (* (cbrt (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (cbrt (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))))), (cbrt (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))), (* (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) (* (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))))), (sqrt (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))), (sqrt (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))), (real->posit16 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))), (expm1 (* (* (sin theta) (cos phi1)) (sin delta))), (log1p (* (* (sin theta) (cos phi1)) (sin delta))), (* (* (sin theta) (cos phi1)) (sin delta)), (* (* (sin theta) (cos phi1)) (sin delta)), (log (* (* (sin theta) (cos phi1)) (sin delta))), (log (* (* (sin theta) (cos phi1)) (sin delta))), (log (* (* (sin theta) (cos phi1)) (sin delta))), (exp (* (* (sin theta) (cos phi1)) (sin delta))), (* (* (* (* (sin theta) (cos phi1)) (sin delta)) (* (* (sin theta) (cos phi1)) (sin delta))) (* (* (sin theta) (cos phi1)) (sin delta))), (* (* (* (* (sin theta) (cos phi1)) (sin delta)) (* (* (sin theta) (cos phi1)) (sin delta))) (* (* (sin theta) (cos phi1)) (sin delta))), (* (cbrt (* (* (sin theta) (cos phi1)) (sin delta))) (cbrt (* (* (sin theta) (cos phi1)) (sin delta)))), (cbrt (* (* (sin theta) (cos phi1)) (sin delta))), (* (* (* (* (sin theta) (cos phi1)) (sin delta)) (* (* (sin theta) (cos phi1)) (sin delta))) (* (* (sin theta) (cos phi1)) (sin delta))), (sqrt (* (* (sin theta) (cos phi1)) (sin delta))), (sqrt (* (* (sin theta) (cos phi1)) (sin delta))), (* (cos phi1) (sin delta)), (* (* (cbrt (sin delta)) (cos phi1)) (sin theta)), (* (sqrt (sin delta)) (* (sin theta) (cos phi1))), (* (* (sin theta) (cos phi1)) (sin delta)), (real->posit16 (* (* (sin theta) (cos phi1)) (sin delta))), (expm1 (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1))), (log1p (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1))), (- (cos (- phi1 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))))) (cos (+ phi1 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))))), (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1)), (log (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1))), (log (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1))), (exp (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1))), (* (* (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1)) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1))) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1))), (* (cbrt (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1))) (cbrt (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1)))), (cbrt (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1))), (* (* (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1)) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1))) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1))), (sqrt (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1))), (sqrt (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1))), (* (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))))) (sqrt (sin phi1))), (* (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))))) (sqrt (sin phi1))), (* (cbrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))))) (* (cbrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))))) (sin phi1))), (* (sqrt (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))))) (sin phi1)), (sin phi1), (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (cbrt (sin phi1))), (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sqrt (sin phi1))), (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1)), (real->posit16 (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) (sin phi1))), (- 1 (* delta (+ (* delta 1/2) phi1))), (- (cos delta) (* (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) (sin phi1))), (- (cos delta) (* (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) (sin phi1))), (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))), (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))), (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))), 0, (* (* (sin theta) (cos phi1)) (sin delta)), (* (* (sin theta) (cos phi1)) (sin delta)), (* phi1 (+ delta phi1)), (* (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) (sin phi1)), (* (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) (sin phi1)) 33.938 * * * [progress]: adding candidates to table 35.806 * [progress]: [Phase 3 of 3] Extracting. 35.820 * [simplify]: Simplifying (+ (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1) 35.821 * * [simplify]: iteration 1: (21 enodes) 35.823 * * [simplify]: iteration 2: (27 enodes) 35.824 * * [simplify]: Extracting #0: cost 1 inf + 0 35.824 * * [simplify]: Extracting #1: cost 3 inf + 0 35.824 * * [simplify]: Extracting #2: cost 4 inf + 1 35.824 * * [simplify]: Extracting #3: cost 8 inf + 1 35.824 * * [simplify]: Extracting #4: cost 13 inf + 1 35.825 * * [simplify]: Extracting #5: cost 15 inf + 2 35.825 * * [simplify]: Extracting #6: cost 9 inf + 309 35.825 * * [simplify]: Extracting #7: cost 10 inf + 734 35.825 * * [simplify]: Extracting #8: cost 6 inf + 1557 35.826 * * [simplify]: Extracting #9: cost 4 inf + 2703 35.826 * * [simplify]: Extracting #10: cost 3 inf + 3346 35.827 * * [simplify]: Extracting #11: cost 0 inf + 5996 35.828 * [simplify]: Simplified to (+ lambda1 (atan2 (* (* (cos phi1) (sin theta)) (sin delta)) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))))))))