0.002 * [progress]: [Phase 1 of 3] Setting up. 0.002 * * * [progress]: [1/2] Preparing points 31.181 * * * [progress]: [2/2] Setting up program. 31.189 * [progress]: [Phase 2 of 3] Improving. 31.189 * * * * [progress]: [ 1 / 1 ] simplifiying candidate # 31.189 * [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))))))))) 31.189 * * [simplify]: iteration 1: (22 enodes) 31.196 * * [simplify]: iteration 2: (80 enodes) 31.206 * * [simplify]: iteration 3: (107 enodes) 31.221 * * [simplify]: iteration 4: (125 enodes) 31.237 * * [simplify]: Extracting #0: cost 1 inf + 0 31.237 * * [simplify]: Extracting #1: cost 4 inf + 0 31.237 * * [simplify]: Extracting #2: cost 6 inf + 1 31.237 * * [simplify]: Extracting #3: cost 21 inf + 1 31.237 * * [simplify]: Extracting #4: cost 38 inf + 1 31.237 * * [simplify]: Extracting #5: cost 28 inf + 734 31.238 * * [simplify]: Extracting #6: cost 24 inf + 1889 31.238 * * [simplify]: Extracting #7: cost 25 inf + 2537 31.239 * * [simplify]: Extracting #8: cost 18 inf + 4766 31.240 * * [simplify]: Extracting #9: cost 12 inf + 7142 31.241 * * [simplify]: Extracting #10: cost 3 inf + 13414 31.243 * * [simplify]: Extracting #11: cost 0 inf + 16385 31.246 * * [simplify]: Extracting #12: cost 0 inf + 16340 31.248 * [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) 31.276 * * [progress]: iteration 1 / 4 31.276 * * * [progress]: picking best candidate 31.286 * * * * [pick]: Picked # 31.286 * * * [progress]: localizing error 31.367 * * * [progress]: generating rewritten candidates 31.367 * * * * [progress]: [ 1 / 4 ] rewriting at (2 1 2) 31.374 * * * * [progress]: [ 2 / 4 ] rewriting at (2 1 2 2 2 1) 31.374 * * * * [progress]: [ 3 / 4 ] rewriting at (2 1 1) 31.397 * * * * [progress]: [ 4 / 4 ] rewriting at (2 1 2 2) 31.410 * * * [progress]: generating series expansions 31.410 * * * * [progress]: [ 1 / 4 ] generating series at (2 1 2) 31.410 * [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))))) 31.410 * [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 31.410 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in theta 31.411 * [taylor]: Taking taylor expansion of (cos delta) in theta 31.411 * [taylor]: Taking taylor expansion of delta in theta 31.411 * [backup-simplify]: Simplify delta into delta 31.411 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.411 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.411 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 31.411 * [taylor]: Taking taylor expansion of (sin phi1) in theta 31.411 * [taylor]: Taking taylor expansion of phi1 in theta 31.411 * [backup-simplify]: Simplify phi1 into phi1 31.411 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.411 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.411 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 31.411 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 31.411 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 31.411 * [taylor]: Taking taylor expansion of (cos theta) in theta 31.411 * [taylor]: Taking taylor expansion of theta in theta 31.411 * [backup-simplify]: Simplify 0 into 0 31.411 * [backup-simplify]: Simplify 1 into 1 31.411 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 31.411 * [taylor]: Taking taylor expansion of (cos phi1) in theta 31.411 * [taylor]: Taking taylor expansion of phi1 in theta 31.411 * [backup-simplify]: Simplify phi1 into phi1 31.411 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.411 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.412 * [taylor]: Taking taylor expansion of (sin delta) in theta 31.412 * [taylor]: Taking taylor expansion of delta in theta 31.412 * [backup-simplify]: Simplify delta into delta 31.412 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.412 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.412 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 31.412 * [taylor]: Taking taylor expansion of (sin phi1) in theta 31.412 * [taylor]: Taking taylor expansion of phi1 in theta 31.412 * [backup-simplify]: Simplify phi1 into phi1 31.412 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.412 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.412 * [taylor]: Taking taylor expansion of (cos delta) in theta 31.412 * [taylor]: Taking taylor expansion of delta in theta 31.412 * [backup-simplify]: Simplify delta into delta 31.412 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.412 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.412 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in phi1 31.412 * [taylor]: Taking taylor expansion of (cos delta) in phi1 31.412 * [taylor]: Taking taylor expansion of delta in phi1 31.412 * [backup-simplify]: Simplify delta into delta 31.412 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.412 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.412 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 31.412 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.412 * [taylor]: Taking taylor expansion of phi1 in phi1 31.412 * [backup-simplify]: Simplify 0 into 0 31.412 * [backup-simplify]: Simplify 1 into 1 31.412 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 31.412 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 31.412 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 31.412 * [taylor]: Taking taylor expansion of (cos theta) in phi1 31.412 * [taylor]: Taking taylor expansion of theta in phi1 31.412 * [backup-simplify]: Simplify theta into theta 31.413 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.413 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.413 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 31.413 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 31.413 * [taylor]: Taking taylor expansion of phi1 in phi1 31.413 * [backup-simplify]: Simplify 0 into 0 31.413 * [backup-simplify]: Simplify 1 into 1 31.413 * [taylor]: Taking taylor expansion of (sin delta) in phi1 31.413 * [taylor]: Taking taylor expansion of delta in phi1 31.413 * [backup-simplify]: Simplify delta into delta 31.413 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.413 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.413 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 31.413 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.413 * [taylor]: Taking taylor expansion of phi1 in phi1 31.413 * [backup-simplify]: Simplify 0 into 0 31.413 * [backup-simplify]: Simplify 1 into 1 31.413 * [taylor]: Taking taylor expansion of (cos delta) in phi1 31.413 * [taylor]: Taking taylor expansion of delta in phi1 31.413 * [backup-simplify]: Simplify delta into delta 31.413 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.413 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.413 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in delta 31.413 * [taylor]: Taking taylor expansion of (cos delta) in delta 31.413 * [taylor]: Taking taylor expansion of delta in delta 31.413 * [backup-simplify]: Simplify 0 into 0 31.413 * [backup-simplify]: Simplify 1 into 1 31.413 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 31.413 * [taylor]: Taking taylor expansion of (sin phi1) in delta 31.413 * [taylor]: Taking taylor expansion of phi1 in delta 31.413 * [backup-simplify]: Simplify phi1 into phi1 31.413 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.413 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.413 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 31.414 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 31.414 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 31.414 * [taylor]: Taking taylor expansion of (cos theta) in delta 31.414 * [taylor]: Taking taylor expansion of theta in delta 31.414 * [backup-simplify]: Simplify theta into theta 31.414 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.414 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.414 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 31.414 * [taylor]: Taking taylor expansion of (cos phi1) in delta 31.414 * [taylor]: Taking taylor expansion of phi1 in delta 31.414 * [backup-simplify]: Simplify phi1 into phi1 31.414 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.414 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.414 * [taylor]: Taking taylor expansion of (sin delta) in delta 31.414 * [taylor]: Taking taylor expansion of delta in delta 31.414 * [backup-simplify]: Simplify 0 into 0 31.414 * [backup-simplify]: Simplify 1 into 1 31.414 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 31.414 * [taylor]: Taking taylor expansion of (sin phi1) in delta 31.414 * [taylor]: Taking taylor expansion of phi1 in delta 31.414 * [backup-simplify]: Simplify phi1 into phi1 31.414 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.414 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.414 * [taylor]: Taking taylor expansion of (cos delta) in delta 31.414 * [taylor]: Taking taylor expansion of delta in delta 31.414 * [backup-simplify]: Simplify 0 into 0 31.414 * [backup-simplify]: Simplify 1 into 1 31.414 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in delta 31.414 * [taylor]: Taking taylor expansion of (cos delta) in delta 31.414 * [taylor]: Taking taylor expansion of delta in delta 31.414 * [backup-simplify]: Simplify 0 into 0 31.414 * [backup-simplify]: Simplify 1 into 1 31.414 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 31.414 * [taylor]: Taking taylor expansion of (sin phi1) in delta 31.414 * [taylor]: Taking taylor expansion of phi1 in delta 31.414 * [backup-simplify]: Simplify phi1 into phi1 31.415 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.415 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.415 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 31.415 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 31.415 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 31.415 * [taylor]: Taking taylor expansion of (cos theta) in delta 31.415 * [taylor]: Taking taylor expansion of theta in delta 31.415 * [backup-simplify]: Simplify theta into theta 31.415 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.415 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.415 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 31.415 * [taylor]: Taking taylor expansion of (cos phi1) in delta 31.415 * [taylor]: Taking taylor expansion of phi1 in delta 31.415 * [backup-simplify]: Simplify phi1 into phi1 31.415 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.415 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.415 * [taylor]: Taking taylor expansion of (sin delta) in delta 31.415 * [taylor]: Taking taylor expansion of delta in delta 31.415 * [backup-simplify]: Simplify 0 into 0 31.415 * [backup-simplify]: Simplify 1 into 1 31.415 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 31.415 * [taylor]: Taking taylor expansion of (sin phi1) in delta 31.415 * [taylor]: Taking taylor expansion of phi1 in delta 31.415 * [backup-simplify]: Simplify phi1 into phi1 31.415 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.415 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.415 * [taylor]: Taking taylor expansion of (cos delta) in delta 31.415 * [taylor]: Taking taylor expansion of delta in delta 31.415 * [backup-simplify]: Simplify 0 into 0 31.415 * [backup-simplify]: Simplify 1 into 1 31.416 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 31.416 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 31.416 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 31.416 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 31.416 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 31.417 * [backup-simplify]: Simplify (- 0) into 0 31.417 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 31.417 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 31.417 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 31.418 * [backup-simplify]: Simplify (- 0) into 0 31.418 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 31.418 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 31.418 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 31.418 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 31.418 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 31.418 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 31.418 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 31.418 * [backup-simplify]: Simplify (+ 0 (sin phi1)) into (sin phi1) 31.418 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 31.418 * [backup-simplify]: Simplify (- (pow (sin phi1) 2)) into (- (pow (sin phi1) 2)) 31.418 * [backup-simplify]: Simplify (+ 1 (- (pow (sin phi1) 2))) into (- 1 (pow (sin phi1) 2)) 31.418 * [taylor]: Taking taylor expansion of (- 1 (pow (sin phi1) 2)) in phi1 31.419 * [taylor]: Taking taylor expansion of 1 in phi1 31.419 * [backup-simplify]: Simplify 1 into 1 31.419 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 31.419 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.419 * [taylor]: Taking taylor expansion of phi1 in phi1 31.419 * [backup-simplify]: Simplify 0 into 0 31.419 * [backup-simplify]: Simplify 1 into 1 31.420 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.420 * [backup-simplify]: Simplify (+ 1 0) into 1 31.420 * [taylor]: Taking taylor expansion of 1 in theta 31.420 * [backup-simplify]: Simplify 1 into 1 31.420 * [backup-simplify]: Simplify 1 into 1 31.421 * [backup-simplify]: Simplify (+ 0) into 0 31.422 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.422 * [backup-simplify]: Simplify (+ 0) into 0 31.423 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 31.424 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.424 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 31.425 * [backup-simplify]: Simplify (- 0) into 0 31.425 * [backup-simplify]: Simplify (+ 0 0) into 0 31.425 * [backup-simplify]: Simplify (+ (* (cos phi1) 1) (* 0 0)) into (cos phi1) 31.426 * [backup-simplify]: Simplify (+ 0) into 0 31.426 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 31.427 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.427 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 31.428 * [backup-simplify]: Simplify (- 0) into 0 31.428 * [backup-simplify]: Simplify (+ 0 0) into 0 31.429 * [backup-simplify]: Simplify (+ (* (cos theta) (cos phi1)) (* 0 0)) into (* (cos theta) (cos phi1)) 31.429 * [backup-simplify]: Simplify (+ 0) into 0 31.429 * [backup-simplify]: Simplify (+ 0) into 0 31.430 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 31.430 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.430 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 31.431 * [backup-simplify]: Simplify (+ 0 0) into 0 31.431 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 31.431 * [backup-simplify]: Simplify (+ (* (cos theta) (cos phi1)) 0) into (* (cos theta) (cos phi1)) 31.431 * [backup-simplify]: Simplify (+ 0) into 0 31.432 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 31.432 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.432 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 31.433 * [backup-simplify]: Simplify (+ 0 0) into 0 31.433 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos theta) (cos phi1))) (* 0 (sin phi1))) into (* (sin phi1) (* (cos theta) (cos phi1))) 31.433 * [backup-simplify]: Simplify (- (* (sin phi1) (* (cos theta) (cos phi1)))) into (- (* (sin phi1) (* (cos theta) (cos phi1)))) 31.433 * [backup-simplify]: Simplify (+ 0 (- (* (sin phi1) (* (cos theta) (cos phi1))))) into (- (* (sin phi1) (* (cos theta) (cos phi1)))) 31.433 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (* (cos theta) (cos phi1)))) in phi1 31.433 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos theta) (cos phi1))) in phi1 31.433 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.433 * [taylor]: Taking taylor expansion of phi1 in phi1 31.433 * [backup-simplify]: Simplify 0 into 0 31.433 * [backup-simplify]: Simplify 1 into 1 31.433 * [taylor]: Taking taylor expansion of (* (cos theta) (cos phi1)) in phi1 31.433 * [taylor]: Taking taylor expansion of (cos theta) in phi1 31.433 * [taylor]: Taking taylor expansion of theta in phi1 31.433 * [backup-simplify]: Simplify theta into theta 31.433 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.433 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.433 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 31.433 * [taylor]: Taking taylor expansion of phi1 in phi1 31.433 * [backup-simplify]: Simplify 0 into 0 31.433 * [backup-simplify]: Simplify 1 into 1 31.433 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 31.433 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 31.436 * [backup-simplify]: Simplify (- 0) into 0 31.436 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 31.437 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 31.437 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 31.437 * [backup-simplify]: Simplify (- 0) into 0 31.437 * [taylor]: Taking taylor expansion of 0 in theta 31.437 * [backup-simplify]: Simplify 0 into 0 31.437 * [backup-simplify]: Simplify 0 into 0 31.437 * [backup-simplify]: Simplify (+ 0 0) into 0 31.437 * [taylor]: Taking taylor expansion of 0 in theta 31.437 * [backup-simplify]: Simplify 0 into 0 31.437 * [backup-simplify]: Simplify 0 into 0 31.437 * [backup-simplify]: Simplify 0 into 0 31.438 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 31.439 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.439 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.440 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 31.440 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.441 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 31.441 * [backup-simplify]: Simplify (- 0) into 0 31.441 * [backup-simplify]: Simplify (+ 0 0) into 0 31.442 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 1) (* 0 0))) into 0 31.443 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.444 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 31.444 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.445 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 31.445 * [backup-simplify]: Simplify (- 0) into 0 31.445 * [backup-simplify]: Simplify (+ 0 0) into 0 31.445 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 (cos phi1)) (* 0 0))) into 0 31.446 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 31.447 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.447 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 31.448 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.448 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 31.448 * [backup-simplify]: Simplify (+ 0 0) into 0 31.449 * [backup-simplify]: Simplify (+ (* (sin phi1) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (sin phi1))) 31.449 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (sin phi1)))) into (- (* 1/2 (sin phi1))) 31.449 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.450 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 31.450 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.451 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 31.451 * [backup-simplify]: Simplify (+ 0 0) into 0 31.451 * [backup-simplify]: Simplify (+ (* (sin phi1) (- (* 1/2 (sin phi1)))) (+ (* 0 (* (cos theta) (cos phi1))) (* 0 (sin phi1)))) into (- (* 1/2 (pow (sin phi1) 2))) 31.451 * [backup-simplify]: Simplify (- (- (* 1/2 (pow (sin phi1) 2)))) into (* 1/2 (pow (sin phi1) 2)) 31.451 * [backup-simplify]: Simplify (+ -1/2 (* 1/2 (pow (sin phi1) 2))) into (- (* 1/2 (pow (sin phi1) 2)) 1/2) 31.451 * [taylor]: Taking taylor expansion of (- (* 1/2 (pow (sin phi1) 2)) 1/2) in phi1 31.451 * [taylor]: Taking taylor expansion of (* 1/2 (pow (sin phi1) 2)) in phi1 31.451 * [taylor]: Taking taylor expansion of 1/2 in phi1 31.451 * [backup-simplify]: Simplify 1/2 into 1/2 31.451 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 31.451 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.451 * [taylor]: Taking taylor expansion of phi1 in phi1 31.451 * [backup-simplify]: Simplify 0 into 0 31.451 * [backup-simplify]: Simplify 1 into 1 31.452 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.452 * [taylor]: Taking taylor expansion of 1/2 in phi1 31.452 * [backup-simplify]: Simplify 1/2 into 1/2 31.452 * [backup-simplify]: Simplify (- 1/2) into -1/2 31.453 * [backup-simplify]: Simplify (+ 0 -1/2) into -1/2 31.453 * [taylor]: Taking taylor expansion of -1/2 in theta 31.453 * [backup-simplify]: Simplify -1/2 into -1/2 31.453 * [backup-simplify]: Simplify -1/2 into -1/2 31.453 * [backup-simplify]: Simplify (+ 0) into 0 31.453 * [backup-simplify]: Simplify (+ 0) into 0 31.454 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 31.454 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.454 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 31.455 * [backup-simplify]: Simplify (- 0) into 0 31.455 * [backup-simplify]: Simplify (+ 0 0) into 0 31.455 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 31.456 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.456 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos theta))) into (cos theta) 31.456 * [backup-simplify]: Simplify (- (cos theta)) into (- (cos theta)) 31.456 * [taylor]: Taking taylor expansion of (- (cos theta)) in theta 31.456 * [taylor]: Taking taylor expansion of (cos theta) in theta 31.456 * [taylor]: Taking taylor expansion of theta in theta 31.456 * [backup-simplify]: Simplify 0 into 0 31.456 * [backup-simplify]: Simplify 1 into 1 31.456 * [backup-simplify]: Simplify (- 1) into -1 31.456 * [backup-simplify]: Simplify -1 into -1 31.456 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* phi1 delta))) (+ (* -1/2 (pow (* 1 (* 1 delta)) 2)) 1)) into (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) 31.457 * [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)))) 31.457 * [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 31.457 * [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 31.457 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 31.457 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.457 * [taylor]: Taking taylor expansion of delta in theta 31.457 * [backup-simplify]: Simplify delta into delta 31.457 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.457 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.457 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.457 * [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 31.457 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 31.457 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 31.457 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 31.457 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 31.457 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 31.457 * [taylor]: Taking taylor expansion of theta in theta 31.457 * [backup-simplify]: Simplify 0 into 0 31.457 * [backup-simplify]: Simplify 1 into 1 31.457 * [backup-simplify]: Simplify (/ 1 1) into 1 31.457 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.458 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 31.458 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 31.458 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.458 * [taylor]: Taking taylor expansion of delta in theta 31.458 * [backup-simplify]: Simplify delta into delta 31.458 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.458 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.458 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.458 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 31.458 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.458 * [taylor]: Taking taylor expansion of phi1 in theta 31.458 * [backup-simplify]: Simplify phi1 into phi1 31.458 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.458 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.458 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.458 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 31.458 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 31.458 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.458 * [taylor]: Taking taylor expansion of phi1 in theta 31.458 * [backup-simplify]: Simplify phi1 into phi1 31.458 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.458 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.458 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.458 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 31.458 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.458 * [taylor]: Taking taylor expansion of delta in theta 31.458 * [backup-simplify]: Simplify delta into delta 31.458 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.458 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.458 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.458 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 31.458 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.458 * [taylor]: Taking taylor expansion of phi1 in theta 31.458 * [backup-simplify]: Simplify phi1 into phi1 31.458 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.458 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.458 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.458 * [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 31.458 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 31.458 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.458 * [taylor]: Taking taylor expansion of delta in phi1 31.458 * [backup-simplify]: Simplify delta into delta 31.458 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.459 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.459 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.459 * [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 31.459 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 31.459 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 31.459 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 31.459 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 31.459 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 31.459 * [taylor]: Taking taylor expansion of theta in phi1 31.459 * [backup-simplify]: Simplify theta into theta 31.459 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.459 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.459 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.459 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 31.459 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 31.459 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.459 * [taylor]: Taking taylor expansion of delta in phi1 31.459 * [backup-simplify]: Simplify delta into delta 31.459 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.459 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.459 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.459 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 31.459 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.459 * [taylor]: Taking taylor expansion of phi1 in phi1 31.459 * [backup-simplify]: Simplify 0 into 0 31.459 * [backup-simplify]: Simplify 1 into 1 31.459 * [backup-simplify]: Simplify (/ 1 1) into 1 31.459 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.459 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 31.459 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 31.459 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.459 * [taylor]: Taking taylor expansion of phi1 in phi1 31.459 * [backup-simplify]: Simplify 0 into 0 31.459 * [backup-simplify]: Simplify 1 into 1 31.460 * [backup-simplify]: Simplify (/ 1 1) into 1 31.460 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.460 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 31.460 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.460 * [taylor]: Taking taylor expansion of delta in phi1 31.460 * [backup-simplify]: Simplify delta into delta 31.460 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.460 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.460 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.460 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 31.460 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.460 * [taylor]: Taking taylor expansion of phi1 in phi1 31.460 * [backup-simplify]: Simplify 0 into 0 31.460 * [backup-simplify]: Simplify 1 into 1 31.460 * [backup-simplify]: Simplify (/ 1 1) into 1 31.460 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.460 * [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 31.460 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 31.460 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.460 * [taylor]: Taking taylor expansion of delta in delta 31.460 * [backup-simplify]: Simplify 0 into 0 31.460 * [backup-simplify]: Simplify 1 into 1 31.461 * [backup-simplify]: Simplify (/ 1 1) into 1 31.461 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.461 * [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 31.461 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 31.461 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 31.461 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 31.461 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 31.461 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 31.461 * [taylor]: Taking taylor expansion of theta in delta 31.461 * [backup-simplify]: Simplify theta into theta 31.461 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.461 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.461 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.461 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 31.461 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 31.461 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.461 * [taylor]: Taking taylor expansion of delta in delta 31.461 * [backup-simplify]: Simplify 0 into 0 31.461 * [backup-simplify]: Simplify 1 into 1 31.461 * [backup-simplify]: Simplify (/ 1 1) into 1 31.461 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.461 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 31.461 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.461 * [taylor]: Taking taylor expansion of phi1 in delta 31.461 * [backup-simplify]: Simplify phi1 into phi1 31.461 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.462 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.462 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.462 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 31.462 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 31.462 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.462 * [taylor]: Taking taylor expansion of phi1 in delta 31.462 * [backup-simplify]: Simplify phi1 into phi1 31.462 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.462 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.462 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.462 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 31.462 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.462 * [taylor]: Taking taylor expansion of delta in delta 31.462 * [backup-simplify]: Simplify 0 into 0 31.462 * [backup-simplify]: Simplify 1 into 1 31.462 * [backup-simplify]: Simplify (/ 1 1) into 1 31.462 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.462 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 31.462 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.462 * [taylor]: Taking taylor expansion of phi1 in delta 31.462 * [backup-simplify]: Simplify phi1 into phi1 31.462 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.462 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.462 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.462 * [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 31.462 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 31.462 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.462 * [taylor]: Taking taylor expansion of delta in delta 31.462 * [backup-simplify]: Simplify 0 into 0 31.462 * [backup-simplify]: Simplify 1 into 1 31.463 * [backup-simplify]: Simplify (/ 1 1) into 1 31.463 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.463 * [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 31.463 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 31.463 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 31.463 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 31.463 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 31.463 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 31.463 * [taylor]: Taking taylor expansion of theta in delta 31.463 * [backup-simplify]: Simplify theta into theta 31.463 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.463 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.463 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.463 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 31.463 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 31.463 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.463 * [taylor]: Taking taylor expansion of delta in delta 31.463 * [backup-simplify]: Simplify 0 into 0 31.463 * [backup-simplify]: Simplify 1 into 1 31.463 * [backup-simplify]: Simplify (/ 1 1) into 1 31.463 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.463 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 31.463 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.463 * [taylor]: Taking taylor expansion of phi1 in delta 31.463 * [backup-simplify]: Simplify phi1 into phi1 31.463 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.463 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.464 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.464 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 31.464 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 31.464 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.464 * [taylor]: Taking taylor expansion of phi1 in delta 31.464 * [backup-simplify]: Simplify phi1 into phi1 31.464 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.464 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.464 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.464 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 31.464 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.464 * [taylor]: Taking taylor expansion of delta in delta 31.464 * [backup-simplify]: Simplify 0 into 0 31.464 * [backup-simplify]: Simplify 1 into 1 31.464 * [backup-simplify]: Simplify (/ 1 1) into 1 31.464 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.464 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 31.464 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.464 * [taylor]: Taking taylor expansion of phi1 in delta 31.464 * [backup-simplify]: Simplify phi1 into phi1 31.464 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.464 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.464 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.464 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 31.464 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 31.465 * [backup-simplify]: Simplify (- 0) into 0 31.465 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 31.465 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 31.465 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 31.465 * [backup-simplify]: Simplify (- 0) into 0 31.465 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 31.465 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (cos (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 delta))) 31.465 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 31.465 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 31.466 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 31.466 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 31.466 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 31.466 * [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))))) 31.466 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 31.466 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 31.466 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 31.466 * [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))) 31.467 * [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)))) 31.467 * [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)))) 31.467 * [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 31.467 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 31.467 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.467 * [taylor]: Taking taylor expansion of delta in phi1 31.467 * [backup-simplify]: Simplify delta into delta 31.467 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.467 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.467 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.467 * [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 31.467 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in phi1 31.467 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 31.467 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.467 * [taylor]: Taking taylor expansion of phi1 in phi1 31.467 * [backup-simplify]: Simplify 0 into 0 31.467 * [backup-simplify]: Simplify 1 into 1 31.468 * [backup-simplify]: Simplify (/ 1 1) into 1 31.468 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.468 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in phi1 31.468 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 31.468 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.468 * [taylor]: Taking taylor expansion of phi1 in phi1 31.468 * [backup-simplify]: Simplify 0 into 0 31.468 * [backup-simplify]: Simplify 1 into 1 31.468 * [backup-simplify]: Simplify (/ 1 1) into 1 31.468 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.468 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in phi1 31.468 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 31.468 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 31.468 * [taylor]: Taking taylor expansion of theta in phi1 31.468 * [backup-simplify]: Simplify theta into theta 31.468 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.468 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.468 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.468 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 31.468 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.468 * [taylor]: Taking taylor expansion of delta in phi1 31.468 * [backup-simplify]: Simplify delta into delta 31.468 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.468 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.468 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.468 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in phi1 31.468 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 31.468 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.468 * [taylor]: Taking taylor expansion of delta in phi1 31.468 * [backup-simplify]: Simplify delta into delta 31.468 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.469 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.469 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.469 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 31.469 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 31.469 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.469 * [taylor]: Taking taylor expansion of phi1 in phi1 31.469 * [backup-simplify]: Simplify 0 into 0 31.469 * [backup-simplify]: Simplify 1 into 1 31.469 * [backup-simplify]: Simplify (/ 1 1) into 1 31.469 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.469 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 31.469 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 31.469 * [backup-simplify]: Simplify (- 0) into 0 31.469 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 31.469 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 31.469 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 31.470 * [backup-simplify]: Simplify (- 0) into 0 31.470 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 31.470 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 31.470 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 31.470 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 31.470 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 31.470 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) 31.470 * [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))))) 31.470 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 31.470 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 31.471 * [backup-simplify]: Simplify (- 0) into 0 31.471 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 31.471 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 31.471 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 31.471 * [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)))) 31.471 * [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)))) 31.472 * [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)))) 31.472 * [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 31.472 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 31.472 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.472 * [taylor]: Taking taylor expansion of delta in theta 31.472 * [backup-simplify]: Simplify delta into delta 31.472 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.472 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.472 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.472 * [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 31.472 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) in theta 31.472 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 31.472 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.472 * [taylor]: Taking taylor expansion of phi1 in theta 31.472 * [backup-simplify]: Simplify phi1 into phi1 31.472 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.472 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.472 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.472 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) in theta 31.472 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 31.472 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.472 * [taylor]: Taking taylor expansion of delta in theta 31.472 * [backup-simplify]: Simplify delta into delta 31.472 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.472 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.472 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.472 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 phi1))) in theta 31.472 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 31.472 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 31.472 * [taylor]: Taking taylor expansion of theta in theta 31.472 * [backup-simplify]: Simplify 0 into 0 31.472 * [backup-simplify]: Simplify 1 into 1 31.473 * [backup-simplify]: Simplify (/ 1 1) into 1 31.473 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.473 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 31.473 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.473 * [taylor]: Taking taylor expansion of phi1 in theta 31.473 * [backup-simplify]: Simplify phi1 into phi1 31.473 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.473 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.473 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.473 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in theta 31.473 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 31.473 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.473 * [taylor]: Taking taylor expansion of delta in theta 31.473 * [backup-simplify]: Simplify delta into delta 31.473 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.473 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.473 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.473 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 31.473 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 31.473 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.473 * [taylor]: Taking taylor expansion of phi1 in theta 31.473 * [backup-simplify]: Simplify phi1 into phi1 31.473 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.473 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.473 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.473 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 31.473 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 31.473 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 31.473 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 31.473 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 31.474 * [backup-simplify]: Simplify (- 0) into 0 31.474 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 31.474 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 31.474 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 31.474 * [backup-simplify]: Simplify (- 0) into 0 31.474 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 31.474 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 31.474 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 31.474 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 31.474 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 31.474 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 31.474 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 31.475 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 phi1))) into (* (cos (/ 1 theta)) (sin (/ 1 phi1))) 31.475 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) into (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 31.475 * [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))))) 31.475 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 31.475 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 31.475 * [backup-simplify]: Simplify (- 0) into 0 31.475 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 31.475 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 31.475 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 31.476 * [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)))) 31.476 * [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))))))) 31.476 * [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))))))) 31.477 * [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))))) 31.477 * [backup-simplify]: Simplify (+ 0) into 0 31.477 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 31.477 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.478 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.478 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 31.478 * [backup-simplify]: Simplify (+ 0 0) into 0 31.479 * [backup-simplify]: Simplify (+ 0) into 0 31.479 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 31.479 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.479 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.480 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 31.480 * [backup-simplify]: Simplify (- 0) into 0 31.480 * [backup-simplify]: Simplify (+ 0 0) into 0 31.480 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 31.481 * [backup-simplify]: Simplify (+ 0) into 0 31.481 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 31.481 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 31.481 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.482 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 31.482 * [backup-simplify]: Simplify (- 0) into 0 31.482 * [backup-simplify]: Simplify (+ 0 0) into 0 31.482 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta))))) into 0 31.483 * [backup-simplify]: Simplify (+ 0) into 0 31.483 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 31.483 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.483 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.484 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 31.484 * [backup-simplify]: Simplify (+ 0 0) into 0 31.484 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 31.484 * [backup-simplify]: Simplify (+ 0 0) into 0 31.485 * [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 31.485 * [backup-simplify]: Simplify (- 0) into 0 31.485 * [backup-simplify]: Simplify (+ 0 0) into 0 31.485 * [taylor]: Taking taylor expansion of 0 in phi1 31.485 * [backup-simplify]: Simplify 0 into 0 31.485 * [taylor]: Taking taylor expansion of 0 in theta 31.485 * [backup-simplify]: Simplify 0 into 0 31.485 * [backup-simplify]: Simplify 0 into 0 31.485 * [backup-simplify]: Simplify (+ 0) into 0 31.486 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 31.486 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.486 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.487 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 31.487 * [backup-simplify]: Simplify (- 0) into 0 31.487 * [backup-simplify]: Simplify (+ 0 0) into 0 31.487 * [backup-simplify]: Simplify (+ 0) into 0 31.488 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 31.488 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.488 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.488 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 31.489 * [backup-simplify]: Simplify (+ 0 0) into 0 31.489 * [backup-simplify]: Simplify (+ 0) into 0 31.489 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 31.489 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 31.490 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.490 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 31.490 * [backup-simplify]: Simplify (- 0) into 0 31.491 * [backup-simplify]: Simplify (+ 0 0) into 0 31.491 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 31.491 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 31.491 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))))) into 0 31.491 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 31.491 * [backup-simplify]: Simplify (+ 0) into 0 31.492 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 31.492 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.492 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.493 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 31.493 * [backup-simplify]: Simplify (- 0) into 0 31.493 * [backup-simplify]: Simplify (+ 0 0) into 0 31.494 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 31.494 * [backup-simplify]: Simplify (+ 0 0) into 0 31.494 * [backup-simplify]: Simplify (- 0) into 0 31.494 * [backup-simplify]: Simplify (+ 0 0) into 0 31.494 * [taylor]: Taking taylor expansion of 0 in theta 31.495 * [backup-simplify]: Simplify 0 into 0 31.495 * [backup-simplify]: Simplify 0 into 0 31.495 * [backup-simplify]: Simplify (+ 0) into 0 31.495 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 31.495 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.496 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.496 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 31.496 * [backup-simplify]: Simplify (- 0) into 0 31.496 * [backup-simplify]: Simplify (+ 0 0) into 0 31.497 * [backup-simplify]: Simplify (+ 0) into 0 31.497 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 31.497 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.498 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.498 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 31.498 * [backup-simplify]: Simplify (+ 0 0) into 0 31.498 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 31.498 * [backup-simplify]: Simplify (+ 0) into 0 31.499 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 31.499 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.499 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.500 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 31.500 * [backup-simplify]: Simplify (+ 0 0) into 0 31.500 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) into 0 31.500 * [backup-simplify]: Simplify (+ 0) into 0 31.501 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 31.501 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.501 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.501 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 31.502 * [backup-simplify]: Simplify (- 0) into 0 31.502 * [backup-simplify]: Simplify (+ 0 0) into 0 31.502 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 31.502 * [backup-simplify]: Simplify (+ 0) into 0 31.503 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 31.503 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.503 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.504 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 31.504 * [backup-simplify]: Simplify (+ 0 0) into 0 31.504 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 31.504 * [backup-simplify]: Simplify (+ 0) into 0 31.505 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 31.505 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.505 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.505 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 31.506 * [backup-simplify]: Simplify (- 0) into 0 31.506 * [backup-simplify]: Simplify (+ 0 0) into 0 31.506 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 31.506 * [backup-simplify]: Simplify (+ 0 0) into 0 31.506 * [backup-simplify]: Simplify (- 0) into 0 31.507 * [backup-simplify]: Simplify (+ 0 0) into 0 31.507 * [backup-simplify]: Simplify 0 into 0 31.507 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.508 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.508 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.508 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.509 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.509 * [backup-simplify]: Simplify (+ 0 0) into 0 31.509 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.510 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.510 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.511 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.511 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.511 * [backup-simplify]: Simplify (- 0) into 0 31.511 * [backup-simplify]: Simplify (+ 0 0) into 0 31.512 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 31.512 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.513 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.513 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.513 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.514 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.514 * [backup-simplify]: Simplify (- 0) into 0 31.514 * [backup-simplify]: Simplify (+ 0 0) into 0 31.515 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta)))))) into 0 31.515 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.515 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.516 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.516 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.516 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.517 * [backup-simplify]: Simplify (+ 0 0) into 0 31.517 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 31.517 * [backup-simplify]: Simplify (+ 0 0) into 0 31.518 * [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 31.518 * [backup-simplify]: Simplify (- 0) into 0 31.518 * [backup-simplify]: Simplify (+ 0 0) into 0 31.518 * [taylor]: Taking taylor expansion of 0 in phi1 31.518 * [backup-simplify]: Simplify 0 into 0 31.518 * [taylor]: Taking taylor expansion of 0 in theta 31.518 * [backup-simplify]: Simplify 0 into 0 31.518 * [backup-simplify]: Simplify 0 into 0 31.518 * [taylor]: Taking taylor expansion of 0 in theta 31.518 * [backup-simplify]: Simplify 0 into 0 31.518 * [backup-simplify]: Simplify 0 into 0 31.519 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.519 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.520 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.520 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.520 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.521 * [backup-simplify]: Simplify (- 0) into 0 31.521 * [backup-simplify]: Simplify (+ 0 0) into 0 31.521 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.522 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.522 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.522 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.523 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.523 * [backup-simplify]: Simplify (+ 0 0) into 0 31.524 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.524 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.524 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.525 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.525 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.525 * [backup-simplify]: Simplify (- 0) into 0 31.525 * [backup-simplify]: Simplify (+ 0 0) into 0 31.526 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 31.526 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 31.527 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))))) into 0 31.527 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 31.528 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.531 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.531 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.532 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.532 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.532 * [backup-simplify]: Simplify (- 0) into 0 31.533 * [backup-simplify]: Simplify (+ 0 0) into 0 31.533 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 1 phi1)) 2)))) into 0 31.533 * [backup-simplify]: Simplify (+ 0 0) into 0 31.533 * [backup-simplify]: Simplify (- 0) into 0 31.534 * [backup-simplify]: Simplify (+ 0 0) into 0 31.534 * [taylor]: Taking taylor expansion of 0 in theta 31.534 * [backup-simplify]: Simplify 0 into 0 31.534 * [backup-simplify]: Simplify 0 into 0 31.534 * [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)))))) 31.534 * [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)))))) 31.534 * [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 31.534 * [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 31.534 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 31.535 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.535 * [taylor]: Taking taylor expansion of -1 in theta 31.535 * [backup-simplify]: Simplify -1 into -1 31.535 * [taylor]: Taking taylor expansion of delta in theta 31.535 * [backup-simplify]: Simplify delta into delta 31.535 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.535 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.535 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.535 * [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 31.535 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 31.535 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.535 * [taylor]: Taking taylor expansion of -1 in theta 31.535 * [backup-simplify]: Simplify -1 into -1 31.535 * [taylor]: Taking taylor expansion of phi1 in theta 31.535 * [backup-simplify]: Simplify phi1 into phi1 31.535 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.535 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.535 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.535 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 31.535 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 31.535 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 31.535 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 31.535 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 31.535 * [taylor]: Taking taylor expansion of -1 in theta 31.535 * [backup-simplify]: Simplify -1 into -1 31.535 * [taylor]: Taking taylor expansion of theta in theta 31.535 * [backup-simplify]: Simplify 0 into 0 31.535 * [backup-simplify]: Simplify 1 into 1 31.535 * [backup-simplify]: Simplify (/ -1 1) into -1 31.535 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.535 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 31.535 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 31.535 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.536 * [taylor]: Taking taylor expansion of -1 in theta 31.536 * [backup-simplify]: Simplify -1 into -1 31.536 * [taylor]: Taking taylor expansion of phi1 in theta 31.536 * [backup-simplify]: Simplify phi1 into phi1 31.536 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.536 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.536 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.536 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 31.536 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.536 * [taylor]: Taking taylor expansion of -1 in theta 31.536 * [backup-simplify]: Simplify -1 into -1 31.536 * [taylor]: Taking taylor expansion of delta in theta 31.536 * [backup-simplify]: Simplify delta into delta 31.536 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.536 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.536 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.536 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 31.536 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 31.536 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.536 * [taylor]: Taking taylor expansion of -1 in theta 31.536 * [backup-simplify]: Simplify -1 into -1 31.536 * [taylor]: Taking taylor expansion of phi1 in theta 31.536 * [backup-simplify]: Simplify phi1 into phi1 31.536 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.536 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.536 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.536 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 31.536 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.536 * [taylor]: Taking taylor expansion of -1 in theta 31.536 * [backup-simplify]: Simplify -1 into -1 31.536 * [taylor]: Taking taylor expansion of delta in theta 31.536 * [backup-simplify]: Simplify delta into delta 31.536 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.536 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.536 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.536 * [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 31.536 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 31.536 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.536 * [taylor]: Taking taylor expansion of -1 in phi1 31.536 * [backup-simplify]: Simplify -1 into -1 31.536 * [taylor]: Taking taylor expansion of delta in phi1 31.536 * [backup-simplify]: Simplify delta into delta 31.536 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.536 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.536 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.536 * [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 31.537 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 31.537 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.537 * [taylor]: Taking taylor expansion of -1 in phi1 31.537 * [backup-simplify]: Simplify -1 into -1 31.537 * [taylor]: Taking taylor expansion of phi1 in phi1 31.537 * [backup-simplify]: Simplify 0 into 0 31.537 * [backup-simplify]: Simplify 1 into 1 31.537 * [backup-simplify]: Simplify (/ -1 1) into -1 31.537 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.537 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 31.537 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 31.537 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 31.537 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 31.537 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 31.537 * [taylor]: Taking taylor expansion of -1 in phi1 31.537 * [backup-simplify]: Simplify -1 into -1 31.537 * [taylor]: Taking taylor expansion of theta in phi1 31.537 * [backup-simplify]: Simplify theta into theta 31.537 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.537 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.537 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.537 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 31.537 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 31.537 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.537 * [taylor]: Taking taylor expansion of -1 in phi1 31.537 * [backup-simplify]: Simplify -1 into -1 31.537 * [taylor]: Taking taylor expansion of phi1 in phi1 31.537 * [backup-simplify]: Simplify 0 into 0 31.537 * [backup-simplify]: Simplify 1 into 1 31.538 * [backup-simplify]: Simplify (/ -1 1) into -1 31.538 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.538 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 31.538 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.538 * [taylor]: Taking taylor expansion of -1 in phi1 31.538 * [backup-simplify]: Simplify -1 into -1 31.538 * [taylor]: Taking taylor expansion of delta in phi1 31.538 * [backup-simplify]: Simplify delta into delta 31.538 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.538 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.538 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.538 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 31.538 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 31.538 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.538 * [taylor]: Taking taylor expansion of -1 in phi1 31.538 * [backup-simplify]: Simplify -1 into -1 31.538 * [taylor]: Taking taylor expansion of phi1 in phi1 31.538 * [backup-simplify]: Simplify 0 into 0 31.538 * [backup-simplify]: Simplify 1 into 1 31.538 * [backup-simplify]: Simplify (/ -1 1) into -1 31.538 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.538 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 31.538 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.538 * [taylor]: Taking taylor expansion of -1 in phi1 31.538 * [backup-simplify]: Simplify -1 into -1 31.538 * [taylor]: Taking taylor expansion of delta in phi1 31.538 * [backup-simplify]: Simplify delta into delta 31.538 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.538 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.539 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.539 * [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 31.539 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 31.539 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.539 * [taylor]: Taking taylor expansion of -1 in delta 31.539 * [backup-simplify]: Simplify -1 into -1 31.539 * [taylor]: Taking taylor expansion of delta in delta 31.539 * [backup-simplify]: Simplify 0 into 0 31.539 * [backup-simplify]: Simplify 1 into 1 31.539 * [backup-simplify]: Simplify (/ -1 1) into -1 31.539 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.539 * [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 31.539 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 31.539 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.539 * [taylor]: Taking taylor expansion of -1 in delta 31.539 * [backup-simplify]: Simplify -1 into -1 31.539 * [taylor]: Taking taylor expansion of phi1 in delta 31.539 * [backup-simplify]: Simplify phi1 into phi1 31.539 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.539 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.539 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.539 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 31.539 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 31.539 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 31.539 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 31.539 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 31.539 * [taylor]: Taking taylor expansion of -1 in delta 31.539 * [backup-simplify]: Simplify -1 into -1 31.539 * [taylor]: Taking taylor expansion of theta in delta 31.539 * [backup-simplify]: Simplify theta into theta 31.539 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.539 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.539 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.539 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 31.539 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 31.540 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.540 * [taylor]: Taking taylor expansion of -1 in delta 31.540 * [backup-simplify]: Simplify -1 into -1 31.540 * [taylor]: Taking taylor expansion of phi1 in delta 31.540 * [backup-simplify]: Simplify phi1 into phi1 31.540 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.540 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.540 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.540 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 31.540 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.540 * [taylor]: Taking taylor expansion of -1 in delta 31.540 * [backup-simplify]: Simplify -1 into -1 31.540 * [taylor]: Taking taylor expansion of delta in delta 31.540 * [backup-simplify]: Simplify 0 into 0 31.540 * [backup-simplify]: Simplify 1 into 1 31.540 * [backup-simplify]: Simplify (/ -1 1) into -1 31.540 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.540 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 31.540 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 31.540 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.540 * [taylor]: Taking taylor expansion of -1 in delta 31.540 * [backup-simplify]: Simplify -1 into -1 31.540 * [taylor]: Taking taylor expansion of phi1 in delta 31.540 * [backup-simplify]: Simplify phi1 into phi1 31.540 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.540 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.540 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.540 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 31.540 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.540 * [taylor]: Taking taylor expansion of -1 in delta 31.540 * [backup-simplify]: Simplify -1 into -1 31.540 * [taylor]: Taking taylor expansion of delta in delta 31.540 * [backup-simplify]: Simplify 0 into 0 31.540 * [backup-simplify]: Simplify 1 into 1 31.541 * [backup-simplify]: Simplify (/ -1 1) into -1 31.541 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.541 * [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 31.541 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 31.541 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.541 * [taylor]: Taking taylor expansion of -1 in delta 31.541 * [backup-simplify]: Simplify -1 into -1 31.541 * [taylor]: Taking taylor expansion of delta in delta 31.541 * [backup-simplify]: Simplify 0 into 0 31.541 * [backup-simplify]: Simplify 1 into 1 31.541 * [backup-simplify]: Simplify (/ -1 1) into -1 31.541 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.541 * [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 31.541 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 31.541 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.541 * [taylor]: Taking taylor expansion of -1 in delta 31.541 * [backup-simplify]: Simplify -1 into -1 31.541 * [taylor]: Taking taylor expansion of phi1 in delta 31.541 * [backup-simplify]: Simplify phi1 into phi1 31.541 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.541 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.541 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.541 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 31.542 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 31.542 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 31.542 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 31.542 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 31.542 * [taylor]: Taking taylor expansion of -1 in delta 31.542 * [backup-simplify]: Simplify -1 into -1 31.542 * [taylor]: Taking taylor expansion of theta in delta 31.542 * [backup-simplify]: Simplify theta into theta 31.542 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.542 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.542 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.542 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 31.542 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 31.542 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.542 * [taylor]: Taking taylor expansion of -1 in delta 31.542 * [backup-simplify]: Simplify -1 into -1 31.542 * [taylor]: Taking taylor expansion of phi1 in delta 31.542 * [backup-simplify]: Simplify phi1 into phi1 31.542 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.542 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.542 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.542 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 31.542 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.542 * [taylor]: Taking taylor expansion of -1 in delta 31.542 * [backup-simplify]: Simplify -1 into -1 31.542 * [taylor]: Taking taylor expansion of delta in delta 31.542 * [backup-simplify]: Simplify 0 into 0 31.542 * [backup-simplify]: Simplify 1 into 1 31.542 * [backup-simplify]: Simplify (/ -1 1) into -1 31.542 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.542 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 31.542 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 31.542 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.542 * [taylor]: Taking taylor expansion of -1 in delta 31.542 * [backup-simplify]: Simplify -1 into -1 31.542 * [taylor]: Taking taylor expansion of phi1 in delta 31.542 * [backup-simplify]: Simplify phi1 into phi1 31.543 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.543 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.543 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.543 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 31.543 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.543 * [taylor]: Taking taylor expansion of -1 in delta 31.543 * [backup-simplify]: Simplify -1 into -1 31.543 * [taylor]: Taking taylor expansion of delta in delta 31.543 * [backup-simplify]: Simplify 0 into 0 31.543 * [backup-simplify]: Simplify 1 into 1 31.543 * [backup-simplify]: Simplify (/ -1 1) into -1 31.543 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.543 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.543 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.543 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.543 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 31.543 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 31.544 * [backup-simplify]: Simplify (- 0) into 0 31.544 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 31.544 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 31.544 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 31.544 * [backup-simplify]: Simplify (- 0) into 0 31.544 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 31.544 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 31.544 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 31.544 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.544 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.544 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.544 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 31.545 * [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)))) 31.545 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 31.545 * [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))))))) 31.545 * [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))))))) 31.545 * [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 31.545 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 31.546 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.546 * [taylor]: Taking taylor expansion of -1 in phi1 31.546 * [backup-simplify]: Simplify -1 into -1 31.546 * [taylor]: Taking taylor expansion of delta in phi1 31.546 * [backup-simplify]: Simplify delta into delta 31.546 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.546 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.546 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.546 * [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 31.546 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in phi1 31.546 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 31.546 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 31.546 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.546 * [taylor]: Taking taylor expansion of -1 in phi1 31.546 * [backup-simplify]: Simplify -1 into -1 31.546 * [taylor]: Taking taylor expansion of phi1 in phi1 31.546 * [backup-simplify]: Simplify 0 into 0 31.546 * [backup-simplify]: Simplify 1 into 1 31.546 * [backup-simplify]: Simplify (/ -1 1) into -1 31.546 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.546 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 31.546 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.546 * [taylor]: Taking taylor expansion of -1 in phi1 31.546 * [backup-simplify]: Simplify -1 into -1 31.546 * [taylor]: Taking taylor expansion of delta in phi1 31.546 * [backup-simplify]: Simplify delta into delta 31.546 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.546 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.546 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.546 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) in phi1 31.546 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 31.546 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.546 * [taylor]: Taking taylor expansion of -1 in phi1 31.546 * [backup-simplify]: Simplify -1 into -1 31.546 * [taylor]: Taking taylor expansion of phi1 in phi1 31.546 * [backup-simplify]: Simplify 0 into 0 31.546 * [backup-simplify]: Simplify 1 into 1 31.547 * [backup-simplify]: Simplify (/ -1 1) into -1 31.547 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.547 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))) in phi1 31.547 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 31.547 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 31.547 * [taylor]: Taking taylor expansion of -1 in phi1 31.547 * [backup-simplify]: Simplify -1 into -1 31.547 * [taylor]: Taking taylor expansion of theta in phi1 31.547 * [backup-simplify]: Simplify theta into theta 31.547 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.547 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.547 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.547 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 phi1))) in phi1 31.547 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 31.547 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.547 * [taylor]: Taking taylor expansion of -1 in phi1 31.547 * [backup-simplify]: Simplify -1 into -1 31.547 * [taylor]: Taking taylor expansion of delta in phi1 31.547 * [backup-simplify]: Simplify delta into delta 31.547 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.547 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.547 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.547 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 31.547 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.547 * [taylor]: Taking taylor expansion of -1 in phi1 31.547 * [backup-simplify]: Simplify -1 into -1 31.547 * [taylor]: Taking taylor expansion of phi1 in phi1 31.547 * [backup-simplify]: Simplify 0 into 0 31.547 * [backup-simplify]: Simplify 1 into 1 31.548 * [backup-simplify]: Simplify (/ -1 1) into -1 31.548 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.548 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 31.548 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 31.548 * [backup-simplify]: Simplify (- 0) into 0 31.548 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 31.548 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 31.548 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 31.548 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 31.548 * [backup-simplify]: Simplify (- 0) into 0 31.549 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 31.549 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 31.549 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 31.549 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 31.549 * [backup-simplify]: Simplify (- 0) into 0 31.549 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 31.549 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 31.549 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 31.549 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 31.549 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 31.549 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 31.549 * [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))))) 31.550 * [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)))))) 31.550 * [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))))))) 31.550 * [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))))))) 31.550 * [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 31.550 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 31.550 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.550 * [taylor]: Taking taylor expansion of -1 in theta 31.551 * [backup-simplify]: Simplify -1 into -1 31.551 * [taylor]: Taking taylor expansion of delta in theta 31.551 * [backup-simplify]: Simplify delta into delta 31.551 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.551 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.551 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.551 * [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 31.551 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in theta 31.551 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in theta 31.551 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 31.551 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.551 * [taylor]: Taking taylor expansion of -1 in theta 31.551 * [backup-simplify]: Simplify -1 into -1 31.551 * [taylor]: Taking taylor expansion of phi1 in theta 31.551 * [backup-simplify]: Simplify phi1 into phi1 31.551 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.551 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.551 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.551 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.551 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.551 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.551 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 31.551 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.551 * [taylor]: Taking taylor expansion of -1 in theta 31.551 * [backup-simplify]: Simplify -1 into -1 31.551 * [taylor]: Taking taylor expansion of delta in theta 31.551 * [backup-simplify]: Simplify delta into delta 31.551 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.551 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.551 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.551 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) in theta 31.551 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 31.551 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.551 * [taylor]: Taking taylor expansion of -1 in theta 31.551 * [backup-simplify]: Simplify -1 into -1 31.551 * [taylor]: Taking taylor expansion of phi1 in theta 31.551 * [backup-simplify]: Simplify phi1 into phi1 31.551 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.551 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.551 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.551 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))) in theta 31.551 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 31.551 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 31.552 * [taylor]: Taking taylor expansion of -1 in theta 31.552 * [backup-simplify]: Simplify -1 into -1 31.552 * [taylor]: Taking taylor expansion of theta in theta 31.552 * [backup-simplify]: Simplify 0 into 0 31.552 * [backup-simplify]: Simplify 1 into 1 31.552 * [backup-simplify]: Simplify (/ -1 1) into -1 31.552 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.552 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 phi1))) in theta 31.552 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 31.552 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.552 * [taylor]: Taking taylor expansion of -1 in theta 31.552 * [backup-simplify]: Simplify -1 into -1 31.552 * [taylor]: Taking taylor expansion of delta in theta 31.552 * [backup-simplify]: Simplify delta into delta 31.552 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.552 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.552 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.552 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 31.552 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.552 * [taylor]: Taking taylor expansion of -1 in theta 31.552 * [backup-simplify]: Simplify -1 into -1 31.552 * [taylor]: Taking taylor expansion of phi1 in theta 31.552 * [backup-simplify]: Simplify phi1 into phi1 31.552 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.552 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.552 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.552 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 31.552 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 31.553 * [backup-simplify]: Simplify (- 0) into 0 31.553 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 31.553 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 31.553 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 31.553 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 31.553 * [backup-simplify]: Simplify (- 0) into 0 31.553 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 31.554 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 31.554 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.554 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.554 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.554 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 31.554 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 31.554 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 31.554 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 31.554 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 31.554 * [backup-simplify]: Simplify (- 0) into 0 31.554 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 31.554 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 31.554 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 31.555 * [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))))) 31.555 * [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)))))) 31.555 * [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))))))) 31.555 * [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))))))) 31.556 * [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))))))) 31.556 * [backup-simplify]: Simplify (+ 0) into 0 31.556 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 31.557 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.557 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.557 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 31.558 * [backup-simplify]: Simplify (- 0) into 0 31.558 * [backup-simplify]: Simplify (+ 0 0) into 0 31.558 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 31.558 * [backup-simplify]: Simplify (+ 0) into 0 31.558 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 31.559 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 31.559 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.560 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 31.560 * [backup-simplify]: Simplify (- 0) into 0 31.560 * [backup-simplify]: Simplify (+ 0 0) into 0 31.561 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 31.561 * [backup-simplify]: Simplify (+ 0) into 0 31.561 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 31.562 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.562 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.563 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 31.563 * [backup-simplify]: Simplify (+ 0 0) into 0 31.563 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 31.564 * [backup-simplify]: Simplify (+ 0 0) into 0 31.564 * [backup-simplify]: Simplify (+ 0) into 0 31.565 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 31.565 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.565 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.566 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 31.566 * [backup-simplify]: Simplify (+ 0 0) into 0 31.567 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) into 0 31.567 * [backup-simplify]: Simplify (- 0) into 0 31.567 * [backup-simplify]: Simplify (+ 0 0) into 0 31.567 * [taylor]: Taking taylor expansion of 0 in phi1 31.567 * [backup-simplify]: Simplify 0 into 0 31.567 * [taylor]: Taking taylor expansion of 0 in theta 31.567 * [backup-simplify]: Simplify 0 into 0 31.568 * [backup-simplify]: Simplify 0 into 0 31.568 * [backup-simplify]: Simplify (+ 0) into 0 31.568 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 31.569 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.569 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.570 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 31.570 * [backup-simplify]: Simplify (- 0) into 0 31.570 * [backup-simplify]: Simplify (+ 0 0) into 0 31.571 * [backup-simplify]: Simplify (+ 0) into 0 31.571 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 31.571 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.572 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.573 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 31.573 * [backup-simplify]: Simplify (- 0) into 0 31.573 * [backup-simplify]: Simplify (+ 0 0) into 0 31.574 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 31.574 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 31.574 * [backup-simplify]: Simplify (+ 0) into 0 31.575 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 31.575 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.576 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.576 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 31.576 * [backup-simplify]: Simplify (+ 0 0) into 0 31.576 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 31.577 * [backup-simplify]: Simplify (+ 0) into 0 31.577 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 31.577 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 31.578 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.579 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 31.579 * [backup-simplify]: Simplify (- 0) into 0 31.579 * [backup-simplify]: Simplify (+ 0 0) into 0 31.580 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 31.580 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 31.580 * [backup-simplify]: Simplify (+ 0 0) into 0 31.581 * [backup-simplify]: Simplify (- 0) into 0 31.581 * [backup-simplify]: Simplify (+ 0 0) into 0 31.581 * [taylor]: Taking taylor expansion of 0 in theta 31.581 * [backup-simplify]: Simplify 0 into 0 31.581 * [backup-simplify]: Simplify 0 into 0 31.581 * [backup-simplify]: Simplify (+ 0) into 0 31.582 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 31.582 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.583 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.583 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 31.584 * [backup-simplify]: Simplify (- 0) into 0 31.584 * [backup-simplify]: Simplify (+ 0 0) into 0 31.584 * [backup-simplify]: Simplify (+ 0) into 0 31.585 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 31.585 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.586 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.586 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 31.586 * [backup-simplify]: Simplify (- 0) into 0 31.587 * [backup-simplify]: Simplify (+ 0 0) into 0 31.587 * [backup-simplify]: Simplify (+ 0) into 0 31.588 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 31.588 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.588 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.589 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 31.589 * [backup-simplify]: Simplify (+ 0 0) into 0 31.589 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 31.590 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 31.590 * [backup-simplify]: Simplify (+ 0) into 0 31.590 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 31.591 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.591 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.592 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 31.592 * [backup-simplify]: Simplify (- 0) into 0 31.592 * [backup-simplify]: Simplify (+ 0 0) into 0 31.593 * [backup-simplify]: Simplify (+ 0) into 0 31.593 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 31.593 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.594 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.595 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 31.595 * [backup-simplify]: Simplify (+ 0 0) into 0 31.595 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 31.595 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 31.596 * [backup-simplify]: Simplify (+ 0) into 0 31.596 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 31.596 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.597 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.598 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 31.598 * [backup-simplify]: Simplify (+ 0 0) into 0 31.598 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 31.599 * [backup-simplify]: Simplify (+ 0 0) into 0 31.599 * [backup-simplify]: Simplify (- 0) into 0 31.599 * [backup-simplify]: Simplify (+ 0 0) into 0 31.599 * [backup-simplify]: Simplify 0 into 0 31.600 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.600 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.600 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.601 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.601 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.601 * [backup-simplify]: Simplify (- 0) into 0 31.602 * [backup-simplify]: Simplify (+ 0 0) into 0 31.602 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 31.602 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.603 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.603 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.604 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.604 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.604 * [backup-simplify]: Simplify (- 0) into 0 31.604 * [backup-simplify]: Simplify (+ 0 0) into 0 31.605 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 31.605 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.606 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.606 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.606 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.607 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.607 * [backup-simplify]: Simplify (+ 0 0) into 0 31.607 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 31.608 * [backup-simplify]: Simplify (+ 0 0) into 0 31.608 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.609 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.609 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.609 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.609 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.610 * [backup-simplify]: Simplify (+ 0 0) into 0 31.610 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) into 0 31.610 * [backup-simplify]: Simplify (- 0) into 0 31.611 * [backup-simplify]: Simplify (+ 0 0) into 0 31.611 * [taylor]: Taking taylor expansion of 0 in phi1 31.611 * [backup-simplify]: Simplify 0 into 0 31.611 * [taylor]: Taking taylor expansion of 0 in theta 31.611 * [backup-simplify]: Simplify 0 into 0 31.611 * [backup-simplify]: Simplify 0 into 0 31.611 * [taylor]: Taking taylor expansion of 0 in theta 31.611 * [backup-simplify]: Simplify 0 into 0 31.611 * [backup-simplify]: Simplify 0 into 0 31.611 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.612 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.612 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.612 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.613 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.613 * [backup-simplify]: Simplify (- 0) into 0 31.613 * [backup-simplify]: Simplify (+ 0 0) into 0 31.614 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.614 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.614 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.615 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.615 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.615 * [backup-simplify]: Simplify (- 0) into 0 31.616 * [backup-simplify]: Simplify (+ 0 0) into 0 31.616 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 31.616 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 31.617 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.617 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.618 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.618 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.619 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.619 * [backup-simplify]: Simplify (+ 0 0) into 0 31.620 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 phi1))))) into 0 31.621 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.621 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.621 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.622 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.623 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.623 * [backup-simplify]: Simplify (- 0) into 0 31.623 * [backup-simplify]: Simplify (+ 0 0) into 0 31.624 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 31.625 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))))) into 0 31.625 * [backup-simplify]: Simplify (+ 0 0) into 0 31.625 * [backup-simplify]: Simplify (- 0) into 0 31.626 * [backup-simplify]: Simplify (+ 0 0) into 0 31.626 * [taylor]: Taking taylor expansion of 0 in theta 31.626 * [backup-simplify]: Simplify 0 into 0 31.626 * [backup-simplify]: Simplify 0 into 0 31.627 * [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)))))) 31.627 * * * * [progress]: [ 2 / 4 ] generating series at (2 1 2 2 2 1) 31.627 * [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)))) 31.627 * [approximate]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in (theta phi1 delta) around 0 31.627 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 31.627 * [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)))) 31.627 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 31.627 * [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)))) 31.627 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 31.628 * [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)))) 31.628 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 31.628 * [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)))) 31.628 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 31.628 * [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)))) 31.628 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 31.628 * [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)))) 31.629 * [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)))) 31.629 * [taylor]: Taking taylor expansion of 0 in phi1 31.629 * [backup-simplify]: Simplify 0 into 0 31.629 * [taylor]: Taking taylor expansion of 0 in delta 31.629 * [backup-simplify]: Simplify 0 into 0 31.629 * [backup-simplify]: Simplify 0 into 0 31.629 * [taylor]: Taking taylor expansion of 0 in delta 31.629 * [backup-simplify]: Simplify 0 into 0 31.629 * [backup-simplify]: Simplify 0 into 0 31.629 * [backup-simplify]: Simplify 0 into 0 31.629 * [taylor]: Taking taylor expansion of 0 in phi1 31.629 * [backup-simplify]: Simplify 0 into 0 31.629 * [taylor]: Taking taylor expansion of 0 in delta 31.629 * [backup-simplify]: Simplify 0 into 0 31.629 * [backup-simplify]: Simplify 0 into 0 31.629 * [taylor]: Taking taylor expansion of 0 in delta 31.629 * [backup-simplify]: Simplify 0 into 0 31.629 * [backup-simplify]: Simplify 0 into 0 31.629 * [taylor]: Taking taylor expansion of 0 in delta 31.629 * [backup-simplify]: Simplify 0 into 0 31.629 * [backup-simplify]: Simplify 0 into 0 31.629 * [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)))) 31.630 * [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))))) 31.630 * [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 31.630 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in delta 31.630 * [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))))) 31.630 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in phi1 31.630 * [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))))) 31.630 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in theta 31.631 * [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))))) 31.631 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in theta 31.631 * [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))))) 31.631 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in phi1 31.631 * [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))))) 31.631 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in delta 31.632 * [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))))) 31.632 * [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))))) 31.632 * [taylor]: Taking taylor expansion of 0 in phi1 31.632 * [backup-simplify]: Simplify 0 into 0 31.632 * [taylor]: Taking taylor expansion of 0 in delta 31.632 * [backup-simplify]: Simplify 0 into 0 31.632 * [backup-simplify]: Simplify 0 into 0 31.632 * [taylor]: Taking taylor expansion of 0 in delta 31.632 * [backup-simplify]: Simplify 0 into 0 31.632 * [backup-simplify]: Simplify 0 into 0 31.632 * [backup-simplify]: Simplify 0 into 0 31.632 * [taylor]: Taking taylor expansion of 0 in phi1 31.632 * [backup-simplify]: Simplify 0 into 0 31.632 * [taylor]: Taking taylor expansion of 0 in delta 31.632 * [backup-simplify]: Simplify 0 into 0 31.632 * [backup-simplify]: Simplify 0 into 0 31.632 * [taylor]: Taking taylor expansion of 0 in delta 31.632 * [backup-simplify]: Simplify 0 into 0 31.632 * [backup-simplify]: Simplify 0 into 0 31.632 * [taylor]: Taking taylor expansion of 0 in delta 31.632 * [backup-simplify]: Simplify 0 into 0 31.632 * [backup-simplify]: Simplify 0 into 0 31.633 * [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)))) 31.633 * [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))))) 31.633 * [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 31.633 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 31.634 * [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))))) 31.634 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 31.634 * [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))))) 31.634 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 31.634 * [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))))) 31.634 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 31.634 * [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))))) 31.635 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 31.635 * [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))))) 31.635 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 31.635 * [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))))) 31.635 * [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))))) 31.635 * [taylor]: Taking taylor expansion of 0 in phi1 31.635 * [backup-simplify]: Simplify 0 into 0 31.635 * [taylor]: Taking taylor expansion of 0 in delta 31.636 * [backup-simplify]: Simplify 0 into 0 31.636 * [backup-simplify]: Simplify 0 into 0 31.636 * [taylor]: Taking taylor expansion of 0 in delta 31.636 * [backup-simplify]: Simplify 0 into 0 31.636 * [backup-simplify]: Simplify 0 into 0 31.636 * [backup-simplify]: Simplify 0 into 0 31.636 * [taylor]: Taking taylor expansion of 0 in phi1 31.636 * [backup-simplify]: Simplify 0 into 0 31.636 * [taylor]: Taking taylor expansion of 0 in delta 31.636 * [backup-simplify]: Simplify 0 into 0 31.636 * [backup-simplify]: Simplify 0 into 0 31.636 * [taylor]: Taking taylor expansion of 0 in delta 31.636 * [backup-simplify]: Simplify 0 into 0 31.636 * [backup-simplify]: Simplify 0 into 0 31.636 * [taylor]: Taking taylor expansion of 0 in delta 31.636 * [backup-simplify]: Simplify 0 into 0 31.636 * [backup-simplify]: Simplify 0 into 0 31.636 * [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)))) 31.636 * * * * [progress]: [ 3 / 4 ] generating series at (2 1 1) 31.637 * [backup-simplify]: Simplify (* (sin delta) (* (cos phi1) (sin theta))) into (* (sin delta) (* (cos phi1) (sin theta))) 31.637 * [approximate]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in (delta phi1 theta) around 0 31.637 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in theta 31.637 * [taylor]: Taking taylor expansion of (sin delta) in theta 31.637 * [taylor]: Taking taylor expansion of delta in theta 31.637 * [backup-simplify]: Simplify delta into delta 31.637 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.637 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.637 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in theta 31.637 * [taylor]: Taking taylor expansion of (cos phi1) in theta 31.637 * [taylor]: Taking taylor expansion of phi1 in theta 31.637 * [backup-simplify]: Simplify phi1 into phi1 31.637 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.637 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.637 * [taylor]: Taking taylor expansion of (sin theta) in theta 31.637 * [taylor]: Taking taylor expansion of theta in theta 31.637 * [backup-simplify]: Simplify 0 into 0 31.637 * [backup-simplify]: Simplify 1 into 1 31.637 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in phi1 31.637 * [taylor]: Taking taylor expansion of (sin delta) in phi1 31.637 * [taylor]: Taking taylor expansion of delta in phi1 31.637 * [backup-simplify]: Simplify delta into delta 31.637 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.637 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.637 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in phi1 31.637 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 31.637 * [taylor]: Taking taylor expansion of phi1 in phi1 31.637 * [backup-simplify]: Simplify 0 into 0 31.637 * [backup-simplify]: Simplify 1 into 1 31.637 * [taylor]: Taking taylor expansion of (sin theta) in phi1 31.637 * [taylor]: Taking taylor expansion of theta in phi1 31.638 * [backup-simplify]: Simplify theta into theta 31.638 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.638 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.638 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in delta 31.638 * [taylor]: Taking taylor expansion of (sin delta) in delta 31.638 * [taylor]: Taking taylor expansion of delta in delta 31.638 * [backup-simplify]: Simplify 0 into 0 31.638 * [backup-simplify]: Simplify 1 into 1 31.638 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in delta 31.638 * [taylor]: Taking taylor expansion of (cos phi1) in delta 31.638 * [taylor]: Taking taylor expansion of phi1 in delta 31.638 * [backup-simplify]: Simplify phi1 into phi1 31.638 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.638 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.638 * [taylor]: Taking taylor expansion of (sin theta) in delta 31.638 * [taylor]: Taking taylor expansion of theta in delta 31.638 * [backup-simplify]: Simplify theta into theta 31.638 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.638 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.638 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in delta 31.638 * [taylor]: Taking taylor expansion of (sin delta) in delta 31.638 * [taylor]: Taking taylor expansion of delta in delta 31.638 * [backup-simplify]: Simplify 0 into 0 31.638 * [backup-simplify]: Simplify 1 into 1 31.638 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in delta 31.638 * [taylor]: Taking taylor expansion of (cos phi1) in delta 31.638 * [taylor]: Taking taylor expansion of phi1 in delta 31.638 * [backup-simplify]: Simplify phi1 into phi1 31.638 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.638 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.638 * [taylor]: Taking taylor expansion of (sin theta) in delta 31.638 * [taylor]: Taking taylor expansion of theta in delta 31.638 * [backup-simplify]: Simplify theta into theta 31.638 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.638 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.638 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 31.638 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 31.639 * [backup-simplify]: Simplify (- 0) into 0 31.639 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 31.639 * [backup-simplify]: Simplify (* (sin theta) 1) into (sin theta) 31.639 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 31.639 * [backup-simplify]: Simplify (+ (sin theta) 0) into (sin theta) 31.639 * [backup-simplify]: Simplify (* (cos phi1) (sin theta)) into (* (cos phi1) (sin theta)) 31.639 * [backup-simplify]: Simplify (* 0 (* (cos phi1) (sin theta))) into 0 31.639 * [taylor]: Taking taylor expansion of 0 in phi1 31.639 * [backup-simplify]: Simplify 0 into 0 31.639 * [taylor]: Taking taylor expansion of 0 in theta 31.639 * [backup-simplify]: Simplify 0 into 0 31.639 * [backup-simplify]: Simplify 0 into 0 31.640 * [backup-simplify]: Simplify (+ 0) into 0 31.640 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 1)) into 0 31.640 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.641 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 0)) into 0 31.641 * [backup-simplify]: Simplify (+ 0 0) into 0 31.641 * [backup-simplify]: Simplify (+ 0) into 0 31.641 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 31.642 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.642 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 31.644 * [backup-simplify]: Simplify (- 0) into 0 31.644 * [backup-simplify]: Simplify (+ 0 0) into 0 31.644 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 (sin theta))) into 0 31.645 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.645 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos phi1) (sin theta)))) into (* (cos phi1) (sin theta)) 31.645 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in phi1 31.645 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 31.645 * [taylor]: Taking taylor expansion of phi1 in phi1 31.645 * [backup-simplify]: Simplify 0 into 0 31.645 * [backup-simplify]: Simplify 1 into 1 31.645 * [taylor]: Taking taylor expansion of (sin theta) in phi1 31.645 * [taylor]: Taking taylor expansion of theta in phi1 31.645 * [backup-simplify]: Simplify theta into theta 31.645 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.645 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.645 * [backup-simplify]: Simplify (* (sin theta) 1) into (sin theta) 31.645 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 31.645 * [backup-simplify]: Simplify (+ (sin theta) 0) into (sin theta) 31.645 * [backup-simplify]: Simplify (* 1 (sin theta)) into (sin theta) 31.645 * [taylor]: Taking taylor expansion of (sin theta) in theta 31.645 * [taylor]: Taking taylor expansion of theta in theta 31.645 * [backup-simplify]: Simplify 0 into 0 31.645 * [backup-simplify]: Simplify 1 into 1 31.645 * [backup-simplify]: Simplify 0 into 0 31.645 * [taylor]: Taking taylor expansion of 0 in theta 31.645 * [backup-simplify]: Simplify 0 into 0 31.645 * [backup-simplify]: Simplify 0 into 0 31.646 * [backup-simplify]: Simplify 0 into 0 31.646 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.646 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 1))) into 0 31.647 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.647 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 0))) into 0 31.648 * [backup-simplify]: Simplify (+ 0 0) into 0 31.648 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.649 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 31.649 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.649 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 31.650 * [backup-simplify]: Simplify (- 0) into 0 31.650 * [backup-simplify]: Simplify (+ 0 0) into 0 31.650 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 (sin theta)))) into 0 31.651 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.651 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (cos phi1) (sin theta))))) into 0 31.651 * [taylor]: Taking taylor expansion of 0 in phi1 31.651 * [backup-simplify]: Simplify 0 into 0 31.651 * [taylor]: Taking taylor expansion of 0 in theta 31.651 * [backup-simplify]: Simplify 0 into 0 31.651 * [backup-simplify]: Simplify 0 into 0 31.651 * [backup-simplify]: Simplify (+ 0) into 0 31.652 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 1)) into 0 31.652 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.653 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 0)) into 0 31.653 * [backup-simplify]: Simplify (+ 0 0) into 0 31.653 * [backup-simplify]: Simplify (+ 0) into 0 31.654 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin theta))) into 0 31.654 * [taylor]: Taking taylor expansion of 0 in theta 31.654 * [backup-simplify]: Simplify 0 into 0 31.654 * [backup-simplify]: Simplify 0 into 0 31.654 * [backup-simplify]: Simplify 0 into 0 31.654 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) 31.654 * [approximate]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in (delta phi1 theta) around 0 31.654 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in theta 31.654 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 31.654 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.654 * [taylor]: Taking taylor expansion of phi1 in theta 31.654 * [backup-simplify]: Simplify phi1 into phi1 31.654 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.654 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.654 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.654 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in theta 31.654 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in theta 31.654 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 31.654 * [taylor]: Taking taylor expansion of theta in theta 31.654 * [backup-simplify]: Simplify 0 into 0 31.654 * [backup-simplify]: Simplify 1 into 1 31.654 * [backup-simplify]: Simplify (/ 1 1) into 1 31.654 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.654 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 31.654 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.654 * [taylor]: Taking taylor expansion of delta in theta 31.654 * [backup-simplify]: Simplify delta into delta 31.654 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.655 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.655 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.655 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in phi1 31.655 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 31.655 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.655 * [taylor]: Taking taylor expansion of phi1 in phi1 31.655 * [backup-simplify]: Simplify 0 into 0 31.655 * [backup-simplify]: Simplify 1 into 1 31.655 * [backup-simplify]: Simplify (/ 1 1) into 1 31.655 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.655 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in phi1 31.655 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in phi1 31.655 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 31.655 * [taylor]: Taking taylor expansion of theta in phi1 31.655 * [backup-simplify]: Simplify theta into theta 31.655 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.655 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.655 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.655 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 31.655 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.655 * [taylor]: Taking taylor expansion of delta in phi1 31.655 * [backup-simplify]: Simplify delta into delta 31.655 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.655 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.655 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.655 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in delta 31.655 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 31.655 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.655 * [taylor]: Taking taylor expansion of phi1 in delta 31.655 * [backup-simplify]: Simplify phi1 into phi1 31.655 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.655 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.656 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.656 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in delta 31.656 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in delta 31.656 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 31.656 * [taylor]: Taking taylor expansion of theta in delta 31.656 * [backup-simplify]: Simplify theta into theta 31.656 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.656 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.656 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.656 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 31.656 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.656 * [taylor]: Taking taylor expansion of delta in delta 31.656 * [backup-simplify]: Simplify 0 into 0 31.656 * [backup-simplify]: Simplify 1 into 1 31.656 * [backup-simplify]: Simplify (/ 1 1) into 1 31.656 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.656 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in delta 31.656 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 31.656 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.656 * [taylor]: Taking taylor expansion of phi1 in delta 31.656 * [backup-simplify]: Simplify phi1 into phi1 31.656 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.656 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.656 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.656 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in delta 31.656 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in delta 31.656 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 31.656 * [taylor]: Taking taylor expansion of theta in delta 31.656 * [backup-simplify]: Simplify theta into theta 31.656 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.656 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.656 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.656 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 31.656 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.656 * [taylor]: Taking taylor expansion of delta in delta 31.657 * [backup-simplify]: Simplify 0 into 0 31.657 * [backup-simplify]: Simplify 1 into 1 31.657 * [backup-simplify]: Simplify (/ 1 1) into 1 31.657 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.657 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 31.657 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 31.657 * [backup-simplify]: Simplify (- 0) into 0 31.657 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 31.657 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 1) into (sin (/ 1 theta)) 31.657 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 0) into 0 31.657 * [backup-simplify]: Simplify (+ (sin (/ 1 theta)) 0) into (sin (/ 1 theta)) 31.658 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (sin (/ 1 delta))) into (* (sin (/ 1 theta)) (sin (/ 1 delta))) 31.658 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) 31.658 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 31.658 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 31.658 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.658 * [taylor]: Taking taylor expansion of delta in phi1 31.658 * [backup-simplify]: Simplify delta into delta 31.658 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.658 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.658 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.658 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (cos (/ 1 phi1))) in phi1 31.658 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in phi1 31.658 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 31.658 * [taylor]: Taking taylor expansion of theta in phi1 31.658 * [backup-simplify]: Simplify theta into theta 31.658 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.658 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.658 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.658 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 31.658 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.658 * [taylor]: Taking taylor expansion of phi1 in phi1 31.658 * [backup-simplify]: Simplify 0 into 0 31.658 * [backup-simplify]: Simplify 1 into 1 31.658 * [backup-simplify]: Simplify (/ 1 1) into 1 31.658 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.658 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 31.658 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 31.659 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 31.659 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 1) into (sin (/ 1 theta)) 31.659 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 0) into 0 31.659 * [backup-simplify]: Simplify (+ (sin (/ 1 theta)) 0) into (sin (/ 1 theta)) 31.659 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (cos (/ 1 phi1))) into (* (sin (/ 1 theta)) (cos (/ 1 phi1))) 31.659 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) 31.659 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in theta 31.659 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 31.659 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.659 * [taylor]: Taking taylor expansion of phi1 in theta 31.659 * [backup-simplify]: Simplify phi1 into phi1 31.659 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.659 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.659 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.659 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in theta 31.659 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in theta 31.659 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 31.659 * [taylor]: Taking taylor expansion of theta in theta 31.659 * [backup-simplify]: Simplify 0 into 0 31.659 * [backup-simplify]: Simplify 1 into 1 31.659 * [backup-simplify]: Simplify (/ 1 1) into 1 31.659 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.659 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 31.660 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.660 * [taylor]: Taking taylor expansion of delta in theta 31.660 * [backup-simplify]: Simplify delta into delta 31.660 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.660 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.660 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.660 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 31.660 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 31.660 * [backup-simplify]: Simplify (- 0) into 0 31.660 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 31.660 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 31.661 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 31.661 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 31.661 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (sin (/ 1 delta))) into (* (sin (/ 1 theta)) (sin (/ 1 delta))) 31.661 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) 31.661 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) 31.661 * [backup-simplify]: Simplify (+ 0) into 0 31.662 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 1)) into 0 31.662 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 31.663 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.663 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 0)) into 0 31.664 * [backup-simplify]: Simplify (+ 0 0) into 0 31.664 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 31.664 * [backup-simplify]: Simplify (+ 0) into 0 31.665 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 31.665 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.666 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.666 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 31.666 * [backup-simplify]: Simplify (- 0) into 0 31.667 * [backup-simplify]: Simplify (+ 0 0) into 0 31.667 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 theta)) (sin (/ 1 delta))))) into 0 31.667 * [taylor]: Taking taylor expansion of 0 in phi1 31.667 * [backup-simplify]: Simplify 0 into 0 31.667 * [taylor]: Taking taylor expansion of 0 in theta 31.667 * [backup-simplify]: Simplify 0 into 0 31.667 * [backup-simplify]: Simplify 0 into 0 31.667 * [backup-simplify]: Simplify (+ 0) into 0 31.668 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 1)) into 0 31.668 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 31.669 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.669 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 0)) into 0 31.670 * [backup-simplify]: Simplify (+ 0 0) into 0 31.670 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 31.670 * [backup-simplify]: Simplify (+ 0) into 0 31.671 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 31.671 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.672 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.672 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 31.673 * [backup-simplify]: Simplify (+ 0 0) into 0 31.673 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (sin (/ 1 theta)) (cos (/ 1 phi1))))) into 0 31.673 * [taylor]: Taking taylor expansion of 0 in theta 31.673 * [backup-simplify]: Simplify 0 into 0 31.673 * [backup-simplify]: Simplify 0 into 0 31.673 * [backup-simplify]: Simplify (+ 0) into 0 31.674 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 31.674 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.675 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.675 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 31.675 * [backup-simplify]: Simplify (+ 0 0) into 0 31.676 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 31.676 * [backup-simplify]: Simplify (+ 0) into 0 31.676 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 31.677 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.677 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.678 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 31.678 * [backup-simplify]: Simplify (- 0) into 0 31.678 * [backup-simplify]: Simplify (+ 0 0) into 0 31.679 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 theta)) (sin (/ 1 delta))))) into 0 31.679 * [backup-simplify]: Simplify 0 into 0 31.680 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.680 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.681 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.681 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.682 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.682 * [backup-simplify]: Simplify (+ 0 0) into 0 31.683 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 31.684 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.684 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.684 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.685 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.686 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.686 * [backup-simplify]: Simplify (- 0) into 0 31.686 * [backup-simplify]: Simplify (+ 0 0) into 0 31.687 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 theta)) (sin (/ 1 delta)))))) into 0 31.687 * [taylor]: Taking taylor expansion of 0 in phi1 31.687 * [backup-simplify]: Simplify 0 into 0 31.687 * [taylor]: Taking taylor expansion of 0 in theta 31.687 * [backup-simplify]: Simplify 0 into 0 31.687 * [backup-simplify]: Simplify 0 into 0 31.687 * [taylor]: Taking taylor expansion of 0 in theta 31.687 * [backup-simplify]: Simplify 0 into 0 31.687 * [backup-simplify]: Simplify 0 into 0 31.688 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.688 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.688 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.689 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.689 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.689 * [backup-simplify]: Simplify (+ 0 0) into 0 31.690 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 31.690 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.690 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.691 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.691 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.691 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.692 * [backup-simplify]: Simplify (+ 0 0) into 0 31.692 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 31.692 * [taylor]: Taking taylor expansion of 0 in theta 31.692 * [backup-simplify]: Simplify 0 into 0 31.692 * [backup-simplify]: Simplify 0 into 0 31.692 * [backup-simplify]: Simplify (* (cos (/ 1 (/ 1 phi1))) (* (sin (/ 1 (/ 1 theta))) (sin (/ 1 (/ 1 delta))))) into (* (cos phi1) (* (sin theta) (sin delta))) 31.692 * [backup-simplify]: Simplify (* (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (sin (/ 1 (- theta))))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) 31.692 * [approximate]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in (delta phi1 theta) around 0 31.692 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in theta 31.692 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 31.692 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.692 * [taylor]: Taking taylor expansion of -1 in theta 31.692 * [backup-simplify]: Simplify -1 into -1 31.692 * [taylor]: Taking taylor expansion of phi1 in theta 31.693 * [backup-simplify]: Simplify phi1 into phi1 31.693 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.693 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.693 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.693 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in theta 31.693 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in theta 31.693 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 31.693 * [taylor]: Taking taylor expansion of -1 in theta 31.693 * [backup-simplify]: Simplify -1 into -1 31.693 * [taylor]: Taking taylor expansion of theta in theta 31.693 * [backup-simplify]: Simplify 0 into 0 31.693 * [backup-simplify]: Simplify 1 into 1 31.693 * [backup-simplify]: Simplify (/ -1 1) into -1 31.693 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.693 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 31.693 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.693 * [taylor]: Taking taylor expansion of -1 in theta 31.693 * [backup-simplify]: Simplify -1 into -1 31.693 * [taylor]: Taking taylor expansion of delta in theta 31.693 * [backup-simplify]: Simplify delta into delta 31.693 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.693 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.693 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.693 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in phi1 31.693 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 31.693 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.693 * [taylor]: Taking taylor expansion of -1 in phi1 31.693 * [backup-simplify]: Simplify -1 into -1 31.693 * [taylor]: Taking taylor expansion of phi1 in phi1 31.693 * [backup-simplify]: Simplify 0 into 0 31.693 * [backup-simplify]: Simplify 1 into 1 31.694 * [backup-simplify]: Simplify (/ -1 1) into -1 31.694 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.694 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in phi1 31.694 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in phi1 31.694 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 31.694 * [taylor]: Taking taylor expansion of -1 in phi1 31.694 * [backup-simplify]: Simplify -1 into -1 31.694 * [taylor]: Taking taylor expansion of theta in phi1 31.694 * [backup-simplify]: Simplify theta into theta 31.694 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.694 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.694 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.694 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 31.694 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.694 * [taylor]: Taking taylor expansion of -1 in phi1 31.694 * [backup-simplify]: Simplify -1 into -1 31.694 * [taylor]: Taking taylor expansion of delta in phi1 31.694 * [backup-simplify]: Simplify delta into delta 31.694 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.694 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.694 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.694 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in delta 31.694 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 31.694 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.694 * [taylor]: Taking taylor expansion of -1 in delta 31.694 * [backup-simplify]: Simplify -1 into -1 31.694 * [taylor]: Taking taylor expansion of phi1 in delta 31.694 * [backup-simplify]: Simplify phi1 into phi1 31.694 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.694 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.694 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.694 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in delta 31.694 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in delta 31.694 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 31.694 * [taylor]: Taking taylor expansion of -1 in delta 31.694 * [backup-simplify]: Simplify -1 into -1 31.694 * [taylor]: Taking taylor expansion of theta in delta 31.694 * [backup-simplify]: Simplify theta into theta 31.695 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.695 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.695 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.695 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 31.695 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.695 * [taylor]: Taking taylor expansion of -1 in delta 31.695 * [backup-simplify]: Simplify -1 into -1 31.695 * [taylor]: Taking taylor expansion of delta in delta 31.695 * [backup-simplify]: Simplify 0 into 0 31.695 * [backup-simplify]: Simplify 1 into 1 31.695 * [backup-simplify]: Simplify (/ -1 1) into -1 31.695 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.695 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in delta 31.695 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 31.695 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.695 * [taylor]: Taking taylor expansion of -1 in delta 31.695 * [backup-simplify]: Simplify -1 into -1 31.695 * [taylor]: Taking taylor expansion of phi1 in delta 31.695 * [backup-simplify]: Simplify phi1 into phi1 31.696 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.696 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.696 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.696 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in delta 31.696 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in delta 31.696 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 31.696 * [taylor]: Taking taylor expansion of -1 in delta 31.696 * [backup-simplify]: Simplify -1 into -1 31.696 * [taylor]: Taking taylor expansion of theta in delta 31.696 * [backup-simplify]: Simplify theta into theta 31.696 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.696 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.696 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.696 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 31.696 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.696 * [taylor]: Taking taylor expansion of -1 in delta 31.696 * [backup-simplify]: Simplify -1 into -1 31.696 * [taylor]: Taking taylor expansion of delta in delta 31.696 * [backup-simplify]: Simplify 0 into 0 31.696 * [backup-simplify]: Simplify 1 into 1 31.697 * [backup-simplify]: Simplify (/ -1 1) into -1 31.697 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.697 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 31.697 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 31.697 * [backup-simplify]: Simplify (- 0) into 0 31.697 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 31.698 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 1) into (sin (/ -1 theta)) 31.698 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 0) into 0 31.698 * [backup-simplify]: Simplify (+ (sin (/ -1 theta)) 0) into (sin (/ -1 theta)) 31.698 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (sin (/ -1 theta))) 31.698 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) 31.698 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) in phi1 31.698 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 31.698 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.698 * [taylor]: Taking taylor expansion of -1 in phi1 31.698 * [backup-simplify]: Simplify -1 into -1 31.698 * [taylor]: Taking taylor expansion of phi1 in phi1 31.698 * [backup-simplify]: Simplify 0 into 0 31.698 * [backup-simplify]: Simplify 1 into 1 31.699 * [backup-simplify]: Simplify (/ -1 1) into -1 31.699 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.699 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (sin (/ -1 theta))) in phi1 31.699 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 31.699 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.699 * [taylor]: Taking taylor expansion of -1 in phi1 31.699 * [backup-simplify]: Simplify -1 into -1 31.699 * [taylor]: Taking taylor expansion of delta in phi1 31.699 * [backup-simplify]: Simplify delta into delta 31.699 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.699 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.699 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.699 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in phi1 31.699 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 31.699 * [taylor]: Taking taylor expansion of -1 in phi1 31.699 * [backup-simplify]: Simplify -1 into -1 31.699 * [taylor]: Taking taylor expansion of theta in phi1 31.699 * [backup-simplify]: Simplify theta into theta 31.699 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.699 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.699 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.700 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 31.700 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 31.700 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 31.700 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 1) into (sin (/ -1 theta)) 31.700 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 0) into 0 31.700 * [backup-simplify]: Simplify (+ (sin (/ -1 theta)) 0) into (sin (/ -1 theta)) 31.700 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (sin (/ -1 theta))) into (* (sin (/ -1 theta)) (sin (/ -1 delta))) 31.700 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) 31.700 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in theta 31.700 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 31.700 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.700 * [taylor]: Taking taylor expansion of -1 in theta 31.700 * [backup-simplify]: Simplify -1 into -1 31.700 * [taylor]: Taking taylor expansion of phi1 in theta 31.700 * [backup-simplify]: Simplify phi1 into phi1 31.701 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.701 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.701 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.701 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in theta 31.701 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in theta 31.701 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 31.701 * [taylor]: Taking taylor expansion of -1 in theta 31.701 * [backup-simplify]: Simplify -1 into -1 31.701 * [taylor]: Taking taylor expansion of theta in theta 31.701 * [backup-simplify]: Simplify 0 into 0 31.701 * [backup-simplify]: Simplify 1 into 1 31.701 * [backup-simplify]: Simplify (/ -1 1) into -1 31.701 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.701 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 31.701 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.701 * [taylor]: Taking taylor expansion of -1 in theta 31.702 * [backup-simplify]: Simplify -1 into -1 31.702 * [taylor]: Taking taylor expansion of delta in theta 31.702 * [backup-simplify]: Simplify delta into delta 31.702 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.702 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.702 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.702 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 31.702 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 31.702 * [backup-simplify]: Simplify (- 0) into 0 31.702 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 31.703 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 31.703 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 31.703 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 31.703 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (sin (/ -1 theta))) 31.703 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) 31.703 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) 31.704 * [backup-simplify]: Simplify (+ 0) into 0 31.704 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 1)) into 0 31.705 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 31.705 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.706 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 0)) into 0 31.706 * [backup-simplify]: Simplify (+ 0 0) into 0 31.706 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 31.707 * [backup-simplify]: Simplify (+ 0) into 0 31.707 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 31.707 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.708 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.709 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 31.709 * [backup-simplify]: Simplify (- 0) into 0 31.709 * [backup-simplify]: Simplify (+ 0 0) into 0 31.710 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (sin (/ -1 theta))))) into 0 31.710 * [taylor]: Taking taylor expansion of 0 in phi1 31.710 * [backup-simplify]: Simplify 0 into 0 31.710 * [taylor]: Taking taylor expansion of 0 in theta 31.710 * [backup-simplify]: Simplify 0 into 0 31.710 * [backup-simplify]: Simplify 0 into 0 31.710 * [backup-simplify]: Simplify (+ 0) into 0 31.711 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 1)) into 0 31.711 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 31.712 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.712 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 0)) into 0 31.713 * [backup-simplify]: Simplify (+ 0 0) into 0 31.713 * [backup-simplify]: Simplify (+ 0) into 0 31.713 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 31.714 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.714 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.715 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 31.715 * [backup-simplify]: Simplify (+ 0 0) into 0 31.715 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (sin (/ -1 theta)))) into 0 31.716 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 theta)) (sin (/ -1 delta))))) into 0 31.716 * [taylor]: Taking taylor expansion of 0 in theta 31.716 * [backup-simplify]: Simplify 0 into 0 31.716 * [backup-simplify]: Simplify 0 into 0 31.716 * [backup-simplify]: Simplify (+ 0) into 0 31.717 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 31.717 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.718 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.718 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 31.718 * [backup-simplify]: Simplify (+ 0 0) into 0 31.719 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 31.719 * [backup-simplify]: Simplify (+ 0) into 0 31.719 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 31.720 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.720 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.721 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 31.721 * [backup-simplify]: Simplify (- 0) into 0 31.722 * [backup-simplify]: Simplify (+ 0 0) into 0 31.722 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (sin (/ -1 theta))))) into 0 31.722 * [backup-simplify]: Simplify 0 into 0 31.723 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.723 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.724 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.725 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.725 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.725 * [backup-simplify]: Simplify (+ 0 0) into 0 31.726 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 31.727 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.728 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.728 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.729 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.729 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.730 * [backup-simplify]: Simplify (- 0) into 0 31.730 * [backup-simplify]: Simplify (+ 0 0) into 0 31.731 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -1 delta)) (sin (/ -1 theta)))))) into 0 31.731 * [taylor]: Taking taylor expansion of 0 in phi1 31.731 * [backup-simplify]: Simplify 0 into 0 31.731 * [taylor]: Taking taylor expansion of 0 in theta 31.731 * [backup-simplify]: Simplify 0 into 0 31.731 * [backup-simplify]: Simplify 0 into 0 31.731 * [taylor]: Taking taylor expansion of 0 in theta 31.731 * [backup-simplify]: Simplify 0 into 0 31.731 * [backup-simplify]: Simplify 0 into 0 31.731 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.732 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.732 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.732 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.733 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.733 * [backup-simplify]: Simplify (+ 0 0) into 0 31.733 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.734 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.734 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.735 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.735 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.735 * [backup-simplify]: Simplify (+ 0 0) into 0 31.735 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 theta))))) into 0 31.736 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -1 theta)) (sin (/ -1 delta)))))) into 0 31.736 * [taylor]: Taking taylor expansion of 0 in theta 31.736 * [backup-simplify]: Simplify 0 into 0 31.736 * [backup-simplify]: Simplify 0 into 0 31.736 * [backup-simplify]: Simplify (* (cos (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- delta)))) (sin (/ -1 (/ 1 (- theta)))))) into (* (cos phi1) (* (sin delta) (sin theta))) 31.736 * * * * [progress]: [ 4 / 4 ] generating series at (2 1 2 2) 31.736 * [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)))) 31.736 * [approximate]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in (phi1 theta delta) around 0 31.736 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 31.736 * [taylor]: Taking taylor expansion of (sin phi1) in delta 31.736 * [taylor]: Taking taylor expansion of phi1 in delta 31.736 * [backup-simplify]: Simplify phi1 into phi1 31.736 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.736 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.736 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 31.736 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 31.736 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 31.736 * [taylor]: Taking taylor expansion of (cos theta) in delta 31.737 * [taylor]: Taking taylor expansion of theta in delta 31.737 * [backup-simplify]: Simplify theta into theta 31.737 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.737 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.737 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 31.737 * [taylor]: Taking taylor expansion of (cos phi1) in delta 31.737 * [taylor]: Taking taylor expansion of phi1 in delta 31.737 * [backup-simplify]: Simplify phi1 into phi1 31.737 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.737 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.737 * [taylor]: Taking taylor expansion of (sin delta) in delta 31.737 * [taylor]: Taking taylor expansion of delta in delta 31.737 * [backup-simplify]: Simplify 0 into 0 31.737 * [backup-simplify]: Simplify 1 into 1 31.737 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 31.737 * [taylor]: Taking taylor expansion of (sin phi1) in delta 31.737 * [taylor]: Taking taylor expansion of phi1 in delta 31.737 * [backup-simplify]: Simplify phi1 into phi1 31.737 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.737 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.737 * [taylor]: Taking taylor expansion of (cos delta) in delta 31.737 * [taylor]: Taking taylor expansion of delta in delta 31.737 * [backup-simplify]: Simplify 0 into 0 31.737 * [backup-simplify]: Simplify 1 into 1 31.737 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 31.737 * [taylor]: Taking taylor expansion of (sin phi1) in theta 31.737 * [taylor]: Taking taylor expansion of phi1 in theta 31.737 * [backup-simplify]: Simplify phi1 into phi1 31.737 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.737 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.737 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 31.737 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 31.737 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 31.737 * [taylor]: Taking taylor expansion of (cos theta) in theta 31.737 * [taylor]: Taking taylor expansion of theta in theta 31.737 * [backup-simplify]: Simplify 0 into 0 31.737 * [backup-simplify]: Simplify 1 into 1 31.737 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 31.737 * [taylor]: Taking taylor expansion of (cos phi1) in theta 31.737 * [taylor]: Taking taylor expansion of phi1 in theta 31.737 * [backup-simplify]: Simplify phi1 into phi1 31.737 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.737 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.737 * [taylor]: Taking taylor expansion of (sin delta) in theta 31.737 * [taylor]: Taking taylor expansion of delta in theta 31.737 * [backup-simplify]: Simplify delta into delta 31.737 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.737 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.737 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 31.737 * [taylor]: Taking taylor expansion of (sin phi1) in theta 31.737 * [taylor]: Taking taylor expansion of phi1 in theta 31.737 * [backup-simplify]: Simplify phi1 into phi1 31.737 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.737 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.737 * [taylor]: Taking taylor expansion of (cos delta) in theta 31.737 * [taylor]: Taking taylor expansion of delta in theta 31.737 * [backup-simplify]: Simplify delta into delta 31.738 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.738 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.738 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 31.738 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.738 * [taylor]: Taking taylor expansion of phi1 in phi1 31.738 * [backup-simplify]: Simplify 0 into 0 31.738 * [backup-simplify]: Simplify 1 into 1 31.738 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 31.738 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 31.738 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 31.738 * [taylor]: Taking taylor expansion of (cos theta) in phi1 31.738 * [taylor]: Taking taylor expansion of theta in phi1 31.738 * [backup-simplify]: Simplify theta into theta 31.738 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.738 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.738 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 31.738 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 31.738 * [taylor]: Taking taylor expansion of phi1 in phi1 31.738 * [backup-simplify]: Simplify 0 into 0 31.738 * [backup-simplify]: Simplify 1 into 1 31.738 * [taylor]: Taking taylor expansion of (sin delta) in phi1 31.738 * [taylor]: Taking taylor expansion of delta in phi1 31.738 * [backup-simplify]: Simplify delta into delta 31.738 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.738 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.738 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 31.738 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.738 * [taylor]: Taking taylor expansion of phi1 in phi1 31.738 * [backup-simplify]: Simplify 0 into 0 31.738 * [backup-simplify]: Simplify 1 into 1 31.738 * [taylor]: Taking taylor expansion of (cos delta) in phi1 31.738 * [taylor]: Taking taylor expansion of delta in phi1 31.738 * [backup-simplify]: Simplify delta into delta 31.738 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.738 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.738 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 31.738 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.738 * [taylor]: Taking taylor expansion of phi1 in phi1 31.738 * [backup-simplify]: Simplify 0 into 0 31.738 * [backup-simplify]: Simplify 1 into 1 31.738 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 31.738 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 31.738 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 31.738 * [taylor]: Taking taylor expansion of (cos theta) in phi1 31.738 * [taylor]: Taking taylor expansion of theta in phi1 31.738 * [backup-simplify]: Simplify theta into theta 31.738 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.738 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.738 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 31.738 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 31.738 * [taylor]: Taking taylor expansion of phi1 in phi1 31.738 * [backup-simplify]: Simplify 0 into 0 31.738 * [backup-simplify]: Simplify 1 into 1 31.738 * [taylor]: Taking taylor expansion of (sin delta) in phi1 31.738 * [taylor]: Taking taylor expansion of delta in phi1 31.738 * [backup-simplify]: Simplify delta into delta 31.738 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.738 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.739 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 31.739 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 31.739 * [taylor]: Taking taylor expansion of phi1 in phi1 31.739 * [backup-simplify]: Simplify 0 into 0 31.739 * [backup-simplify]: Simplify 1 into 1 31.739 * [taylor]: Taking taylor expansion of (cos delta) in phi1 31.739 * [taylor]: Taking taylor expansion of delta in phi1 31.739 * [backup-simplify]: Simplify delta into delta 31.739 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.739 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.739 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 31.739 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 31.739 * [backup-simplify]: Simplify (- 0) into 0 31.739 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 31.739 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 31.739 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 31.739 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 31.739 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 31.739 * [backup-simplify]: Simplify (* (cos theta) (sin delta)) into (* (cos theta) (sin delta)) 31.739 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 31.739 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 31.740 * [backup-simplify]: Simplify (- 0) into 0 31.740 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 31.740 * [backup-simplify]: Simplify (* 0 (cos delta)) into 0 31.740 * [backup-simplify]: Simplify (+ (* (cos theta) (sin delta)) 0) into (* (cos theta) (sin delta)) 31.740 * [backup-simplify]: Simplify (* 0 (* (cos theta) (sin delta))) into 0 31.740 * [taylor]: Taking taylor expansion of 0 in theta 31.740 * [backup-simplify]: Simplify 0 into 0 31.740 * [taylor]: Taking taylor expansion of 0 in delta 31.740 * [backup-simplify]: Simplify 0 into 0 31.740 * [backup-simplify]: Simplify 0 into 0 31.740 * [backup-simplify]: Simplify (+ 0) into 0 31.741 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 31.741 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.741 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 31.742 * [backup-simplify]: Simplify (+ 0 0) into 0 31.742 * [backup-simplify]: Simplify (+ 0) into 0 31.742 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin delta))) into 0 31.742 * [backup-simplify]: Simplify (+ 0) into 0 31.743 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 31.743 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.743 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 31.744 * [backup-simplify]: Simplify (- 0) into 0 31.744 * [backup-simplify]: Simplify (+ 0 0) into 0 31.744 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 (sin delta))) into 0 31.744 * [backup-simplify]: Simplify (+ 0) into 0 31.745 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 31.745 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.745 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 31.746 * [backup-simplify]: Simplify (- 0) into 0 31.746 * [backup-simplify]: Simplify (+ 0 0) into 0 31.746 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.746 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos delta))) into (cos delta) 31.746 * [backup-simplify]: Simplify (+ 0 (cos delta)) into (cos delta) 31.747 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.747 * [backup-simplify]: Simplify (+ (* 0 (cos delta)) (* 1 (* (cos theta) (sin delta)))) into (* (cos theta) (sin delta)) 31.747 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in theta 31.747 * [taylor]: Taking taylor expansion of (cos theta) in theta 31.747 * [taylor]: Taking taylor expansion of theta in theta 31.747 * [backup-simplify]: Simplify 0 into 0 31.747 * [backup-simplify]: Simplify 1 into 1 31.747 * [taylor]: Taking taylor expansion of (sin delta) in theta 31.747 * [taylor]: Taking taylor expansion of delta in theta 31.747 * [backup-simplify]: Simplify delta into delta 31.747 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.747 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.747 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 31.747 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 31.747 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 31.747 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 31.747 * [taylor]: Taking taylor expansion of (sin delta) in delta 31.747 * [taylor]: Taking taylor expansion of delta in delta 31.747 * [backup-simplify]: Simplify 0 into 0 31.747 * [backup-simplify]: Simplify 1 into 1 31.747 * [backup-simplify]: Simplify 0 into 0 31.747 * [taylor]: Taking taylor expansion of 0 in delta 31.748 * [backup-simplify]: Simplify 0 into 0 31.748 * [backup-simplify]: Simplify 0 into 0 31.748 * [backup-simplify]: Simplify 0 into 0 31.748 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.749 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 31.749 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.749 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 31.750 * [backup-simplify]: Simplify (+ 0 0) into 0 31.750 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 31.751 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (sin delta)))) into (- (* 1/2 (sin delta))) 31.751 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.752 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 31.752 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.753 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 31.753 * [backup-simplify]: Simplify (- 0) into 0 31.753 * [backup-simplify]: Simplify (+ 0 0) into 0 31.753 * [backup-simplify]: Simplify (+ (* (cos theta) (- (* 1/2 (sin delta)))) (+ (* 0 0) (* 0 (sin delta)))) into (- (* 1/2 (* (cos theta) (sin delta)))) 31.754 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.755 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 1))) into 0 31.755 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.756 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 0))) into 0 31.756 * [backup-simplify]: Simplify (- 0) into 0 31.756 * [backup-simplify]: Simplify (+ 0 0) into 0 31.757 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.757 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (cos delta)))) into 0 31.757 * [backup-simplify]: Simplify (+ (- (* 1/2 (* (cos theta) (sin delta)))) 0) into (- (* 1/2 (* (cos theta) (sin delta)))) 31.758 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.758 * [backup-simplify]: Simplify (+ (* 0 (- (* 1/2 (* (cos theta) (sin delta))))) (+ (* 1 (cos delta)) (* 0 (* (cos theta) (sin delta))))) into (cos delta) 31.758 * [taylor]: Taking taylor expansion of (cos delta) in theta 31.758 * [taylor]: Taking taylor expansion of delta in theta 31.758 * [backup-simplify]: Simplify delta into delta 31.758 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.758 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.758 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 31.758 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 31.758 * [backup-simplify]: Simplify (- 0) into 0 31.758 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 31.758 * [taylor]: Taking taylor expansion of (cos delta) in delta 31.758 * [taylor]: Taking taylor expansion of delta in delta 31.758 * [backup-simplify]: Simplify 0 into 0 31.758 * [backup-simplify]: Simplify 1 into 1 31.758 * [backup-simplify]: Simplify 1 into 1 31.759 * [backup-simplify]: Simplify (+ 0) into 0 31.760 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 31.761 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.761 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 31.762 * [backup-simplify]: Simplify (+ 0 0) into 0 31.762 * [backup-simplify]: Simplify (+ 0) into 0 31.762 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin delta))) into 0 31.762 * [taylor]: Taking taylor expansion of 0 in delta 31.762 * [backup-simplify]: Simplify 0 into 0 31.762 * [backup-simplify]: Simplify 0 into 0 31.762 * [taylor]: Taking taylor expansion of 0 in delta 31.762 * [backup-simplify]: Simplify 0 into 0 31.762 * [backup-simplify]: Simplify 0 into 0 31.763 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.763 * [backup-simplify]: Simplify 1 into 1 31.763 * [backup-simplify]: Simplify 0 into 0 31.763 * [backup-simplify]: Simplify 0 into 0 31.764 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 31.765 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 31.767 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 31.767 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 31.768 * [backup-simplify]: Simplify (+ 0 0) into 0 31.769 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 1 1) 1) (/ (pow 0 1) 1)) 0) into 0 31.770 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* -1/2 0) (* 0 (sin delta))))) into 0 31.771 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 31.772 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 31.773 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 31.774 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 31.775 * [backup-simplify]: Simplify (- 0) into 0 31.775 * [backup-simplify]: Simplify (+ 0 0) into 0 31.775 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 (- (* 1/2 (sin delta)))) (+ (* 0 0) (* 0 (sin delta))))) into 0 31.776 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 31.777 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 31.779 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 31.780 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 31.780 * [backup-simplify]: Simplify (- 0) into 0 31.780 * [backup-simplify]: Simplify (+ 0 0) into 0 31.782 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into -1/6 31.783 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* -1/6 (cos delta))))) into (- (* 1/6 (cos delta))) 31.783 * [backup-simplify]: Simplify (+ 0 (- (* 1/6 (cos delta)))) into (- (* 1/6 (cos delta))) 31.785 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into -1/6 31.785 * [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)))) 31.785 * [taylor]: Taking taylor expansion of (- (* 2/3 (* (cos theta) (sin delta)))) in theta 31.785 * [taylor]: Taking taylor expansion of (* 2/3 (* (cos theta) (sin delta))) in theta 31.785 * [taylor]: Taking taylor expansion of 2/3 in theta 31.785 * [backup-simplify]: Simplify 2/3 into 2/3 31.785 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in theta 31.785 * [taylor]: Taking taylor expansion of (cos theta) in theta 31.785 * [taylor]: Taking taylor expansion of theta in theta 31.785 * [backup-simplify]: Simplify 0 into 0 31.785 * [backup-simplify]: Simplify 1 into 1 31.785 * [taylor]: Taking taylor expansion of (sin delta) in theta 31.785 * [taylor]: Taking taylor expansion of delta in theta 31.785 * [backup-simplify]: Simplify delta into delta 31.785 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.786 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.786 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 31.786 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 31.786 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 31.786 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 31.786 * [backup-simplify]: Simplify (* 2/3 (sin delta)) into (* 2/3 (sin delta)) 31.786 * [backup-simplify]: Simplify (- (* 2/3 (sin delta))) into (- (* 2/3 (sin delta))) 31.786 * [taylor]: Taking taylor expansion of (- (* 2/3 (sin delta))) in delta 31.786 * [taylor]: Taking taylor expansion of (* 2/3 (sin delta)) in delta 31.786 * [taylor]: Taking taylor expansion of 2/3 in delta 31.786 * [backup-simplify]: Simplify 2/3 into 2/3 31.786 * [taylor]: Taking taylor expansion of (sin delta) in delta 31.786 * [taylor]: Taking taylor expansion of delta in delta 31.786 * [backup-simplify]: Simplify 0 into 0 31.786 * [backup-simplify]: Simplify 1 into 1 31.787 * [backup-simplify]: Simplify (* 2/3 0) into 0 31.787 * [backup-simplify]: Simplify (- 0) into 0 31.787 * [backup-simplify]: Simplify 0 into 0 31.787 * [backup-simplify]: Simplify (+ 0) into 0 31.788 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 31.789 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.789 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 31.789 * [backup-simplify]: Simplify (- 0) into 0 31.790 * [backup-simplify]: Simplify (+ 0 0) into 0 31.790 * [taylor]: Taking taylor expansion of 0 in delta 31.790 * [backup-simplify]: Simplify 0 into 0 31.790 * [backup-simplify]: Simplify 0 into 0 31.791 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.791 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 31.792 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.792 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 31.793 * [backup-simplify]: Simplify (+ 0 0) into 0 31.794 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 31.795 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (sin delta)))) into (- (* 1/2 (sin delta))) 31.795 * [taylor]: Taking taylor expansion of (- (* 1/2 (sin delta))) in delta 31.795 * [taylor]: Taking taylor expansion of (* 1/2 (sin delta)) in delta 31.795 * [taylor]: Taking taylor expansion of 1/2 in delta 31.795 * [backup-simplify]: Simplify 1/2 into 1/2 31.795 * [taylor]: Taking taylor expansion of (sin delta) in delta 31.795 * [taylor]: Taking taylor expansion of delta in delta 31.795 * [backup-simplify]: Simplify 0 into 0 31.795 * [backup-simplify]: Simplify 1 into 1 31.795 * [backup-simplify]: Simplify (* 1/2 0) into 0 31.796 * [backup-simplify]: Simplify (- 0) into 0 31.796 * [backup-simplify]: Simplify 0 into 0 31.796 * [taylor]: Taking taylor expansion of 0 in delta 31.796 * [backup-simplify]: Simplify 0 into 0 31.796 * [backup-simplify]: Simplify 0 into 0 31.796 * [backup-simplify]: Simplify (+ (* 1 (* delta (* 1 phi1))) (* 1 (pow (* 1 (* 1 phi1)) 2))) into (+ (* phi1 delta) (pow phi1 2)) 31.796 * [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))) 31.796 * [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 31.796 * [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 31.796 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 31.797 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 31.797 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 31.797 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 31.797 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 31.797 * [taylor]: Taking taylor expansion of theta in delta 31.797 * [backup-simplify]: Simplify theta into theta 31.797 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.797 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.797 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.797 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 31.797 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 31.797 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.797 * [taylor]: Taking taylor expansion of delta in delta 31.797 * [backup-simplify]: Simplify 0 into 0 31.797 * [backup-simplify]: Simplify 1 into 1 31.797 * [backup-simplify]: Simplify (/ 1 1) into 1 31.797 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.797 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 31.797 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.797 * [taylor]: Taking taylor expansion of phi1 in delta 31.798 * [backup-simplify]: Simplify phi1 into phi1 31.798 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.798 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.798 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.798 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 31.798 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 31.798 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.798 * [taylor]: Taking taylor expansion of phi1 in delta 31.798 * [backup-simplify]: Simplify phi1 into phi1 31.798 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.798 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.798 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.798 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 31.798 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.798 * [taylor]: Taking taylor expansion of delta in delta 31.798 * [backup-simplify]: Simplify 0 into 0 31.798 * [backup-simplify]: Simplify 1 into 1 31.798 * [backup-simplify]: Simplify (/ 1 1) into 1 31.798 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.799 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 31.799 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.799 * [taylor]: Taking taylor expansion of phi1 in delta 31.799 * [backup-simplify]: Simplify phi1 into phi1 31.799 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.799 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.799 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.799 * [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 31.799 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 31.799 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 31.799 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 31.799 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 31.799 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 31.799 * [taylor]: Taking taylor expansion of theta in theta 31.799 * [backup-simplify]: Simplify 0 into 0 31.799 * [backup-simplify]: Simplify 1 into 1 31.799 * [backup-simplify]: Simplify (/ 1 1) into 1 31.799 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.799 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 31.800 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 31.800 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.800 * [taylor]: Taking taylor expansion of delta in theta 31.800 * [backup-simplify]: Simplify delta into delta 31.800 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.800 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.800 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.800 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 31.800 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.800 * [taylor]: Taking taylor expansion of phi1 in theta 31.800 * [backup-simplify]: Simplify phi1 into phi1 31.800 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.800 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.800 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.800 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 31.800 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 31.800 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.800 * [taylor]: Taking taylor expansion of phi1 in theta 31.800 * [backup-simplify]: Simplify phi1 into phi1 31.800 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.800 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.800 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.800 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 31.800 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.800 * [taylor]: Taking taylor expansion of delta in theta 31.800 * [backup-simplify]: Simplify delta into delta 31.800 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.800 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.801 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.801 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 31.801 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.801 * [taylor]: Taking taylor expansion of phi1 in theta 31.801 * [backup-simplify]: Simplify phi1 into phi1 31.801 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.801 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.801 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.801 * [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 31.801 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 31.801 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 31.801 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 31.801 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 31.801 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 31.801 * [taylor]: Taking taylor expansion of theta in phi1 31.801 * [backup-simplify]: Simplify theta into theta 31.801 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.801 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.801 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.801 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 31.801 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 31.801 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.801 * [taylor]: Taking taylor expansion of delta in phi1 31.801 * [backup-simplify]: Simplify delta into delta 31.801 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.801 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.801 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.802 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 31.802 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.802 * [taylor]: Taking taylor expansion of phi1 in phi1 31.802 * [backup-simplify]: Simplify 0 into 0 31.802 * [backup-simplify]: Simplify 1 into 1 31.802 * [backup-simplify]: Simplify (/ 1 1) into 1 31.802 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.802 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 31.802 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 31.802 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.802 * [taylor]: Taking taylor expansion of phi1 in phi1 31.802 * [backup-simplify]: Simplify 0 into 0 31.802 * [backup-simplify]: Simplify 1 into 1 31.803 * [backup-simplify]: Simplify (/ 1 1) into 1 31.803 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.803 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 31.803 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.803 * [taylor]: Taking taylor expansion of delta in phi1 31.803 * [backup-simplify]: Simplify delta into delta 31.803 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.803 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.803 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.803 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 31.803 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.803 * [taylor]: Taking taylor expansion of phi1 in phi1 31.803 * [backup-simplify]: Simplify 0 into 0 31.803 * [backup-simplify]: Simplify 1 into 1 31.803 * [backup-simplify]: Simplify (/ 1 1) into 1 31.803 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.803 * [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 31.803 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 31.804 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 31.804 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 31.804 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 31.804 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 31.804 * [taylor]: Taking taylor expansion of theta in phi1 31.804 * [backup-simplify]: Simplify theta into theta 31.804 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.804 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.804 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.804 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 31.804 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 31.804 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.804 * [taylor]: Taking taylor expansion of delta in phi1 31.804 * [backup-simplify]: Simplify delta into delta 31.804 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.804 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.805 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.805 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 31.805 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.805 * [taylor]: Taking taylor expansion of phi1 in phi1 31.805 * [backup-simplify]: Simplify 0 into 0 31.805 * [backup-simplify]: Simplify 1 into 1 31.805 * [backup-simplify]: Simplify (/ 1 1) into 1 31.805 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.805 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 31.805 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 31.805 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.805 * [taylor]: Taking taylor expansion of phi1 in phi1 31.805 * [backup-simplify]: Simplify 0 into 0 31.805 * [backup-simplify]: Simplify 1 into 1 31.806 * [backup-simplify]: Simplify (/ 1 1) into 1 31.806 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.806 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 31.806 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.806 * [taylor]: Taking taylor expansion of delta in phi1 31.806 * [backup-simplify]: Simplify delta into delta 31.806 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.806 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.806 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.806 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 31.806 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.806 * [taylor]: Taking taylor expansion of phi1 in phi1 31.806 * [backup-simplify]: Simplify 0 into 0 31.806 * [backup-simplify]: Simplify 1 into 1 31.806 * [backup-simplify]: Simplify (/ 1 1) into 1 31.806 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.807 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 31.807 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 31.807 * [backup-simplify]: Simplify (- 0) into 0 31.807 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 31.807 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 31.807 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 31.807 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 31.807 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (cos (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 delta))) 31.808 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 31.808 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 31.808 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 31.808 * [backup-simplify]: Simplify (- 0) into 0 31.808 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 31.808 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 31.809 * [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))))) 31.809 * [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))) 31.809 * [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 31.809 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) in theta 31.809 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in theta 31.809 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 31.809 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.809 * [taylor]: Taking taylor expansion of phi1 in theta 31.809 * [backup-simplify]: Simplify phi1 into phi1 31.809 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.809 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.809 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.809 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in theta 31.809 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 31.809 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 31.809 * [taylor]: Taking taylor expansion of theta in theta 31.809 * [backup-simplify]: Simplify 0 into 0 31.809 * [backup-simplify]: Simplify 1 into 1 31.810 * [backup-simplify]: Simplify (/ 1 1) into 1 31.810 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.810 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 31.810 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.810 * [taylor]: Taking taylor expansion of delta in theta 31.810 * [backup-simplify]: Simplify delta into delta 31.810 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.810 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.810 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.810 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in theta 31.810 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 31.810 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.810 * [taylor]: Taking taylor expansion of delta in theta 31.810 * [backup-simplify]: Simplify delta into delta 31.810 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.810 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.810 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.811 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 31.811 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.811 * [taylor]: Taking taylor expansion of phi1 in theta 31.811 * [backup-simplify]: Simplify phi1 into phi1 31.811 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.811 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.811 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.811 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 31.811 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.811 * [taylor]: Taking taylor expansion of phi1 in theta 31.811 * [backup-simplify]: Simplify phi1 into phi1 31.811 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.811 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.811 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.811 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 31.811 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 31.812 * [backup-simplify]: Simplify (- 0) into 0 31.812 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 31.812 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 31.812 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 31.812 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 31.812 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 31.812 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 31.812 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 31.812 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 31.813 * [backup-simplify]: Simplify (- 0) into 0 31.814 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 31.814 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 31.814 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 31.814 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 31.814 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 31.814 * [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))))) 31.814 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 31.814 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 31.815 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 31.815 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) 31.815 * [taylor]: Taking taylor expansion of (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) in delta 31.815 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in delta 31.815 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 31.815 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 31.815 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.815 * [taylor]: Taking taylor expansion of phi1 in delta 31.815 * [backup-simplify]: Simplify phi1 into phi1 31.815 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.815 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.815 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.815 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 31.815 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.815 * [taylor]: Taking taylor expansion of delta in delta 31.815 * [backup-simplify]: Simplify 0 into 0 31.815 * [backup-simplify]: Simplify 1 into 1 31.816 * [backup-simplify]: Simplify (/ 1 1) into 1 31.816 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.816 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 31.816 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 31.816 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.816 * [taylor]: Taking taylor expansion of delta in delta 31.816 * [backup-simplify]: Simplify 0 into 0 31.816 * [backup-simplify]: Simplify 1 into 1 31.817 * [backup-simplify]: Simplify (/ 1 1) into 1 31.817 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.817 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 31.817 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 31.817 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 31.817 * [taylor]: Taking taylor expansion of theta in delta 31.817 * [backup-simplify]: Simplify theta into theta 31.817 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.817 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.817 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.817 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 31.817 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.817 * [taylor]: Taking taylor expansion of phi1 in delta 31.817 * [backup-simplify]: Simplify phi1 into phi1 31.817 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.817 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.817 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.817 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 31.817 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.817 * [taylor]: Taking taylor expansion of phi1 in delta 31.817 * [backup-simplify]: Simplify phi1 into phi1 31.817 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.817 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.817 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.818 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 31.818 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 31.818 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 31.818 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 31.818 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 31.818 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 31.818 * [backup-simplify]: Simplify (- 0) into 0 31.818 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 31.819 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 31.819 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 31.819 * [backup-simplify]: Simplify (- 0) into 0 31.819 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 31.819 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 31.819 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 31.820 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 31.820 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 31.820 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 31.820 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 31.820 * [backup-simplify]: Simplify (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) into (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) 31.821 * [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))) 31.821 * [backup-simplify]: Simplify (+ 0) into 0 31.821 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 31.822 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.822 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.823 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 31.823 * [backup-simplify]: Simplify (+ 0 0) into 0 31.823 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 31.824 * [backup-simplify]: Simplify (+ 0) into 0 31.824 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 31.824 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 31.825 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.825 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 31.826 * [backup-simplify]: Simplify (- 0) into 0 31.826 * [backup-simplify]: Simplify (+ 0 0) into 0 31.826 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta))))) into 0 31.827 * [backup-simplify]: Simplify (+ 0) into 0 31.827 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 31.827 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.828 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.829 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 31.829 * [backup-simplify]: Simplify (- 0) into 0 31.829 * [backup-simplify]: Simplify (+ 0 0) into 0 31.829 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 31.830 * [backup-simplify]: Simplify (+ 0 0) into 0 31.830 * [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 31.830 * [taylor]: Taking taylor expansion of 0 in theta 31.830 * [backup-simplify]: Simplify 0 into 0 31.830 * [taylor]: Taking taylor expansion of 0 in delta 31.830 * [backup-simplify]: Simplify 0 into 0 31.830 * [backup-simplify]: Simplify 0 into 0 31.831 * [backup-simplify]: Simplify (+ 0) into 0 31.831 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 31.831 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.832 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.833 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 31.833 * [backup-simplify]: Simplify (+ 0 0) into 0 31.833 * [backup-simplify]: Simplify (+ 0) into 0 31.834 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 31.834 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.835 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.835 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 31.836 * [backup-simplify]: Simplify (+ 0 0) into 0 31.836 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 31.836 * [backup-simplify]: Simplify (+ 0) into 0 31.837 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 31.837 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.838 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.838 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 31.839 * [backup-simplify]: Simplify (- 0) into 0 31.839 * [backup-simplify]: Simplify (+ 0 0) into 0 31.839 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 31.840 * [backup-simplify]: Simplify (+ 0) into 0 31.840 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 31.840 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.841 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.841 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 31.842 * [backup-simplify]: Simplify (+ 0 0) into 0 31.842 * [backup-simplify]: Simplify (+ 0) into 0 31.843 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 31.843 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.844 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.844 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 31.845 * [backup-simplify]: Simplify (- 0) into 0 31.845 * [backup-simplify]: Simplify (+ 0 0) into 0 31.845 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 31.845 * [backup-simplify]: Simplify (+ 0 0) into 0 31.846 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 31.846 * [taylor]: Taking taylor expansion of 0 in delta 31.846 * [backup-simplify]: Simplify 0 into 0 31.846 * [backup-simplify]: Simplify 0 into 0 31.846 * [backup-simplify]: Simplify (+ 0) into 0 31.847 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 31.847 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.848 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.848 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 31.849 * [backup-simplify]: Simplify (+ 0 0) into 0 31.849 * [backup-simplify]: Simplify (+ 0) into 0 31.850 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 31.850 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.851 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.851 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 31.851 * [backup-simplify]: Simplify (+ 0 0) into 0 31.852 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 31.852 * [backup-simplify]: Simplify (+ 0) into 0 31.853 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 31.853 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.854 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.854 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 31.854 * [backup-simplify]: Simplify (- 0) into 0 31.855 * [backup-simplify]: Simplify (+ 0 0) into 0 31.855 * [backup-simplify]: Simplify (+ 0) into 0 31.856 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 31.856 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 31.857 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.857 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 31.858 * [backup-simplify]: Simplify (- 0) into 0 31.858 * [backup-simplify]: Simplify (+ 0 0) into 0 31.858 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 31.858 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 31.859 * [backup-simplify]: Simplify (+ 0 0) into 0 31.859 * [backup-simplify]: Simplify (+ (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 0) (* 0 (sin (/ 1 phi1)))) into 0 31.859 * [backup-simplify]: Simplify 0 into 0 31.860 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.861 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.861 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.862 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.863 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.863 * [backup-simplify]: Simplify (+ 0 0) into 0 31.864 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 31.865 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.866 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.866 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.867 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.868 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.868 * [backup-simplify]: Simplify (- 0) into 0 31.868 * [backup-simplify]: Simplify (+ 0 0) into 0 31.869 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta)))))) into 0 31.870 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.871 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.871 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.872 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.872 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.873 * [backup-simplify]: Simplify (- 0) into 0 31.873 * [backup-simplify]: Simplify (+ 0 0) into 0 31.874 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 31.874 * [backup-simplify]: Simplify (+ 0 0) into 0 31.875 * [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 31.875 * [taylor]: Taking taylor expansion of 0 in theta 31.875 * [backup-simplify]: Simplify 0 into 0 31.875 * [taylor]: Taking taylor expansion of 0 in delta 31.875 * [backup-simplify]: Simplify 0 into 0 31.875 * [backup-simplify]: Simplify 0 into 0 31.875 * [taylor]: Taking taylor expansion of 0 in delta 31.875 * [backup-simplify]: Simplify 0 into 0 31.875 * [backup-simplify]: Simplify 0 into 0 31.876 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.877 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.877 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.878 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.878 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.879 * [backup-simplify]: Simplify (+ 0 0) into 0 31.880 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.881 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.881 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.882 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.882 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.883 * [backup-simplify]: Simplify (+ 0 0) into 0 31.883 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 31.884 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.885 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.885 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.886 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.886 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.887 * [backup-simplify]: Simplify (- 0) into 0 31.887 * [backup-simplify]: Simplify (+ 0 0) into 0 31.888 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 31.889 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.889 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.890 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.890 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.891 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.891 * [backup-simplify]: Simplify (+ 0 0) into 0 31.892 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.893 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.893 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.894 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.895 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.895 * [backup-simplify]: Simplify (- 0) into 0 31.895 * [backup-simplify]: Simplify (+ 0 0) into 0 31.896 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 31.896 * [backup-simplify]: Simplify (+ 0 0) into 0 31.897 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 31.897 * [taylor]: Taking taylor expansion of 0 in delta 31.897 * [backup-simplify]: Simplify 0 into 0 31.897 * [backup-simplify]: Simplify 0 into 0 31.898 * [backup-simplify]: Simplify (* (+ (* (cos (/ 1 (/ 1 phi1))) (* (cos (/ 1 (/ 1 theta))) (sin (/ 1 (/ 1 delta))))) (* (cos (/ 1 (/ 1 delta))) (sin (/ 1 (/ 1 phi1))))) (sin (/ 1 (/ 1 phi1)))) into (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta))))) 31.898 * [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))))) 31.898 * [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 31.898 * [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 31.898 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 31.898 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.898 * [taylor]: Taking taylor expansion of -1 in delta 31.898 * [backup-simplify]: Simplify -1 into -1 31.898 * [taylor]: Taking taylor expansion of phi1 in delta 31.898 * [backup-simplify]: Simplify phi1 into phi1 31.899 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.899 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.899 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.899 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 31.899 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 31.899 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 31.899 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 31.899 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 31.899 * [taylor]: Taking taylor expansion of -1 in delta 31.899 * [backup-simplify]: Simplify -1 into -1 31.899 * [taylor]: Taking taylor expansion of theta in delta 31.899 * [backup-simplify]: Simplify theta into theta 31.899 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.899 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.899 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.899 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 31.899 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 31.899 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.899 * [taylor]: Taking taylor expansion of -1 in delta 31.899 * [backup-simplify]: Simplify -1 into -1 31.899 * [taylor]: Taking taylor expansion of phi1 in delta 31.899 * [backup-simplify]: Simplify phi1 into phi1 31.899 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.899 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.900 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.900 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 31.900 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.900 * [taylor]: Taking taylor expansion of -1 in delta 31.900 * [backup-simplify]: Simplify -1 into -1 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 * [backup-simplify]: Simplify (/ -1 1) into -1 31.900 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.900 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 31.900 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 31.900 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.900 * [taylor]: Taking taylor expansion of -1 in delta 31.900 * [backup-simplify]: Simplify -1 into -1 31.900 * [taylor]: Taking taylor expansion of phi1 in delta 31.900 * [backup-simplify]: Simplify phi1 into phi1 31.900 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.901 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.901 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.901 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 31.901 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.901 * [taylor]: Taking taylor expansion of -1 in delta 31.901 * [backup-simplify]: Simplify -1 into -1 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 (/ -1 1) into -1 31.901 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.901 * [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 31.901 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 31.901 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.901 * [taylor]: Taking taylor expansion of -1 in theta 31.902 * [backup-simplify]: Simplify -1 into -1 31.902 * [taylor]: Taking taylor expansion of phi1 in theta 31.902 * [backup-simplify]: Simplify phi1 into phi1 31.902 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.902 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.902 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.902 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 31.902 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 31.902 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 31.902 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 31.902 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 31.902 * [taylor]: Taking taylor expansion of -1 in theta 31.902 * [backup-simplify]: Simplify -1 into -1 31.902 * [taylor]: Taking taylor expansion of theta in theta 31.902 * [backup-simplify]: Simplify 0 into 0 31.902 * [backup-simplify]: Simplify 1 into 1 31.902 * [backup-simplify]: Simplify (/ -1 1) into -1 31.903 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.903 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 31.903 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 31.903 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.903 * [taylor]: Taking taylor expansion of -1 in theta 31.903 * [backup-simplify]: Simplify -1 into -1 31.903 * [taylor]: Taking taylor expansion of phi1 in theta 31.903 * [backup-simplify]: Simplify phi1 into phi1 31.903 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.903 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.903 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.903 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 31.903 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.903 * [taylor]: Taking taylor expansion of -1 in theta 31.903 * [backup-simplify]: Simplify -1 into -1 31.903 * [taylor]: Taking taylor expansion of delta in theta 31.903 * [backup-simplify]: Simplify delta into delta 31.903 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.903 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.903 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.903 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 31.903 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 31.903 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.903 * [taylor]: Taking taylor expansion of -1 in theta 31.903 * [backup-simplify]: Simplify -1 into -1 31.903 * [taylor]: Taking taylor expansion of phi1 in theta 31.904 * [backup-simplify]: Simplify phi1 into phi1 31.904 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.904 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.904 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.904 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 31.904 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.904 * [taylor]: Taking taylor expansion of -1 in theta 31.904 * [backup-simplify]: Simplify -1 into -1 31.904 * [taylor]: Taking taylor expansion of delta in theta 31.904 * [backup-simplify]: Simplify delta into delta 31.904 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.904 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.904 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.904 * [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 31.904 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 31.904 * [taylor]: Taking taylor expansion of (/ -1 phi1) 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 phi1 in phi1 31.904 * [backup-simplify]: Simplify 0 into 0 31.904 * [backup-simplify]: Simplify 1 into 1 31.905 * [backup-simplify]: Simplify (/ -1 1) into -1 31.905 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.905 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 31.905 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 31.905 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 31.905 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 31.905 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 31.905 * [taylor]: Taking taylor expansion of -1 in phi1 31.905 * [backup-simplify]: Simplify -1 into -1 31.905 * [taylor]: Taking taylor expansion of theta in phi1 31.905 * [backup-simplify]: Simplify theta into theta 31.905 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.905 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.905 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.905 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 31.905 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 31.905 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.905 * [taylor]: Taking taylor expansion of -1 in phi1 31.905 * [backup-simplify]: Simplify -1 into -1 31.906 * [taylor]: Taking taylor expansion of phi1 in phi1 31.906 * [backup-simplify]: Simplify 0 into 0 31.906 * [backup-simplify]: Simplify 1 into 1 31.908 * [backup-simplify]: Simplify (/ -1 1) into -1 31.908 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.908 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 31.908 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.908 * [taylor]: Taking taylor expansion of -1 in phi1 31.908 * [backup-simplify]: Simplify -1 into -1 31.908 * [taylor]: Taking taylor expansion of delta in phi1 31.908 * [backup-simplify]: Simplify delta into delta 31.909 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.909 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.909 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.909 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 31.909 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 31.909 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.909 * [taylor]: Taking taylor expansion of -1 in phi1 31.909 * [backup-simplify]: Simplify -1 into -1 31.909 * [taylor]: Taking taylor expansion of phi1 in phi1 31.909 * [backup-simplify]: Simplify 0 into 0 31.909 * [backup-simplify]: Simplify 1 into 1 31.909 * [backup-simplify]: Simplify (/ -1 1) into -1 31.910 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.910 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 31.910 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.910 * [taylor]: Taking taylor expansion of -1 in phi1 31.910 * [backup-simplify]: Simplify -1 into -1 31.910 * [taylor]: Taking taylor expansion of delta in phi1 31.910 * [backup-simplify]: Simplify delta into delta 31.910 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.910 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.910 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.910 * [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 31.910 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 31.910 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.910 * [taylor]: Taking taylor expansion of -1 in phi1 31.910 * [backup-simplify]: Simplify -1 into -1 31.910 * [taylor]: Taking taylor expansion of phi1 in phi1 31.910 * [backup-simplify]: Simplify 0 into 0 31.910 * [backup-simplify]: Simplify 1 into 1 31.911 * [backup-simplify]: Simplify (/ -1 1) into -1 31.911 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.911 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 31.911 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 31.911 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 31.911 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 31.911 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 31.911 * [taylor]: Taking taylor expansion of -1 in phi1 31.911 * [backup-simplify]: Simplify -1 into -1 31.911 * [taylor]: Taking taylor expansion of theta in phi1 31.911 * [backup-simplify]: Simplify theta into theta 31.911 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.911 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.911 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.911 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 31.911 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 31.911 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.911 * [taylor]: Taking taylor expansion of -1 in phi1 31.911 * [backup-simplify]: Simplify -1 into -1 31.911 * [taylor]: Taking taylor expansion of phi1 in phi1 31.911 * [backup-simplify]: Simplify 0 into 0 31.911 * [backup-simplify]: Simplify 1 into 1 31.911 * [backup-simplify]: Simplify (/ -1 1) into -1 31.911 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.911 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 31.911 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.911 * [taylor]: Taking taylor expansion of -1 in phi1 31.911 * [backup-simplify]: Simplify -1 into -1 31.911 * [taylor]: Taking taylor expansion of delta in phi1 31.911 * [backup-simplify]: Simplify delta into delta 31.912 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.912 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.912 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.912 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 31.912 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 31.912 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.912 * [taylor]: Taking taylor expansion of -1 in phi1 31.912 * [backup-simplify]: Simplify -1 into -1 31.912 * [taylor]: Taking taylor expansion of phi1 in phi1 31.912 * [backup-simplify]: Simplify 0 into 0 31.912 * [backup-simplify]: Simplify 1 into 1 31.912 * [backup-simplify]: Simplify (/ -1 1) into -1 31.912 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.912 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 31.912 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.912 * [taylor]: Taking taylor expansion of -1 in phi1 31.912 * [backup-simplify]: Simplify -1 into -1 31.912 * [taylor]: Taking taylor expansion of delta in phi1 31.912 * [backup-simplify]: Simplify delta into delta 31.912 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.912 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.912 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.912 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 31.912 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 31.913 * [backup-simplify]: Simplify (- 0) into 0 31.913 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 31.913 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 31.913 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 31.913 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 31.913 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 31.913 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 31.913 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 31.913 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 31.913 * [backup-simplify]: Simplify (- 0) into 0 31.913 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 31.914 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 31.914 * [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)))) 31.914 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 31.914 * [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 31.914 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 31.914 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.914 * [taylor]: Taking taylor expansion of -1 in theta 31.914 * [backup-simplify]: Simplify -1 into -1 31.914 * [taylor]: Taking taylor expansion of phi1 in theta 31.914 * [backup-simplify]: Simplify phi1 into phi1 31.914 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.914 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.914 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.914 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 31.914 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) in theta 31.914 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 31.914 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.914 * [taylor]: Taking taylor expansion of -1 in theta 31.914 * [backup-simplify]: Simplify -1 into -1 31.914 * [taylor]: Taking taylor expansion of phi1 in theta 31.914 * [backup-simplify]: Simplify phi1 into phi1 31.914 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.914 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.914 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.914 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 theta))) in theta 31.914 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 31.914 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.914 * [taylor]: Taking taylor expansion of -1 in theta 31.914 * [backup-simplify]: Simplify -1 into -1 31.914 * [taylor]: Taking taylor expansion of delta in theta 31.914 * [backup-simplify]: Simplify delta into delta 31.914 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.915 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.915 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.915 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 31.915 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 31.915 * [taylor]: Taking taylor expansion of -1 in theta 31.915 * [backup-simplify]: Simplify -1 into -1 31.915 * [taylor]: Taking taylor expansion of theta in theta 31.915 * [backup-simplify]: Simplify 0 into 0 31.915 * [backup-simplify]: Simplify 1 into 1 31.915 * [backup-simplify]: Simplify (/ -1 1) into -1 31.915 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.915 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 31.915 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 31.915 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.915 * [taylor]: Taking taylor expansion of -1 in theta 31.915 * [backup-simplify]: Simplify -1 into -1 31.915 * [taylor]: Taking taylor expansion of phi1 in theta 31.915 * [backup-simplify]: Simplify phi1 into phi1 31.915 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.915 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.915 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.915 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 31.915 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.915 * [taylor]: Taking taylor expansion of -1 in theta 31.915 * [backup-simplify]: Simplify -1 into -1 31.915 * [taylor]: Taking taylor expansion of delta in theta 31.915 * [backup-simplify]: Simplify delta into delta 31.915 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.915 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.915 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.915 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.916 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.916 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.916 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 31.916 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 31.916 * [backup-simplify]: Simplify (- 0) into 0 31.916 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 31.916 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 31.916 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 31.916 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 31.916 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 theta))) into (* (cos (/ -1 theta)) (sin (/ -1 delta))) 31.916 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 31.916 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.916 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.916 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.917 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 31.917 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 31.917 * [backup-simplify]: Simplify (- 0) into 0 31.917 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 31.917 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 31.917 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) into (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) 31.917 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 31.917 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in delta 31.917 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 31.917 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.917 * [taylor]: Taking taylor expansion of -1 in delta 31.917 * [backup-simplify]: Simplify -1 into -1 31.917 * [taylor]: Taking taylor expansion of phi1 in delta 31.917 * [backup-simplify]: Simplify phi1 into phi1 31.917 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.918 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.918 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.918 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in delta 31.918 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 31.918 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 31.918 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.918 * [taylor]: Taking taylor expansion of -1 in delta 31.918 * [backup-simplify]: Simplify -1 into -1 31.918 * [taylor]: Taking taylor expansion of phi1 in delta 31.918 * [backup-simplify]: Simplify phi1 into phi1 31.918 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.918 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.918 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.918 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 31.918 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.918 * [taylor]: Taking taylor expansion of -1 in delta 31.918 * [backup-simplify]: Simplify -1 into -1 31.918 * [taylor]: Taking taylor expansion of delta in delta 31.918 * [backup-simplify]: Simplify 0 into 0 31.918 * [backup-simplify]: Simplify 1 into 1 31.918 * [backup-simplify]: Simplify (/ -1 1) into -1 31.918 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.918 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in delta 31.918 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 31.918 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.918 * [taylor]: Taking taylor expansion of -1 in delta 31.918 * [backup-simplify]: Simplify -1 into -1 31.918 * [taylor]: Taking taylor expansion of phi1 in delta 31.918 * [backup-simplify]: Simplify phi1 into phi1 31.918 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.918 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.918 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.918 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in delta 31.918 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 31.918 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 31.918 * [taylor]: Taking taylor expansion of -1 in delta 31.919 * [backup-simplify]: Simplify -1 into -1 31.919 * [taylor]: Taking taylor expansion of theta in delta 31.919 * [backup-simplify]: Simplify theta into theta 31.919 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.919 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.919 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.919 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 31.919 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.919 * [taylor]: Taking taylor expansion of -1 in delta 31.919 * [backup-simplify]: Simplify -1 into -1 31.919 * [taylor]: Taking taylor expansion of delta in delta 31.919 * [backup-simplify]: Simplify 0 into 0 31.919 * [backup-simplify]: Simplify 1 into 1 31.919 * [backup-simplify]: Simplify (/ -1 1) into -1 31.919 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.919 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.919 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.919 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.919 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.919 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.919 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.919 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 31.920 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 31.920 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 31.920 * [backup-simplify]: Simplify (- 0) into 0 31.920 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 31.920 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 31.920 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 31.920 * [backup-simplify]: Simplify (- 0) into 0 31.920 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 31.920 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (cos (/ -1 theta))) 31.921 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 31.921 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 31.921 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 31.921 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 31.921 * [backup-simplify]: Simplify (+ 0) into 0 31.922 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 31.922 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.922 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.923 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 31.923 * [backup-simplify]: Simplify (+ 0 0) into 0 31.923 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 31.923 * [backup-simplify]: Simplify (+ 0) into 0 31.923 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 31.924 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 31.924 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.924 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 31.925 * [backup-simplify]: Simplify (- 0) into 0 31.925 * [backup-simplify]: Simplify (+ 0 0) into 0 31.925 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 31.925 * [backup-simplify]: Simplify (+ 0) into 0 31.926 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 31.926 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.926 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.927 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 31.927 * [backup-simplify]: Simplify (- 0) into 0 31.927 * [backup-simplify]: Simplify (+ 0 0) into 0 31.927 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 31.927 * [backup-simplify]: Simplify (+ 0 0) into 0 31.928 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) into 0 31.928 * [taylor]: Taking taylor expansion of 0 in theta 31.928 * [backup-simplify]: Simplify 0 into 0 31.928 * [taylor]: Taking taylor expansion of 0 in delta 31.928 * [backup-simplify]: Simplify 0 into 0 31.928 * [backup-simplify]: Simplify 0 into 0 31.928 * [backup-simplify]: Simplify (+ 0) into 0 31.928 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 31.928 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.929 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.929 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 31.929 * [backup-simplify]: Simplify (+ 0 0) into 0 31.930 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 theta)))) into 0 31.930 * [backup-simplify]: Simplify (+ 0) into 0 31.930 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 31.930 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.931 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.931 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 31.931 * [backup-simplify]: Simplify (- 0) into 0 31.931 * [backup-simplify]: Simplify (+ 0 0) into 0 31.932 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into 0 31.932 * [backup-simplify]: Simplify (+ 0) into 0 31.932 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 31.932 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.933 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.933 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 31.933 * [backup-simplify]: Simplify (- 0) into 0 31.933 * [backup-simplify]: Simplify (+ 0 0) into 0 31.934 * [backup-simplify]: Simplify (+ 0) into 0 31.934 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 31.934 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.935 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.935 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 31.935 * [backup-simplify]: Simplify (+ 0 0) into 0 31.935 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 31.935 * [backup-simplify]: Simplify (+ 0 0) into 0 31.936 * [backup-simplify]: Simplify (+ 0) into 0 31.936 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 31.936 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.937 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.937 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 31.937 * [backup-simplify]: Simplify (+ 0 0) into 0 31.937 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 31.937 * [taylor]: Taking taylor expansion of 0 in delta 31.937 * [backup-simplify]: Simplify 0 into 0 31.937 * [backup-simplify]: Simplify 0 into 0 31.938 * [backup-simplify]: Simplify (+ 0) into 0 31.938 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 31.938 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.939 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.939 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 31.939 * [backup-simplify]: Simplify (+ 0 0) into 0 31.939 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 31.940 * [backup-simplify]: Simplify (+ 0) into 0 31.940 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 31.940 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 31.940 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.941 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 31.941 * [backup-simplify]: Simplify (- 0) into 0 31.941 * [backup-simplify]: Simplify (+ 0 0) into 0 31.941 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 31.942 * [backup-simplify]: Simplify (+ 0) into 0 31.942 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 31.942 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.942 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.943 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 31.943 * [backup-simplify]: Simplify (- 0) into 0 31.943 * [backup-simplify]: Simplify (+ 0 0) into 0 31.943 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into 0 31.944 * [backup-simplify]: Simplify (+ 0 0) into 0 31.944 * [backup-simplify]: Simplify (+ 0) into 0 31.944 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 31.944 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.945 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.945 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 31.945 * [backup-simplify]: Simplify (+ 0 0) into 0 31.945 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) into 0 31.945 * [backup-simplify]: Simplify 0 into 0 31.946 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.946 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.947 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.947 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.947 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.948 * [backup-simplify]: Simplify (+ 0 0) into 0 31.948 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 31.949 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.949 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.949 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.950 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.950 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.950 * [backup-simplify]: Simplify (- 0) into 0 31.950 * [backup-simplify]: Simplify (+ 0 0) into 0 31.951 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 31.951 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.952 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.952 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.952 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.953 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.953 * [backup-simplify]: Simplify (- 0) into 0 31.953 * [backup-simplify]: Simplify (+ 0 0) into 0 31.953 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 31.954 * [backup-simplify]: Simplify (+ 0 0) into 0 31.954 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) into 0 31.954 * [taylor]: Taking taylor expansion of 0 in theta 31.954 * [backup-simplify]: Simplify 0 into 0 31.954 * [taylor]: Taking taylor expansion of 0 in delta 31.954 * [backup-simplify]: Simplify 0 into 0 31.954 * [backup-simplify]: Simplify 0 into 0 31.954 * [taylor]: Taking taylor expansion of 0 in delta 31.954 * [backup-simplify]: Simplify 0 into 0 31.954 * [backup-simplify]: Simplify 0 into 0 31.955 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.955 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.955 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.956 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.956 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.957 * [backup-simplify]: Simplify (+ 0 0) into 0 31.957 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 31.957 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.958 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.958 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.958 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.959 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.959 * [backup-simplify]: Simplify (- 0) into 0 31.960 * [backup-simplify]: Simplify (+ 0 0) into 0 31.960 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 31.962 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.962 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.963 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.963 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.964 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.964 * [backup-simplify]: Simplify (- 0) into 0 31.965 * [backup-simplify]: Simplify (+ 0 0) into 0 31.966 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.966 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.967 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.967 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.968 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.968 * [backup-simplify]: Simplify (+ 0 0) into 0 31.969 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 31.969 * [backup-simplify]: Simplify (+ 0 0) into 0 31.970 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.971 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.971 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.972 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.972 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.973 * [backup-simplify]: Simplify (+ 0 0) into 0 31.974 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))))) into 0 31.974 * [taylor]: Taking taylor expansion of 0 in delta 31.974 * [backup-simplify]: Simplify 0 into 0 31.974 * [backup-simplify]: Simplify 0 into 0 31.974 * [backup-simplify]: Simplify (* (sin (/ -1 (/ 1 (- phi1)))) (+ (* (cos (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- delta)))) (cos (/ -1 (/ 1 (- theta)))))) (* (sin (/ -1 (/ 1 (- phi1)))) (cos (/ -1 (/ 1 (- delta))))))) into (* (sin phi1) (+ (* (cos phi1) (* (sin delta) (cos theta))) (* (sin phi1) (cos delta)))) 31.975 * * * [progress]: simplifying candidates 31.975 * * * * [progress]: [ 1 / 87 ] simplifiying candidate # 31.975 * * * * [progress]: [ 2 / 87 ] simplifiying candidate # 31.975 * * * * [progress]: [ 3 / 87 ] simplifiying candidate # 31.975 * * * * [progress]: [ 4 / 87 ] simplifiying candidate # 31.975 * * * * [progress]: [ 5 / 87 ] simplifiying candidate # 31.975 * * * * [progress]: [ 6 / 87 ] simplifiying candidate # 31.975 * * * * [progress]: [ 7 / 87 ] simplifiying candidate # 31.975 * * * * [progress]: [ 8 / 87 ] simplifiying candidate # 31.975 * * * * [progress]: [ 9 / 87 ] simplifiying candidate # 31.976 * * * * [progress]: [ 10 / 87 ] simplifiying candidate # 31.976 * * * * [progress]: [ 11 / 87 ] simplifiying candidate # 31.976 * * * * [progress]: [ 12 / 87 ] simplifiying candidate # 31.976 * * * * [progress]: [ 13 / 87 ] simplifiying candidate # 31.976 * * * * [progress]: [ 14 / 87 ] simplifiying candidate # 31.976 * * * * [progress]: [ 15 / 87 ] simplifiying candidate # 31.976 * * * * [progress]: [ 16 / 87 ] simplifiying candidate # 31.976 * * * * [progress]: [ 17 / 87 ] simplifiying candidate # 31.976 * * * * [progress]: [ 18 / 87 ] simplifiying candidate # 31.976 * * * * [progress]: [ 19 / 87 ] simplifiying candidate # 31.976 * * * * [progress]: [ 20 / 87 ] simplifiying candidate # 31.976 * * * * [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))> 31.976 * * * * [progress]: [ 22 / 87 ] simplifiying candidate # 31.977 * * * * [progress]: [ 23 / 87 ] simplifiying candidate # 31.977 * * * * [progress]: [ 24 / 87 ] simplifiying candidate # 31.977 * * * * [progress]: [ 25 / 87 ] simplifiying candidate # 31.977 * * * * [progress]: [ 26 / 87 ] simplifiying candidate # 31.977 * * * * [progress]: [ 27 / 87 ] simplifiying candidate # 31.977 * * * * [progress]: [ 28 / 87 ] simplifiying candidate # 31.977 * * * * [progress]: [ 29 / 87 ] simplifiying candidate # 31.977 * * * * [progress]: [ 30 / 87 ] simplifiying candidate # 31.977 * * * * [progress]: [ 31 / 87 ] simplifiying candidate # 31.977 * * * * [progress]: [ 32 / 87 ] simplifiying candidate #real (real->posit16 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 31.977 * * * * [progress]: [ 33 / 87 ] simplifiying candidate # 31.977 * * * * [progress]: [ 34 / 87 ] simplifiying candidate # 31.977 * * * * [progress]: [ 35 / 87 ] simplifiying candidate # 31.977 * * * * [progress]: [ 36 / 87 ] simplifiying candidate # 31.978 * * * * [progress]: [ 37 / 87 ] simplifiying candidate # 31.978 * * * * [progress]: [ 38 / 87 ] simplifiying candidate # 31.978 * * * * [progress]: [ 39 / 87 ] simplifiying candidate # 31.978 * * * * [progress]: [ 40 / 87 ] simplifiying candidate # 31.978 * * * * [progress]: [ 41 / 87 ] simplifiying candidate # 31.978 * * * * [progress]: [ 42 / 87 ] simplifiying candidate # 31.978 * * * * [progress]: [ 43 / 87 ] simplifiying candidate # 31.978 * * * * [progress]: [ 44 / 87 ] simplifiying candidate # 31.978 * * * * [progress]: [ 45 / 87 ] simplifiying candidate # 31.978 * * * * [progress]: [ 46 / 87 ] simplifiying candidate # 31.978 * * * * [progress]: [ 47 / 87 ] simplifiying candidate # 31.978 * * * * [progress]: [ 48 / 87 ] simplifiying candidate # 31.978 * * * * [progress]: [ 49 / 87 ] simplifiying candidate # 31.979 * * * * [progress]: [ 50 / 87 ] simplifiying candidate # 31.979 * * * * [progress]: [ 51 / 87 ] simplifiying candidate # 31.979 * * * * [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))> 31.979 * * * * [progress]: [ 53 / 87 ] simplifiying candidate # 31.979 * * * * [progress]: [ 54 / 87 ] simplifiying candidate # 31.979 * * * * [progress]: [ 55 / 87 ] simplifiying candidate # 31.979 * * * * [progress]: [ 56 / 87 ] simplifiying candidate # 31.979 * * * * [progress]: [ 57 / 87 ] simplifiying candidate # 31.979 * * * * [progress]: [ 58 / 87 ] simplifiying candidate # 31.979 * * * * [progress]: [ 59 / 87 ] simplifiying candidate # 31.979 * * * * [progress]: [ 60 / 87 ] simplifiying candidate # 31.979 * * * * [progress]: [ 61 / 87 ] simplifiying candidate # 31.979 * * * * [progress]: [ 62 / 87 ] simplifiying candidate # 31.979 * * * * [progress]: [ 63 / 87 ] simplifiying candidate # 31.980 * * * * [progress]: [ 64 / 87 ] simplifiying candidate # 31.980 * * * * [progress]: [ 65 / 87 ] simplifiying candidate # 31.980 * * * * [progress]: [ 66 / 87 ] simplifiying candidate # 31.980 * * * * [progress]: [ 67 / 87 ] simplifiying candidate # 31.980 * * * * [progress]: [ 68 / 87 ] simplifiying candidate # 31.980 * * * * [progress]: [ 69 / 87 ] simplifiying candidate # 31.980 * * * * [progress]: [ 70 / 87 ] simplifiying candidate # 31.980 * * * * [progress]: [ 71 / 87 ] simplifiying candidate # 31.980 * * * * [progress]: [ 72 / 87 ] simplifiying candidate # 31.980 * * * * [progress]: [ 73 / 87 ] simplifiying candidate # 31.980 * * * * [progress]: [ 74 / 87 ] simplifiying candidate #real (real->posit16 (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 31.980 * * * * [progress]: [ 75 / 87 ] simplifiying candidate # 31.980 * * * * [progress]: [ 76 / 87 ] simplifiying candidate # 31.981 * * * * [progress]: [ 77 / 87 ] simplifiying candidate # 31.981 * * * * [progress]: [ 78 / 87 ] simplifiying candidate # 31.981 * * * * [progress]: [ 79 / 87 ] simplifiying candidate # 31.981 * * * * [progress]: [ 80 / 87 ] simplifiying candidate # 31.981 * * * * [progress]: [ 81 / 87 ] simplifiying candidate # 31.981 * * * * [progress]: [ 82 / 87 ] simplifiying candidate # 31.981 * * * * [progress]: [ 83 / 87 ] simplifiying candidate # 31.981 * * * * [progress]: [ 84 / 87 ] simplifiying candidate # 31.981 * * * * [progress]: [ 85 / 87 ] simplifiying candidate # 31.981 * * * * [progress]: [ 86 / 87 ] simplifiying candidate # 31.981 * * * * [progress]: [ 87 / 87 ] simplifiying candidate # 31.983 * [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)))) 31.986 * * [simplify]: iteration 1: (170 enodes) 32.036 * * [simplify]: iteration 2: (682 enodes) 32.234 * * [simplify]: iteration 3: (1409 enodes) 32.732 * * [simplify]: Extracting #0: cost 64 inf + 0 32.733 * * [simplify]: Extracting #1: cost 366 inf + 1 32.737 * * [simplify]: Extracting #2: cost 792 inf + 5090 32.747 * * [simplify]: Extracting #3: cost 555 inf + 64555 32.773 * * [simplify]: Extracting #4: cost 291 inf + 141607 32.824 * * [simplify]: Extracting #5: cost 139 inf + 240123 32.901 * * [simplify]: Extracting #6: cost 16 inf + 335323 33.012 * * [simplify]: Extracting #7: cost 0 inf + 348499 33.092 * [simplify]: Simplified to: (- (* (cbrt (cos delta)) (* (cbrt (cos delta)) (cbrt (cos delta)))) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (fma (- (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (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))))))) (fma (- (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (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))))))) (fma (- (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin phi1) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (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) (* (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)))))))) (- (* (cos delta) (* (cos delta) (cos delta))) (* (* (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) (fma (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (fma (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (* (cos delta) (sin phi1)) (* (cos delta) (cos delta)))) (* (- (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)))))))) (fma (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)))))) (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 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 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phi1))))))) (exp (* (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))))))) (* (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 (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))) (* (cbrt (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)))))))) (* (sin phi1) (sqrt (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))))) (cbrt (sin phi1))) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sqrt (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 (fma (* delta delta) 1/2 (* delta phi1))) (- (cos delta) (* (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))) (sin phi1))) (- (cos delta) (* (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))) (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)))) 0 (* (sin theta) (* (cos phi1) (sin delta))) (* (sin theta) (* (cos phi1) (sin delta))) (* (+ delta phi1) phi1) (* (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))) (sin phi1)) (* (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))) (sin phi1)) 33.111 * * * [progress]: adding candidates to table 35.314 * [progress]: [Phase 3 of 3] Extracting. 35.330 * [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) 35.330 * * [simplify]: iteration 1: (21 enodes) 35.332 * * [simplify]: iteration 2: (27 enodes) 35.333 * * [simplify]: Extracting #0: cost 1 inf + 0 35.333 * * [simplify]: Extracting #1: cost 3 inf + 0 35.333 * * [simplify]: Extracting #2: cost 4 inf + 1 35.334 * * [simplify]: Extracting #3: cost 8 inf + 1 35.334 * * [simplify]: Extracting #4: cost 13 inf + 1 35.334 * * [simplify]: Extracting #5: cost 15 inf + 2 35.334 * * [simplify]: Extracting #6: cost 9 inf + 309 35.334 * * [simplify]: Extracting #7: cost 10 inf + 734 35.334 * * [simplify]: Extracting #8: cost 6 inf + 1557 35.335 * * [simplify]: Extracting #9: cost 4 inf + 2703 35.335 * * [simplify]: Extracting #10: cost 3 inf + 3346 35.337 * * [simplify]: Extracting #11: cost 0 inf + 5996 35.338 * [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)))))))))