0.723 * [progress]: [Phase 1 of 3] Setting up. 0.001 * * * [progress]: [1/2] Preparing points 30.362 * * * [progress]: [2/2] Setting up program. 30.370 * [progress]: [Phase 2 of 3] Improving. 30.370 * * * * [progress]: [ 1 / 1 ] simplifiying candidate # 30.370 * [simplify]: Simplifying: (+ lambda1 (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))))) 30.370 * * [simplify]: iteration 1: (22 enodes) 30.374 * * [simplify]: iteration 2: (36 enodes) 30.379 * * [simplify]: iteration 3: (59 enodes) 30.387 * * [simplify]: iteration 4: (64 enodes) 30.394 * * [simplify]: Extracting #0: cost 1 inf + 0 30.394 * * [simplify]: Extracting #1: cost 3 inf + 0 30.394 * * [simplify]: Extracting #2: cost 4 inf + 1 30.394 * * [simplify]: Extracting #3: cost 17 inf + 1 30.394 * * [simplify]: Extracting #4: cost 21 inf + 1 30.394 * * [simplify]: Extracting #5: cost 17 inf + 126 30.394 * * [simplify]: Extracting #6: cost 14 inf + 896 30.395 * * [simplify]: Extracting #7: cost 12 inf + 1382 30.395 * * [simplify]: Extracting #8: cost 7 inf + 2950 30.395 * * [simplify]: Extracting #9: cost 6 inf + 3553 30.396 * * [simplify]: Extracting #10: cost 1 inf + 7198 30.398 * * [simplify]: Extracting #11: cost 0 inf + 8187 30.399 * * [simplify]: Extracting #12: cost 0 inf + 8172 30.402 * [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) 30.427 * * [progress]: iteration 1 / 4 30.427 * * * [progress]: picking best candidate 30.434 * * * * [pick]: Picked # 30.434 * * * [progress]: localizing error 30.529 * * * [progress]: generating rewritten candidates 30.529 * * * * [progress]: [ 1 / 4 ] rewriting at (2 1 2) 30.539 * * * * [progress]: [ 2 / 4 ] rewriting at (2 1 2 2 2 1) 30.540 * * * * [progress]: [ 3 / 4 ] rewriting at (2 1 2 2 2 1 1) 30.540 * * * * [progress]: [ 4 / 4 ] rewriting at (2 1 1) 30.593 * * * [progress]: generating series expansions 30.593 * * * * [progress]: [ 1 / 4 ] generating series at (2 1 2) 30.594 * [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))))) 30.594 * [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 30.594 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in theta 30.594 * [taylor]: Taking taylor expansion of (cos delta) in theta 30.594 * [taylor]: Taking taylor expansion of delta in theta 30.594 * [backup-simplify]: Simplify delta into delta 30.594 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.594 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.594 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 30.594 * [taylor]: Taking taylor expansion of (sin phi1) in theta 30.594 * [taylor]: Taking taylor expansion of phi1 in theta 30.594 * [backup-simplify]: Simplify phi1 into phi1 30.594 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.594 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.594 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 30.594 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 30.594 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 30.594 * [taylor]: Taking taylor expansion of (cos theta) in theta 30.595 * [taylor]: Taking taylor expansion of theta in theta 30.595 * [backup-simplify]: Simplify 0 into 0 30.595 * [backup-simplify]: Simplify 1 into 1 30.595 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 30.595 * [taylor]: Taking taylor expansion of (cos phi1) in theta 30.595 * [taylor]: Taking taylor expansion of phi1 in theta 30.595 * [backup-simplify]: Simplify phi1 into phi1 30.595 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.595 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.595 * [taylor]: Taking taylor expansion of (sin delta) in theta 30.595 * [taylor]: Taking taylor expansion of delta in theta 30.595 * [backup-simplify]: Simplify delta into delta 30.595 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.595 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.595 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 30.595 * [taylor]: Taking taylor expansion of (sin phi1) in theta 30.595 * [taylor]: Taking taylor expansion of phi1 in theta 30.595 * [backup-simplify]: Simplify phi1 into phi1 30.595 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.595 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.595 * [taylor]: Taking taylor expansion of (cos delta) in theta 30.595 * [taylor]: Taking taylor expansion of delta in theta 30.595 * [backup-simplify]: Simplify delta into delta 30.595 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.595 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.595 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in phi1 30.595 * [taylor]: Taking taylor expansion of (cos delta) in phi1 30.595 * [taylor]: Taking taylor expansion of delta in phi1 30.595 * [backup-simplify]: Simplify delta into delta 30.595 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.595 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.595 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 30.595 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 30.595 * [taylor]: Taking taylor expansion of phi1 in phi1 30.596 * [backup-simplify]: Simplify 0 into 0 30.596 * [backup-simplify]: Simplify 1 into 1 30.596 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 30.596 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 30.596 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 30.596 * [taylor]: Taking taylor expansion of (cos theta) in phi1 30.596 * [taylor]: Taking taylor expansion of theta in phi1 30.596 * [backup-simplify]: Simplify theta into theta 30.596 * [backup-simplify]: Simplify (cos theta) into (cos theta) 30.596 * [backup-simplify]: Simplify (sin theta) into (sin theta) 30.596 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 30.596 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 30.596 * [taylor]: Taking taylor expansion of phi1 in phi1 30.596 * [backup-simplify]: Simplify 0 into 0 30.596 * [backup-simplify]: Simplify 1 into 1 30.596 * [taylor]: Taking taylor expansion of (sin delta) in phi1 30.596 * [taylor]: Taking taylor expansion of delta in phi1 30.596 * [backup-simplify]: Simplify delta into delta 30.596 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.596 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.596 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 30.596 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 30.596 * [taylor]: Taking taylor expansion of phi1 in phi1 30.596 * [backup-simplify]: Simplify 0 into 0 30.596 * [backup-simplify]: Simplify 1 into 1 30.596 * [taylor]: Taking taylor expansion of (cos delta) in phi1 30.596 * [taylor]: Taking taylor expansion of delta in phi1 30.596 * [backup-simplify]: Simplify delta into delta 30.596 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.596 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.596 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in delta 30.596 * [taylor]: Taking taylor expansion of (cos delta) in delta 30.596 * [taylor]: Taking taylor expansion of delta in delta 30.596 * [backup-simplify]: Simplify 0 into 0 30.596 * [backup-simplify]: Simplify 1 into 1 30.596 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 30.597 * [taylor]: Taking taylor expansion of (sin phi1) in delta 30.597 * [taylor]: Taking taylor expansion of phi1 in delta 30.597 * [backup-simplify]: Simplify phi1 into phi1 30.597 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.597 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.597 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 30.597 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 30.597 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 30.597 * [taylor]: Taking taylor expansion of (cos theta) in delta 30.597 * [taylor]: Taking taylor expansion of theta in delta 30.597 * [backup-simplify]: Simplify theta into theta 30.597 * [backup-simplify]: Simplify (cos theta) into (cos theta) 30.597 * [backup-simplify]: Simplify (sin theta) into (sin theta) 30.597 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 30.597 * [taylor]: Taking taylor expansion of (cos phi1) in delta 30.597 * [taylor]: Taking taylor expansion of phi1 in delta 30.597 * [backup-simplify]: Simplify phi1 into phi1 30.597 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.597 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.597 * [taylor]: Taking taylor expansion of (sin delta) in delta 30.597 * [taylor]: Taking taylor expansion of delta in delta 30.597 * [backup-simplify]: Simplify 0 into 0 30.597 * [backup-simplify]: Simplify 1 into 1 30.597 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 30.597 * [taylor]: Taking taylor expansion of (sin phi1) in delta 30.597 * [taylor]: Taking taylor expansion of phi1 in delta 30.597 * [backup-simplify]: Simplify phi1 into phi1 30.597 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.597 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.597 * [taylor]: Taking taylor expansion of (cos delta) in delta 30.597 * [taylor]: Taking taylor expansion of delta in delta 30.597 * [backup-simplify]: Simplify 0 into 0 30.597 * [backup-simplify]: Simplify 1 into 1 30.597 * [taylor]: Taking taylor expansion of (- (cos delta) (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))))) in delta 30.598 * [taylor]: Taking taylor expansion of (cos delta) in delta 30.598 * [taylor]: Taking taylor expansion of delta in delta 30.598 * [backup-simplify]: Simplify 0 into 0 30.598 * [backup-simplify]: Simplify 1 into 1 30.598 * [taylor]: Taking taylor expansion of (* (sin phi1) (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 30.598 * [taylor]: Taking taylor expansion of (sin phi1) in delta 30.598 * [taylor]: Taking taylor expansion of phi1 in delta 30.598 * [backup-simplify]: Simplify phi1 into phi1 30.598 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.598 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.598 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 30.598 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 30.598 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 30.598 * [taylor]: Taking taylor expansion of (cos theta) in delta 30.598 * [taylor]: Taking taylor expansion of theta in delta 30.598 * [backup-simplify]: Simplify theta into theta 30.598 * [backup-simplify]: Simplify (cos theta) into (cos theta) 30.598 * [backup-simplify]: Simplify (sin theta) into (sin theta) 30.598 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 30.598 * [taylor]: Taking taylor expansion of (cos phi1) in delta 30.598 * [taylor]: Taking taylor expansion of phi1 in delta 30.598 * [backup-simplify]: Simplify phi1 into phi1 30.598 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.598 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.598 * [taylor]: Taking taylor expansion of (sin delta) in delta 30.598 * [taylor]: Taking taylor expansion of delta in delta 30.598 * [backup-simplify]: Simplify 0 into 0 30.598 * [backup-simplify]: Simplify 1 into 1 30.598 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 30.598 * [taylor]: Taking taylor expansion of (sin phi1) in delta 30.598 * [taylor]: Taking taylor expansion of phi1 in delta 30.598 * [backup-simplify]: Simplify phi1 into phi1 30.598 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.598 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.598 * [taylor]: Taking taylor expansion of (cos delta) in delta 30.599 * [taylor]: Taking taylor expansion of delta in delta 30.599 * [backup-simplify]: Simplify 0 into 0 30.599 * [backup-simplify]: Simplify 1 into 1 30.599 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 30.599 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 30.599 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 30.599 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 30.600 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 30.600 * [backup-simplify]: Simplify (- 0) into 0 30.600 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 30.600 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 30.601 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 30.601 * [backup-simplify]: Simplify (- 0) into 0 30.601 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 30.601 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 30.601 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 30.601 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 30.601 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 30.601 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 30.601 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 30.601 * [backup-simplify]: Simplify (+ 0 (sin phi1)) into (sin phi1) 30.601 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 30.602 * [backup-simplify]: Simplify (- (pow (sin phi1) 2)) into (- (pow (sin phi1) 2)) 30.602 * [backup-simplify]: Simplify (+ 1 (- (pow (sin phi1) 2))) into (- 1 (pow (sin phi1) 2)) 30.602 * [taylor]: Taking taylor expansion of (- 1 (pow (sin phi1) 2)) in phi1 30.602 * [taylor]: Taking taylor expansion of 1 in phi1 30.602 * [backup-simplify]: Simplify 1 into 1 30.602 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 30.602 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 30.602 * [taylor]: Taking taylor expansion of phi1 in phi1 30.602 * [backup-simplify]: Simplify 0 into 0 30.602 * [backup-simplify]: Simplify 1 into 1 30.603 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 30.603 * [backup-simplify]: Simplify (+ 1 0) into 1 30.603 * [taylor]: Taking taylor expansion of 1 in theta 30.604 * [backup-simplify]: Simplify 1 into 1 30.604 * [backup-simplify]: Simplify 1 into 1 30.604 * [backup-simplify]: Simplify (+ 0) into 0 30.605 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 30.605 * [backup-simplify]: Simplify (+ 0) into 0 30.606 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 30.607 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.607 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 30.608 * [backup-simplify]: Simplify (- 0) into 0 30.608 * [backup-simplify]: Simplify (+ 0 0) into 0 30.608 * [backup-simplify]: Simplify (+ (* (cos phi1) 1) (* 0 0)) into (cos phi1) 30.609 * [backup-simplify]: Simplify (+ 0) into 0 30.609 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 30.610 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.610 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 30.611 * [backup-simplify]: Simplify (- 0) into 0 30.611 * [backup-simplify]: Simplify (+ 0 0) into 0 30.612 * [backup-simplify]: Simplify (+ (* (cos theta) (cos phi1)) (* 0 0)) into (* (cos theta) (cos phi1)) 30.612 * [backup-simplify]: Simplify (+ 0) into 0 30.612 * [backup-simplify]: Simplify (+ 0) into 0 30.613 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 30.614 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.614 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 30.614 * [backup-simplify]: Simplify (+ 0 0) into 0 30.615 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 30.615 * [backup-simplify]: Simplify (+ (* (cos theta) (cos phi1)) 0) into (* (cos theta) (cos phi1)) 30.615 * [backup-simplify]: Simplify (+ 0) into 0 30.616 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 30.617 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.617 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 30.617 * [backup-simplify]: Simplify (+ 0 0) into 0 30.618 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos theta) (cos phi1))) (* 0 (sin phi1))) into (* (sin phi1) (* (cos theta) (cos phi1))) 30.618 * [backup-simplify]: Simplify (- (* (sin phi1) (* (cos theta) (cos phi1)))) into (- (* (sin phi1) (* (cos theta) (cos phi1)))) 30.618 * [backup-simplify]: Simplify (+ 0 (- (* (sin phi1) (* (cos theta) (cos phi1))))) into (- (* (sin phi1) (* (cos theta) (cos phi1)))) 30.618 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (* (cos theta) (cos phi1)))) in phi1 30.618 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos theta) (cos phi1))) in phi1 30.618 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 30.618 * [taylor]: Taking taylor expansion of phi1 in phi1 30.618 * [backup-simplify]: Simplify 0 into 0 30.618 * [backup-simplify]: Simplify 1 into 1 30.618 * [taylor]: Taking taylor expansion of (* (cos theta) (cos phi1)) in phi1 30.618 * [taylor]: Taking taylor expansion of (cos theta) in phi1 30.618 * [taylor]: Taking taylor expansion of theta in phi1 30.618 * [backup-simplify]: Simplify theta into theta 30.618 * [backup-simplify]: Simplify (cos theta) into (cos theta) 30.618 * [backup-simplify]: Simplify (sin theta) into (sin theta) 30.618 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 30.618 * [taylor]: Taking taylor expansion of phi1 in phi1 30.618 * [backup-simplify]: Simplify 0 into 0 30.618 * [backup-simplify]: Simplify 1 into 1 30.618 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 30.618 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 30.619 * [backup-simplify]: Simplify (- 0) into 0 30.619 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 30.619 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 30.619 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 30.619 * [backup-simplify]: Simplify (- 0) into 0 30.619 * [taylor]: Taking taylor expansion of 0 in theta 30.619 * [backup-simplify]: Simplify 0 into 0 30.620 * [backup-simplify]: Simplify 0 into 0 30.620 * [backup-simplify]: Simplify (+ 0 0) into 0 30.620 * [taylor]: Taking taylor expansion of 0 in theta 30.620 * [backup-simplify]: Simplify 0 into 0 30.620 * [backup-simplify]: Simplify 0 into 0 30.620 * [backup-simplify]: Simplify 0 into 0 30.621 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 30.622 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.623 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.624 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 30.625 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.625 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 30.626 * [backup-simplify]: Simplify (- 0) into 0 30.626 * [backup-simplify]: Simplify (+ 0 0) into 0 30.627 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 1) (* 0 0))) into 0 30.627 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.628 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 30.629 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.629 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 30.630 * [backup-simplify]: Simplify (- 0) into 0 30.630 * [backup-simplify]: Simplify (+ 0 0) into 0 30.631 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 (cos phi1)) (* 0 0))) into 0 30.632 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 30.632 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.633 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 30.634 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.635 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 30.635 * [backup-simplify]: Simplify (+ 0 0) into 0 30.636 * [backup-simplify]: Simplify (+ (* (sin phi1) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (sin phi1))) 30.636 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (sin phi1)))) into (- (* 1/2 (sin phi1))) 30.637 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.637 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 30.638 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.639 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 30.639 * [backup-simplify]: Simplify (+ 0 0) into 0 30.639 * [backup-simplify]: Simplify (+ (* (sin phi1) (- (* 1/2 (sin phi1)))) (+ (* 0 (* (cos theta) (cos phi1))) (* 0 (sin phi1)))) into (- (* 1/2 (pow (sin phi1) 2))) 30.639 * [backup-simplify]: Simplify (- (- (* 1/2 (pow (sin phi1) 2)))) into (* 1/2 (pow (sin phi1) 2)) 30.640 * [backup-simplify]: Simplify (+ -1/2 (* 1/2 (pow (sin phi1) 2))) into (- (* 1/2 (pow (sin phi1) 2)) 1/2) 30.640 * [taylor]: Taking taylor expansion of (- (* 1/2 (pow (sin phi1) 2)) 1/2) in phi1 30.640 * [taylor]: Taking taylor expansion of (* 1/2 (pow (sin phi1) 2)) in phi1 30.640 * [taylor]: Taking taylor expansion of 1/2 in phi1 30.640 * [backup-simplify]: Simplify 1/2 into 1/2 30.640 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 30.640 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 30.640 * [taylor]: Taking taylor expansion of phi1 in phi1 30.640 * [backup-simplify]: Simplify 0 into 0 30.640 * [backup-simplify]: Simplify 1 into 1 30.641 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 30.641 * [taylor]: Taking taylor expansion of 1/2 in phi1 30.641 * [backup-simplify]: Simplify 1/2 into 1/2 30.641 * [backup-simplify]: Simplify (- 1/2) into -1/2 30.641 * [backup-simplify]: Simplify (+ 0 -1/2) into -1/2 30.641 * [taylor]: Taking taylor expansion of -1/2 in theta 30.641 * [backup-simplify]: Simplify -1/2 into -1/2 30.641 * [backup-simplify]: Simplify -1/2 into -1/2 30.642 * [backup-simplify]: Simplify (+ 0) into 0 30.642 * [backup-simplify]: Simplify (+ 0) into 0 30.643 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 30.643 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.644 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 30.644 * [backup-simplify]: Simplify (- 0) into 0 30.645 * [backup-simplify]: Simplify (+ 0 0) into 0 30.645 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 30.646 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 30.646 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos theta))) into (cos theta) 30.646 * [backup-simplify]: Simplify (- (cos theta)) into (- (cos theta)) 30.646 * [taylor]: Taking taylor expansion of (- (cos theta)) in theta 30.646 * [taylor]: Taking taylor expansion of (cos theta) in theta 30.646 * [taylor]: Taking taylor expansion of theta in theta 30.646 * [backup-simplify]: Simplify 0 into 0 30.647 * [backup-simplify]: Simplify 1 into 1 30.647 * [backup-simplify]: Simplify (- 1) into -1 30.647 * [backup-simplify]: Simplify -1 into -1 30.648 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* phi1 delta))) (+ (* -1/2 (pow (* 1 (* 1 delta)) 2)) 1)) into (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) 30.648 * [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)))) 30.648 * [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 30.648 * [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 30.648 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 30.648 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.648 * [taylor]: Taking taylor expansion of delta in theta 30.648 * [backup-simplify]: Simplify delta into delta 30.648 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.649 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.649 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.649 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in theta 30.649 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 30.649 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 30.649 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 30.649 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 30.649 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 30.649 * [taylor]: Taking taylor expansion of theta in theta 30.649 * [backup-simplify]: Simplify 0 into 0 30.649 * [backup-simplify]: Simplify 1 into 1 30.649 * [backup-simplify]: Simplify (/ 1 1) into 1 30.649 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.649 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 30.649 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 30.649 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.650 * [taylor]: Taking taylor expansion of delta in theta 30.650 * [backup-simplify]: Simplify delta into delta 30.650 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.650 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.650 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.650 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 30.650 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.650 * [taylor]: Taking taylor expansion of phi1 in theta 30.650 * [backup-simplify]: Simplify phi1 into phi1 30.650 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.650 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.650 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.650 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 30.650 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 30.650 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.650 * [taylor]: Taking taylor expansion of phi1 in theta 30.650 * [backup-simplify]: Simplify phi1 into phi1 30.650 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.650 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.650 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.650 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 30.650 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.650 * [taylor]: Taking taylor expansion of delta in theta 30.650 * [backup-simplify]: Simplify delta into delta 30.650 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.651 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.651 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.651 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 30.651 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.651 * [taylor]: Taking taylor expansion of phi1 in theta 30.651 * [backup-simplify]: Simplify phi1 into phi1 30.651 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.651 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.651 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.651 * [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 30.651 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 30.651 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.651 * [taylor]: Taking taylor expansion of delta in phi1 30.651 * [backup-simplify]: Simplify delta into delta 30.651 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.651 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.651 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.651 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in phi1 30.651 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 30.651 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 30.651 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 30.651 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 30.651 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 30.651 * [taylor]: Taking taylor expansion of theta in phi1 30.651 * [backup-simplify]: Simplify theta into theta 30.651 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 30.652 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.652 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 30.652 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 30.652 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 30.652 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.652 * [taylor]: Taking taylor expansion of delta in phi1 30.652 * [backup-simplify]: Simplify delta into delta 30.652 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.652 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.652 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.652 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 30.652 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.652 * [taylor]: Taking taylor expansion of phi1 in phi1 30.652 * [backup-simplify]: Simplify 0 into 0 30.652 * [backup-simplify]: Simplify 1 into 1 30.652 * [backup-simplify]: Simplify (/ 1 1) into 1 30.653 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.653 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 30.653 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 30.653 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.653 * [taylor]: Taking taylor expansion of phi1 in phi1 30.653 * [backup-simplify]: Simplify 0 into 0 30.653 * [backup-simplify]: Simplify 1 into 1 30.653 * [backup-simplify]: Simplify (/ 1 1) into 1 30.653 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.653 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 30.653 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.653 * [taylor]: Taking taylor expansion of delta in phi1 30.653 * [backup-simplify]: Simplify delta into delta 30.653 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.653 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.654 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.654 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 30.654 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.654 * [taylor]: Taking taylor expansion of phi1 in phi1 30.654 * [backup-simplify]: Simplify 0 into 0 30.654 * [backup-simplify]: Simplify 1 into 1 30.654 * [backup-simplify]: Simplify (/ 1 1) into 1 30.654 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.654 * [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 30.654 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 30.654 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.654 * [taylor]: Taking taylor expansion of delta in delta 30.654 * [backup-simplify]: Simplify 0 into 0 30.654 * [backup-simplify]: Simplify 1 into 1 30.655 * [backup-simplify]: Simplify (/ 1 1) into 1 30.655 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.655 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in delta 30.655 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 30.655 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 30.655 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 30.655 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 30.655 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 30.655 * [taylor]: Taking taylor expansion of theta in delta 30.655 * [backup-simplify]: Simplify theta into theta 30.655 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 30.655 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.655 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 30.655 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 30.655 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 30.655 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.656 * [taylor]: Taking taylor expansion of delta in delta 30.656 * [backup-simplify]: Simplify 0 into 0 30.656 * [backup-simplify]: Simplify 1 into 1 30.656 * [backup-simplify]: Simplify (/ 1 1) into 1 30.656 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.656 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 30.656 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.656 * [taylor]: Taking taylor expansion of phi1 in delta 30.656 * [backup-simplify]: Simplify phi1 into phi1 30.656 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.656 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.656 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.656 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 30.656 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 30.656 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.657 * [taylor]: Taking taylor expansion of phi1 in delta 30.657 * [backup-simplify]: Simplify phi1 into phi1 30.657 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.657 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.657 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.657 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 30.657 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.657 * [taylor]: Taking taylor expansion of delta in delta 30.657 * [backup-simplify]: Simplify 0 into 0 30.657 * [backup-simplify]: Simplify 1 into 1 30.657 * [backup-simplify]: Simplify (/ 1 1) into 1 30.657 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.657 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 30.657 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.657 * [taylor]: Taking taylor expansion of phi1 in delta 30.658 * [backup-simplify]: Simplify phi1 into phi1 30.658 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.658 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.658 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.658 * [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 30.658 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 30.658 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.658 * [taylor]: Taking taylor expansion of delta in delta 30.658 * [backup-simplify]: Simplify 0 into 0 30.658 * [backup-simplify]: Simplify 1 into 1 30.658 * [backup-simplify]: Simplify (/ 1 1) into 1 30.658 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.658 * [taylor]: Taking taylor expansion of (* (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) in delta 30.658 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 30.658 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 30.659 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 30.659 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 30.659 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 30.659 * [taylor]: Taking taylor expansion of theta in delta 30.659 * [backup-simplify]: Simplify theta into theta 30.659 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 30.659 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.659 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 30.659 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 30.659 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 30.659 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.659 * [taylor]: Taking taylor expansion of delta in delta 30.659 * [backup-simplify]: Simplify 0 into 0 30.659 * [backup-simplify]: Simplify 1 into 1 30.659 * [backup-simplify]: Simplify (/ 1 1) into 1 30.659 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.659 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 30.659 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.660 * [taylor]: Taking taylor expansion of phi1 in delta 30.660 * [backup-simplify]: Simplify phi1 into phi1 30.660 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.660 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.660 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.660 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 30.660 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 30.660 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.660 * [taylor]: Taking taylor expansion of phi1 in delta 30.660 * [backup-simplify]: Simplify phi1 into phi1 30.660 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.660 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.660 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.660 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 30.660 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.660 * [taylor]: Taking taylor expansion of delta in delta 30.660 * [backup-simplify]: Simplify 0 into 0 30.660 * [backup-simplify]: Simplify 1 into 1 30.661 * [backup-simplify]: Simplify (/ 1 1) into 1 30.661 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.661 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 30.661 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.661 * [taylor]: Taking taylor expansion of phi1 in delta 30.661 * [backup-simplify]: Simplify phi1 into phi1 30.661 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.661 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.661 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.661 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 30.661 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 30.662 * [backup-simplify]: Simplify (- 0) into 0 30.662 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 30.662 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 30.662 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 30.662 * [backup-simplify]: Simplify (- 0) into 0 30.662 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 30.662 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (cos (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 delta))) 30.663 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 30.663 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 30.663 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 30.663 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 30.663 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 30.663 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) into (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 30.664 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 30.664 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 30.664 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 30.664 * [backup-simplify]: Simplify (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) (sin (/ 1 phi1))) into (* (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) (sin (/ 1 phi1))) 30.665 * [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)))) 30.666 * [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)))) 30.666 * [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 30.666 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 30.666 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.666 * [taylor]: Taking taylor expansion of delta in phi1 30.666 * [backup-simplify]: Simplify delta into delta 30.666 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.666 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.666 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.666 * [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 30.666 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in phi1 30.666 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 30.666 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.666 * [taylor]: Taking taylor expansion of phi1 in phi1 30.666 * [backup-simplify]: Simplify 0 into 0 30.666 * [backup-simplify]: Simplify 1 into 1 30.667 * [backup-simplify]: Simplify (/ 1 1) into 1 30.667 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.667 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in phi1 30.667 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 30.667 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.667 * [taylor]: Taking taylor expansion of phi1 in phi1 30.667 * [backup-simplify]: Simplify 0 into 0 30.667 * [backup-simplify]: Simplify 1 into 1 30.667 * [backup-simplify]: Simplify (/ 1 1) into 1 30.667 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.667 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in phi1 30.667 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 30.668 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 30.668 * [taylor]: Taking taylor expansion of theta in phi1 30.668 * [backup-simplify]: Simplify theta into theta 30.668 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 30.668 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.668 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 30.668 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 30.668 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.668 * [taylor]: Taking taylor expansion of delta in phi1 30.668 * [backup-simplify]: Simplify delta into delta 30.668 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.668 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.668 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.668 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in phi1 30.668 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 30.668 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.668 * [taylor]: Taking taylor expansion of delta in phi1 30.668 * [backup-simplify]: Simplify delta into delta 30.668 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.668 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.668 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.668 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 30.668 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 30.668 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.668 * [taylor]: Taking taylor expansion of phi1 in phi1 30.668 * [backup-simplify]: Simplify 0 into 0 30.668 * [backup-simplify]: Simplify 1 into 1 30.669 * [backup-simplify]: Simplify (/ 1 1) into 1 30.669 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.669 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 30.669 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 30.670 * [backup-simplify]: Simplify (- 0) into 0 30.670 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 30.670 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 30.670 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 30.670 * [backup-simplify]: Simplify (- 0) into 0 30.670 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 30.670 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 30.670 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 30.671 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 30.671 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 30.671 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) 30.671 * [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))))) 30.671 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 30.671 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 30.672 * [backup-simplify]: Simplify (- 0) into 0 30.672 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 30.672 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 30.672 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 30.673 * [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)))) 30.673 * [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)))) 30.674 * [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)))) 30.674 * [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 30.674 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 30.674 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.674 * [taylor]: Taking taylor expansion of delta in theta 30.674 * [backup-simplify]: Simplify delta into delta 30.674 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.674 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.674 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.674 * [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 30.674 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) in theta 30.674 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 30.674 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.674 * [taylor]: Taking taylor expansion of phi1 in theta 30.675 * [backup-simplify]: Simplify phi1 into phi1 30.675 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.675 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.675 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.675 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) in theta 30.675 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 30.675 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.675 * [taylor]: Taking taylor expansion of delta in theta 30.675 * [backup-simplify]: Simplify delta into delta 30.675 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.675 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.675 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.675 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 phi1))) in theta 30.675 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 30.675 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 30.675 * [taylor]: Taking taylor expansion of theta in theta 30.675 * [backup-simplify]: Simplify 0 into 0 30.675 * [backup-simplify]: Simplify 1 into 1 30.676 * [backup-simplify]: Simplify (/ 1 1) into 1 30.676 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.676 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 30.676 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.676 * [taylor]: Taking taylor expansion of phi1 in theta 30.676 * [backup-simplify]: Simplify phi1 into phi1 30.676 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.676 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.676 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.676 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) in theta 30.676 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 30.676 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.676 * [taylor]: Taking taylor expansion of delta in theta 30.676 * [backup-simplify]: Simplify delta into delta 30.676 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.676 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.676 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.676 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 30.676 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 30.676 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.676 * [taylor]: Taking taylor expansion of phi1 in theta 30.677 * [backup-simplify]: Simplify phi1 into phi1 30.677 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.677 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.677 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.677 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 30.677 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 30.677 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 30.677 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 30.677 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 30.678 * [backup-simplify]: Simplify (- 0) into 0 30.678 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 30.678 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 30.678 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 30.678 * [backup-simplify]: Simplify (- 0) into 0 30.678 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 30.678 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 30.679 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 30.679 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 30.679 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 30.679 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 30.679 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 30.679 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 phi1))) into (* (cos (/ 1 theta)) (sin (/ 1 phi1))) 30.679 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))) into (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 30.680 * [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))))) 30.680 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 30.680 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 30.680 * [backup-simplify]: Simplify (- 0) into 0 30.680 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 30.680 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 30.681 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (pow (sin (/ 1 phi1)) 2)) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 30.681 * [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)))) 30.682 * [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))))))) 30.683 * [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))))))) 30.683 * [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))))) 30.684 * [backup-simplify]: Simplify (+ 0) into 0 30.684 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 30.684 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.685 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.686 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 30.686 * [backup-simplify]: Simplify (+ 0 0) into 0 30.686 * [backup-simplify]: Simplify (+ 0) into 0 30.687 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 30.687 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.688 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.688 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 30.689 * [backup-simplify]: Simplify (- 0) into 0 30.689 * [backup-simplify]: Simplify (+ 0 0) into 0 30.689 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 30.690 * [backup-simplify]: Simplify (+ 0) into 0 30.690 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 30.690 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 30.691 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.692 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 30.692 * [backup-simplify]: Simplify (- 0) into 0 30.692 * [backup-simplify]: Simplify (+ 0 0) into 0 30.693 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta))))) into 0 30.693 * [backup-simplify]: Simplify (+ 0) into 0 30.694 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 30.694 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.695 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.695 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 30.695 * [backup-simplify]: Simplify (+ 0 0) into 0 30.696 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 30.696 * [backup-simplify]: Simplify (+ 0 0) into 0 30.696 * [backup-simplify]: Simplify (+ (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 30.697 * [backup-simplify]: Simplify (- 0) into 0 30.697 * [backup-simplify]: Simplify (+ 0 0) into 0 30.697 * [taylor]: Taking taylor expansion of 0 in phi1 30.697 * [backup-simplify]: Simplify 0 into 0 30.697 * [taylor]: Taking taylor expansion of 0 in theta 30.697 * [backup-simplify]: Simplify 0 into 0 30.697 * [backup-simplify]: Simplify 0 into 0 30.698 * [backup-simplify]: Simplify (+ 0) into 0 30.698 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 30.699 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.699 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.700 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 30.700 * [backup-simplify]: Simplify (- 0) into 0 30.701 * [backup-simplify]: Simplify (+ 0 0) into 0 30.701 * [backup-simplify]: Simplify (+ 0) into 0 30.702 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 30.702 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.703 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.703 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 30.704 * [backup-simplify]: Simplify (+ 0 0) into 0 30.704 * [backup-simplify]: Simplify (+ 0) into 0 30.704 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 30.705 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 30.705 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.706 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 30.706 * [backup-simplify]: Simplify (- 0) into 0 30.707 * [backup-simplify]: Simplify (+ 0 0) into 0 30.707 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 30.707 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 30.707 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1)))))) into 0 30.707 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 30.708 * [backup-simplify]: Simplify (+ 0) into 0 30.708 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 30.708 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.709 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.710 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 30.710 * [backup-simplify]: Simplify (- 0) into 0 30.710 * [backup-simplify]: Simplify (+ 0 0) into 0 30.711 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 30.715 * [backup-simplify]: Simplify (+ 0 0) into 0 30.716 * [backup-simplify]: Simplify (- 0) into 0 30.716 * [backup-simplify]: Simplify (+ 0 0) into 0 30.716 * [taylor]: Taking taylor expansion of 0 in theta 30.716 * [backup-simplify]: Simplify 0 into 0 30.716 * [backup-simplify]: Simplify 0 into 0 30.717 * [backup-simplify]: Simplify (+ 0) into 0 30.717 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 30.718 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.718 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.719 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 30.719 * [backup-simplify]: Simplify (- 0) into 0 30.720 * [backup-simplify]: Simplify (+ 0 0) into 0 30.720 * [backup-simplify]: Simplify (+ 0) into 0 30.721 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 30.721 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.722 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.722 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 30.722 * [backup-simplify]: Simplify (+ 0 0) into 0 30.723 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 30.723 * [backup-simplify]: Simplify (+ 0) into 0 30.723 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 30.724 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.724 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.725 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 30.725 * [backup-simplify]: Simplify (+ 0 0) into 0 30.725 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 phi1))))) into 0 30.726 * [backup-simplify]: Simplify (+ 0) into 0 30.726 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 30.726 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.727 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.728 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 30.728 * [backup-simplify]: Simplify (- 0) into 0 30.728 * [backup-simplify]: Simplify (+ 0 0) into 0 30.729 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 30.729 * [backup-simplify]: Simplify (+ 0) into 0 30.729 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 30.730 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.730 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.730 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 30.731 * [backup-simplify]: Simplify (+ 0 0) into 0 30.731 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 30.731 * [backup-simplify]: Simplify (+ 0) into 0 30.731 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 30.731 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.732 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.732 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 30.732 * [backup-simplify]: Simplify (- 0) into 0 30.733 * [backup-simplify]: Simplify (+ 0 0) into 0 30.733 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (pow (sin (/ 1 phi1)) 2))) into 0 30.733 * [backup-simplify]: Simplify (+ 0 0) into 0 30.733 * [backup-simplify]: Simplify (- 0) into 0 30.734 * [backup-simplify]: Simplify (+ 0 0) into 0 30.734 * [backup-simplify]: Simplify 0 into 0 30.734 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.735 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.735 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.735 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.735 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.736 * [backup-simplify]: Simplify (+ 0 0) into 0 30.736 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.737 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.737 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.737 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.738 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.738 * [backup-simplify]: Simplify (- 0) into 0 30.738 * [backup-simplify]: Simplify (+ 0 0) into 0 30.738 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 30.739 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.739 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.740 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 30.740 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.740 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.741 * [backup-simplify]: Simplify (- 0) into 0 30.741 * [backup-simplify]: Simplify (+ 0 0) into 0 30.741 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta)))))) into 0 30.742 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.743 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.743 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.743 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.744 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.744 * [backup-simplify]: Simplify (+ 0 0) into 0 30.744 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 30.744 * [backup-simplify]: Simplify (+ 0 0) into 0 30.745 * [backup-simplify]: Simplify (+ (* (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 30.745 * [backup-simplify]: Simplify (- 0) into 0 30.745 * [backup-simplify]: Simplify (+ 0 0) into 0 30.745 * [taylor]: Taking taylor expansion of 0 in phi1 30.745 * [backup-simplify]: Simplify 0 into 0 30.745 * [taylor]: Taking taylor expansion of 0 in theta 30.745 * [backup-simplify]: Simplify 0 into 0 30.745 * [backup-simplify]: Simplify 0 into 0 30.745 * [taylor]: Taking taylor expansion of 0 in theta 30.745 * [backup-simplify]: Simplify 0 into 0 30.746 * [backup-simplify]: Simplify 0 into 0 30.746 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.747 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.747 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.747 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.747 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.748 * [backup-simplify]: Simplify (- 0) into 0 30.748 * [backup-simplify]: Simplify (+ 0 0) into 0 30.748 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.749 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.749 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.750 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.750 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.750 * [backup-simplify]: Simplify (+ 0 0) into 0 30.751 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.751 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.751 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 30.752 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.752 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.752 * [backup-simplify]: Simplify (- 0) into 0 30.753 * [backup-simplify]: Simplify (+ 0 0) into 0 30.753 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 30.753 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 30.754 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (sin (/ 1 phi1))))))) into 0 30.754 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 30.755 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.755 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.755 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.756 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.756 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.756 * [backup-simplify]: Simplify (- 0) into 0 30.757 * [backup-simplify]: Simplify (+ 0 0) into 0 30.757 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 1 phi1)) 2)))) into 0 30.757 * [backup-simplify]: Simplify (+ 0 0) into 0 30.757 * [backup-simplify]: Simplify (- 0) into 0 30.758 * [backup-simplify]: Simplify (+ 0 0) into 0 30.758 * [taylor]: Taking taylor expansion of 0 in theta 30.758 * [backup-simplify]: Simplify 0 into 0 30.758 * [backup-simplify]: Simplify 0 into 0 30.758 * [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)))))) 30.758 * [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)))))) 30.759 * [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 30.759 * [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 30.759 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 30.759 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 30.759 * [taylor]: Taking taylor expansion of -1 in theta 30.759 * [backup-simplify]: Simplify -1 into -1 30.759 * [taylor]: Taking taylor expansion of delta in theta 30.759 * [backup-simplify]: Simplify delta into delta 30.759 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.759 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.759 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.759 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 30.759 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 30.759 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.759 * [taylor]: Taking taylor expansion of -1 in theta 30.759 * [backup-simplify]: Simplify -1 into -1 30.759 * [taylor]: Taking taylor expansion of phi1 in theta 30.759 * [backup-simplify]: Simplify phi1 into phi1 30.759 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.759 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.759 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.759 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 30.759 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.759 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 30.759 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 30.759 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 30.759 * [taylor]: Taking taylor expansion of -1 in theta 30.759 * [backup-simplify]: Simplify -1 into -1 30.759 * [taylor]: Taking taylor expansion of theta in theta 30.759 * [backup-simplify]: Simplify 0 into 0 30.759 * [backup-simplify]: Simplify 1 into 1 30.759 * [backup-simplify]: Simplify (/ -1 1) into -1 30.760 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.760 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 30.760 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 30.760 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.760 * [taylor]: Taking taylor expansion of -1 in theta 30.760 * [backup-simplify]: Simplify -1 into -1 30.760 * [taylor]: Taking taylor expansion of phi1 in theta 30.760 * [backup-simplify]: Simplify phi1 into phi1 30.760 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.760 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.760 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.760 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 30.760 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 30.760 * [taylor]: Taking taylor expansion of -1 in theta 30.760 * [backup-simplify]: Simplify -1 into -1 30.760 * [taylor]: Taking taylor expansion of delta in theta 30.760 * [backup-simplify]: Simplify delta into delta 30.760 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.760 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.760 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.760 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 30.760 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 30.760 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.760 * [taylor]: Taking taylor expansion of -1 in theta 30.760 * [backup-simplify]: Simplify -1 into -1 30.760 * [taylor]: Taking taylor expansion of phi1 in theta 30.760 * [backup-simplify]: Simplify phi1 into phi1 30.760 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.760 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.760 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.760 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 30.760 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 30.760 * [taylor]: Taking taylor expansion of -1 in theta 30.760 * [backup-simplify]: Simplify -1 into -1 30.760 * [taylor]: Taking taylor expansion of delta in theta 30.760 * [backup-simplify]: Simplify delta into delta 30.760 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.760 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.760 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.760 * [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 30.760 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 30.760 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 30.760 * [taylor]: Taking taylor expansion of -1 in phi1 30.761 * [backup-simplify]: Simplify -1 into -1 30.761 * [taylor]: Taking taylor expansion of delta in phi1 30.761 * [backup-simplify]: Simplify delta into delta 30.761 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.761 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.761 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.761 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 30.761 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 30.761 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 30.761 * [taylor]: Taking taylor expansion of -1 in phi1 30.761 * [backup-simplify]: Simplify -1 into -1 30.761 * [taylor]: Taking taylor expansion of phi1 in phi1 30.761 * [backup-simplify]: Simplify 0 into 0 30.761 * [backup-simplify]: Simplify 1 into 1 30.761 * [backup-simplify]: Simplify (/ -1 1) into -1 30.761 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.761 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 30.761 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.761 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 30.761 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 30.761 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 30.761 * [taylor]: Taking taylor expansion of -1 in phi1 30.761 * [backup-simplify]: Simplify -1 into -1 30.761 * [taylor]: Taking taylor expansion of theta in phi1 30.761 * [backup-simplify]: Simplify theta into theta 30.761 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 30.761 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.761 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.761 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 30.761 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 30.761 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 30.762 * [taylor]: Taking taylor expansion of -1 in phi1 30.762 * [backup-simplify]: Simplify -1 into -1 30.762 * [taylor]: Taking taylor expansion of phi1 in phi1 30.762 * [backup-simplify]: Simplify 0 into 0 30.762 * [backup-simplify]: Simplify 1 into 1 30.762 * [backup-simplify]: Simplify (/ -1 1) into -1 30.762 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.762 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 30.762 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 30.762 * [taylor]: Taking taylor expansion of -1 in phi1 30.762 * [backup-simplify]: Simplify -1 into -1 30.762 * [taylor]: Taking taylor expansion of delta in phi1 30.762 * [backup-simplify]: Simplify delta into delta 30.762 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.762 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.762 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.762 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 30.762 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 30.762 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 30.762 * [taylor]: Taking taylor expansion of -1 in phi1 30.762 * [backup-simplify]: Simplify -1 into -1 30.762 * [taylor]: Taking taylor expansion of phi1 in phi1 30.762 * [backup-simplify]: Simplify 0 into 0 30.762 * [backup-simplify]: Simplify 1 into 1 30.763 * [backup-simplify]: Simplify (/ -1 1) into -1 30.763 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.763 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 30.763 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 30.763 * [taylor]: Taking taylor expansion of -1 in phi1 30.763 * [backup-simplify]: Simplify -1 into -1 30.763 * [taylor]: Taking taylor expansion of delta in phi1 30.763 * [backup-simplify]: Simplify delta into delta 30.763 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.763 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.763 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.763 * [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 30.763 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 30.763 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 30.763 * [taylor]: Taking taylor expansion of -1 in delta 30.763 * [backup-simplify]: Simplify -1 into -1 30.763 * [taylor]: Taking taylor expansion of delta in delta 30.763 * [backup-simplify]: Simplify 0 into 0 30.763 * [backup-simplify]: Simplify 1 into 1 30.763 * [backup-simplify]: Simplify (/ -1 1) into -1 30.763 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.763 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 30.763 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 30.763 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.763 * [taylor]: Taking taylor expansion of -1 in delta 30.763 * [backup-simplify]: Simplify -1 into -1 30.763 * [taylor]: Taking taylor expansion of phi1 in delta 30.763 * [backup-simplify]: Simplify phi1 into phi1 30.763 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.763 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.764 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.764 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 30.764 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.764 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 30.764 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 30.764 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 30.764 * [taylor]: Taking taylor expansion of -1 in delta 30.764 * [backup-simplify]: Simplify -1 into -1 30.764 * [taylor]: Taking taylor expansion of theta in delta 30.764 * [backup-simplify]: Simplify theta into theta 30.764 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 30.764 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.764 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.764 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 30.764 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 30.764 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.764 * [taylor]: Taking taylor expansion of -1 in delta 30.764 * [backup-simplify]: Simplify -1 into -1 30.764 * [taylor]: Taking taylor expansion of phi1 in delta 30.764 * [backup-simplify]: Simplify phi1 into phi1 30.764 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.764 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.764 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.764 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 30.764 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 30.764 * [taylor]: Taking taylor expansion of -1 in delta 30.764 * [backup-simplify]: Simplify -1 into -1 30.764 * [taylor]: Taking taylor expansion of delta in delta 30.764 * [backup-simplify]: Simplify 0 into 0 30.764 * [backup-simplify]: Simplify 1 into 1 30.764 * [backup-simplify]: Simplify (/ -1 1) into -1 30.764 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.765 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 30.765 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 30.765 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.765 * [taylor]: Taking taylor expansion of -1 in delta 30.765 * [backup-simplify]: Simplify -1 into -1 30.765 * [taylor]: Taking taylor expansion of phi1 in delta 30.765 * [backup-simplify]: Simplify phi1 into phi1 30.765 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.765 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.765 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.765 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 30.765 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 30.765 * [taylor]: Taking taylor expansion of -1 in delta 30.765 * [backup-simplify]: Simplify -1 into -1 30.765 * [taylor]: Taking taylor expansion of delta in delta 30.765 * [backup-simplify]: Simplify 0 into 0 30.765 * [backup-simplify]: Simplify 1 into 1 30.765 * [backup-simplify]: Simplify (/ -1 1) into -1 30.765 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.765 * [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 30.765 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 30.765 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 30.765 * [taylor]: Taking taylor expansion of -1 in delta 30.765 * [backup-simplify]: Simplify -1 into -1 30.765 * [taylor]: Taking taylor expansion of delta in delta 30.765 * [backup-simplify]: Simplify 0 into 0 30.765 * [backup-simplify]: Simplify 1 into 1 30.766 * [backup-simplify]: Simplify (/ -1 1) into -1 30.766 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.766 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 30.766 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 30.766 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.766 * [taylor]: Taking taylor expansion of -1 in delta 30.766 * [backup-simplify]: Simplify -1 into -1 30.766 * [taylor]: Taking taylor expansion of phi1 in delta 30.766 * [backup-simplify]: Simplify phi1 into phi1 30.766 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.766 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.766 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.766 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 30.766 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.766 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 30.766 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 30.766 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 30.766 * [taylor]: Taking taylor expansion of -1 in delta 30.766 * [backup-simplify]: Simplify -1 into -1 30.766 * [taylor]: Taking taylor expansion of theta in delta 30.766 * [backup-simplify]: Simplify theta into theta 30.766 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 30.766 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.766 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.766 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 30.766 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 30.766 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.766 * [taylor]: Taking taylor expansion of -1 in delta 30.766 * [backup-simplify]: Simplify -1 into -1 30.766 * [taylor]: Taking taylor expansion of phi1 in delta 30.766 * [backup-simplify]: Simplify phi1 into phi1 30.766 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.766 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.766 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.766 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 30.766 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 30.766 * [taylor]: Taking taylor expansion of -1 in delta 30.766 * [backup-simplify]: Simplify -1 into -1 30.766 * [taylor]: Taking taylor expansion of delta in delta 30.766 * [backup-simplify]: Simplify 0 into 0 30.767 * [backup-simplify]: Simplify 1 into 1 30.767 * [backup-simplify]: Simplify (/ -1 1) into -1 30.767 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.767 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 30.767 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 30.767 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.767 * [taylor]: Taking taylor expansion of -1 in delta 30.767 * [backup-simplify]: Simplify -1 into -1 30.767 * [taylor]: Taking taylor expansion of phi1 in delta 30.767 * [backup-simplify]: Simplify phi1 into phi1 30.767 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.767 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.767 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.767 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 30.767 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 30.767 * [taylor]: Taking taylor expansion of -1 in delta 30.767 * [backup-simplify]: Simplify -1 into -1 30.767 * [taylor]: Taking taylor expansion of delta in delta 30.767 * [backup-simplify]: Simplify 0 into 0 30.767 * [backup-simplify]: Simplify 1 into 1 30.768 * [backup-simplify]: Simplify (/ -1 1) into -1 30.768 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.768 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 30.768 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 30.768 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 30.768 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 30.768 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 30.768 * [backup-simplify]: Simplify (- 0) into 0 30.768 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 30.768 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 30.768 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 30.769 * [backup-simplify]: Simplify (- 0) into 0 30.769 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 30.769 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 30.769 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 30.769 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 30.769 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 30.769 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 30.769 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 30.769 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) into (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.769 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) into (* (sin (/ -1 phi1)) (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) 30.770 * [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))))))) 30.770 * [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))))))) 30.770 * [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 30.770 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 30.770 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 30.770 * [taylor]: Taking taylor expansion of -1 in phi1 30.770 * [backup-simplify]: Simplify -1 into -1 30.770 * [taylor]: Taking taylor expansion of delta in phi1 30.770 * [backup-simplify]: Simplify delta into delta 30.770 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.770 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.770 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.770 * [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 30.770 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in phi1 30.770 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 30.770 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 30.770 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 30.770 * [taylor]: Taking taylor expansion of -1 in phi1 30.770 * [backup-simplify]: Simplify -1 into -1 30.770 * [taylor]: Taking taylor expansion of phi1 in phi1 30.770 * [backup-simplify]: Simplify 0 into 0 30.771 * [backup-simplify]: Simplify 1 into 1 30.771 * [backup-simplify]: Simplify (/ -1 1) into -1 30.771 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.771 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 30.771 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 30.771 * [taylor]: Taking taylor expansion of -1 in phi1 30.771 * [backup-simplify]: Simplify -1 into -1 30.771 * [taylor]: Taking taylor expansion of delta in phi1 30.771 * [backup-simplify]: Simplify delta into delta 30.771 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.771 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.771 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.771 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) in phi1 30.771 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 30.771 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 30.771 * [taylor]: Taking taylor expansion of -1 in phi1 30.771 * [backup-simplify]: Simplify -1 into -1 30.771 * [taylor]: Taking taylor expansion of phi1 in phi1 30.771 * [backup-simplify]: Simplify 0 into 0 30.771 * [backup-simplify]: Simplify 1 into 1 30.772 * [backup-simplify]: Simplify (/ -1 1) into -1 30.772 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.772 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))) in phi1 30.772 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 30.772 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 30.772 * [taylor]: Taking taylor expansion of -1 in phi1 30.772 * [backup-simplify]: Simplify -1 into -1 30.772 * [taylor]: Taking taylor expansion of theta in phi1 30.772 * [backup-simplify]: Simplify theta into theta 30.772 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 30.772 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.772 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.772 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 phi1))) in phi1 30.772 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 30.772 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 30.772 * [taylor]: Taking taylor expansion of -1 in phi1 30.772 * [backup-simplify]: Simplify -1 into -1 30.772 * [taylor]: Taking taylor expansion of delta in phi1 30.772 * [backup-simplify]: Simplify delta into delta 30.772 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.772 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.772 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.772 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 30.772 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 30.772 * [taylor]: Taking taylor expansion of -1 in phi1 30.772 * [backup-simplify]: Simplify -1 into -1 30.772 * [taylor]: Taking taylor expansion of phi1 in phi1 30.772 * [backup-simplify]: Simplify 0 into 0 30.772 * [backup-simplify]: Simplify 1 into 1 30.772 * [backup-simplify]: Simplify (/ -1 1) into -1 30.772 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.773 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 30.773 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 30.773 * [backup-simplify]: Simplify (- 0) into 0 30.773 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 30.773 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 30.773 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 30.773 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 30.773 * [backup-simplify]: Simplify (- 0) into 0 30.774 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 30.774 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 30.774 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 30.774 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 30.774 * [backup-simplify]: Simplify (- 0) into 0 30.774 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 30.774 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 30.775 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 30.775 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 30.775 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 30.775 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 30.775 * [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))))) 30.776 * [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)))))) 30.776 * [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))))))) 30.777 * [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))))))) 30.777 * [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 30.777 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 30.777 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 30.777 * [taylor]: Taking taylor expansion of -1 in theta 30.777 * [backup-simplify]: Simplify -1 into -1 30.777 * [taylor]: Taking taylor expansion of delta in theta 30.777 * [backup-simplify]: Simplify delta into delta 30.777 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.777 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.777 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.777 * [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 30.778 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in theta 30.778 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in theta 30.778 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 30.778 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.778 * [taylor]: Taking taylor expansion of -1 in theta 30.778 * [backup-simplify]: Simplify -1 into -1 30.778 * [taylor]: Taking taylor expansion of phi1 in theta 30.778 * [backup-simplify]: Simplify phi1 into phi1 30.778 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.778 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.778 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.778 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 30.778 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 30.778 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 30.778 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 30.778 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 30.778 * [taylor]: Taking taylor expansion of -1 in theta 30.778 * [backup-simplify]: Simplify -1 into -1 30.778 * [taylor]: Taking taylor expansion of delta in theta 30.778 * [backup-simplify]: Simplify delta into delta 30.778 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.778 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.779 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.779 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1))))) in theta 30.779 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 30.779 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.779 * [taylor]: Taking taylor expansion of -1 in theta 30.779 * [backup-simplify]: Simplify -1 into -1 30.779 * [taylor]: Taking taylor expansion of phi1 in theta 30.779 * [backup-simplify]: Simplify phi1 into phi1 30.779 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.779 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.779 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.779 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (sin (/ -1 delta)) (cos (/ -1 phi1)))) in theta 30.779 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 30.779 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 30.779 * [taylor]: Taking taylor expansion of -1 in theta 30.779 * [backup-simplify]: Simplify -1 into -1 30.779 * [taylor]: Taking taylor expansion of theta in theta 30.779 * [backup-simplify]: Simplify 0 into 0 30.779 * [backup-simplify]: Simplify 1 into 1 30.780 * [backup-simplify]: Simplify (/ -1 1) into -1 30.780 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.780 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 phi1))) in theta 30.780 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 30.780 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 30.780 * [taylor]: Taking taylor expansion of -1 in theta 30.780 * [backup-simplify]: Simplify -1 into -1 30.780 * [taylor]: Taking taylor expansion of delta in theta 30.780 * [backup-simplify]: Simplify delta into delta 30.780 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.780 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.780 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.780 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 30.780 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.780 * [taylor]: Taking taylor expansion of -1 in theta 30.780 * [backup-simplify]: Simplify -1 into -1 30.780 * [taylor]: Taking taylor expansion of phi1 in theta 30.780 * [backup-simplify]: Simplify phi1 into phi1 30.780 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.780 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.781 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.781 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 30.781 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 30.781 * [backup-simplify]: Simplify (- 0) into 0 30.781 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 30.781 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 30.781 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 30.782 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 30.782 * [backup-simplify]: Simplify (- 0) into 0 30.782 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 30.782 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 30.782 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 30.782 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 30.783 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 30.783 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 30.783 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 30.783 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 30.783 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 30.783 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 30.783 * [backup-simplify]: Simplify (- 0) into 0 30.783 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 30.784 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 phi1))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 30.784 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 30.784 * [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))))) 30.785 * [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)))))) 30.785 * [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))))))) 30.786 * [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))))))) 30.787 * [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))))))) 30.787 * [backup-simplify]: Simplify (+ 0) into 0 30.788 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 30.788 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.789 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.789 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 30.789 * [backup-simplify]: Simplify (- 0) into 0 30.790 * [backup-simplify]: Simplify (+ 0 0) into 0 30.790 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 30.790 * [backup-simplify]: Simplify (+ 0) into 0 30.791 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 30.791 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 30.792 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.793 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 30.793 * [backup-simplify]: Simplify (- 0) into 0 30.793 * [backup-simplify]: Simplify (+ 0 0) into 0 30.793 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 30.794 * [backup-simplify]: Simplify (+ 0) into 0 30.794 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 30.794 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.795 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.796 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 30.796 * [backup-simplify]: Simplify (+ 0 0) into 0 30.796 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 30.797 * [backup-simplify]: Simplify (+ 0 0) into 0 30.797 * [backup-simplify]: Simplify (+ 0) into 0 30.798 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 30.798 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.799 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.799 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 30.800 * [backup-simplify]: Simplify (+ 0 0) into 0 30.800 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))))) into 0 30.801 * [backup-simplify]: Simplify (- 0) into 0 30.801 * [backup-simplify]: Simplify (+ 0 0) into 0 30.801 * [taylor]: Taking taylor expansion of 0 in phi1 30.801 * [backup-simplify]: Simplify 0 into 0 30.801 * [taylor]: Taking taylor expansion of 0 in theta 30.801 * [backup-simplify]: Simplify 0 into 0 30.801 * [backup-simplify]: Simplify 0 into 0 30.801 * [backup-simplify]: Simplify (+ 0) into 0 30.802 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 30.802 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 30.803 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.804 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 30.804 * [backup-simplify]: Simplify (- 0) into 0 30.804 * [backup-simplify]: Simplify (+ 0 0) into 0 30.805 * [backup-simplify]: Simplify (+ 0) into 0 30.805 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 30.805 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 30.806 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.807 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 30.807 * [backup-simplify]: Simplify (- 0) into 0 30.807 * [backup-simplify]: Simplify (+ 0 0) into 0 30.808 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 30.808 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 30.808 * [backup-simplify]: Simplify (+ 0) into 0 30.809 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 30.809 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 30.810 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.810 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 30.810 * [backup-simplify]: Simplify (+ 0 0) into 0 30.811 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 30.811 * [backup-simplify]: Simplify (+ 0) into 0 30.812 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 30.812 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 30.812 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.813 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 30.813 * [backup-simplify]: Simplify (- 0) into 0 30.814 * [backup-simplify]: Simplify (+ 0 0) into 0 30.814 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 30.814 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 30.815 * [backup-simplify]: Simplify (+ 0 0) into 0 30.815 * [backup-simplify]: Simplify (- 0) into 0 30.815 * [backup-simplify]: Simplify (+ 0 0) into 0 30.815 * [taylor]: Taking taylor expansion of 0 in theta 30.815 * [backup-simplify]: Simplify 0 into 0 30.815 * [backup-simplify]: Simplify 0 into 0 30.816 * [backup-simplify]: Simplify (+ 0) into 0 30.816 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 30.817 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 30.817 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.818 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 30.818 * [backup-simplify]: Simplify (- 0) into 0 30.818 * [backup-simplify]: Simplify (+ 0 0) into 0 30.819 * [backup-simplify]: Simplify (+ 0) into 0 30.819 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 30.820 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 30.820 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.821 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 30.821 * [backup-simplify]: Simplify (- 0) into 0 30.822 * [backup-simplify]: Simplify (+ 0 0) into 0 30.822 * [backup-simplify]: Simplify (+ 0) into 0 30.822 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 30.823 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.823 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.824 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 30.824 * [backup-simplify]: Simplify (+ 0 0) into 0 30.824 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 30.825 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 30.825 * [backup-simplify]: Simplify (+ 0) into 0 30.826 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 30.826 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.826 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.827 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 30.827 * [backup-simplify]: Simplify (- 0) into 0 30.828 * [backup-simplify]: Simplify (+ 0 0) into 0 30.828 * [backup-simplify]: Simplify (+ 0) into 0 30.829 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 30.829 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 30.830 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.830 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 30.830 * [backup-simplify]: Simplify (+ 0 0) into 0 30.830 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 phi1)))) into 0 30.831 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 30.831 * [backup-simplify]: Simplify (+ 0) into 0 30.832 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 30.832 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 30.832 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.833 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 30.833 * [backup-simplify]: Simplify (+ 0 0) into 0 30.833 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))))) into 0 30.834 * [backup-simplify]: Simplify (+ 0 0) into 0 30.834 * [backup-simplify]: Simplify (- 0) into 0 30.835 * [backup-simplify]: Simplify (+ 0 0) into 0 30.835 * [backup-simplify]: Simplify 0 into 0 30.835 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.836 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.837 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.840 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.840 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.841 * [backup-simplify]: Simplify (- 0) into 0 30.841 * [backup-simplify]: Simplify (+ 0 0) into 0 30.842 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 30.843 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.844 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.844 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 30.844 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.845 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.845 * [backup-simplify]: Simplify (- 0) into 0 30.846 * [backup-simplify]: Simplify (+ 0 0) into 0 30.846 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 30.847 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.848 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.848 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.849 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.849 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.850 * [backup-simplify]: Simplify (+ 0 0) into 0 30.850 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 30.851 * [backup-simplify]: Simplify (+ 0 0) into 0 30.851 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.852 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.852 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.853 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.854 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.854 * [backup-simplify]: Simplify (+ 0 0) into 0 30.855 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))))) into 0 30.855 * [backup-simplify]: Simplify (- 0) into 0 30.855 * [backup-simplify]: Simplify (+ 0 0) into 0 30.855 * [taylor]: Taking taylor expansion of 0 in phi1 30.855 * [backup-simplify]: Simplify 0 into 0 30.855 * [taylor]: Taking taylor expansion of 0 in theta 30.856 * [backup-simplify]: Simplify 0 into 0 30.856 * [backup-simplify]: Simplify 0 into 0 30.856 * [taylor]: Taking taylor expansion of 0 in theta 30.856 * [backup-simplify]: Simplify 0 into 0 30.856 * [backup-simplify]: Simplify 0 into 0 30.857 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.857 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.857 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.858 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.859 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.859 * [backup-simplify]: Simplify (- 0) into 0 30.859 * [backup-simplify]: Simplify (+ 0 0) into 0 30.860 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.861 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.861 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.862 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.862 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.863 * [backup-simplify]: Simplify (- 0) into 0 30.863 * [backup-simplify]: Simplify (+ 0 0) into 0 30.864 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 30.864 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 30.865 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.866 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.866 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.867 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.867 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.868 * [backup-simplify]: Simplify (+ 0 0) into 0 30.868 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 phi1))))) into 0 30.869 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.870 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.870 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 30.870 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.871 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.871 * [backup-simplify]: Simplify (- 0) into 0 30.871 * [backup-simplify]: Simplify (+ 0 0) into 0 30.872 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 30.872 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta))))))) into 0 30.872 * [backup-simplify]: Simplify (+ 0 0) into 0 30.873 * [backup-simplify]: Simplify (- 0) into 0 30.873 * [backup-simplify]: Simplify (+ 0 0) into 0 30.873 * [taylor]: Taking taylor expansion of 0 in theta 30.873 * [backup-simplify]: Simplify 0 into 0 30.873 * [backup-simplify]: Simplify 0 into 0 30.873 * [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)))))) 30.873 * * * * [progress]: [ 2 / 4 ] generating series at (2 1 2 2 2 1) 30.874 * [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)))) 30.874 * [approximate]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in (theta phi1 delta) around 0 30.874 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 30.874 * [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)))) 30.874 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 30.874 * [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)))) 30.874 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 30.874 * [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)))) 30.874 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in theta 30.874 * [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)))) 30.874 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in phi1 30.874 * [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)))) 30.874 * [taylor]: Taking taylor expansion of (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) in delta 30.875 * [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)))) 30.875 * [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)))) 30.875 * [taylor]: Taking taylor expansion of 0 in phi1 30.875 * [backup-simplify]: Simplify 0 into 0 30.875 * [taylor]: Taking taylor expansion of 0 in delta 30.875 * [backup-simplify]: Simplify 0 into 0 30.875 * [backup-simplify]: Simplify 0 into 0 30.875 * [taylor]: Taking taylor expansion of 0 in delta 30.875 * [backup-simplify]: Simplify 0 into 0 30.875 * [backup-simplify]: Simplify 0 into 0 30.875 * [backup-simplify]: Simplify 0 into 0 30.875 * [taylor]: Taking taylor expansion of 0 in phi1 30.875 * [backup-simplify]: Simplify 0 into 0 30.875 * [taylor]: Taking taylor expansion of 0 in delta 30.875 * [backup-simplify]: Simplify 0 into 0 30.875 * [backup-simplify]: Simplify 0 into 0 30.875 * [taylor]: Taking taylor expansion of 0 in delta 30.875 * [backup-simplify]: Simplify 0 into 0 30.875 * [backup-simplify]: Simplify 0 into 0 30.875 * [taylor]: Taking taylor expansion of 0 in delta 30.875 * [backup-simplify]: Simplify 0 into 0 30.875 * [backup-simplify]: Simplify 0 into 0 30.875 * [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)))) 30.875 * [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))))) 30.875 * [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 30.875 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in delta 30.876 * [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))))) 30.876 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in phi1 30.876 * [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))))) 30.876 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in theta 30.876 * [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))))) 30.876 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in theta 30.876 * [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))))) 30.876 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1))))) in phi1 30.876 * [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))))) 30.876 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta))))) in delta 30.876 * [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))))) 30.877 * [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))))) 30.877 * [taylor]: Taking taylor expansion of 0 in phi1 30.877 * [backup-simplify]: Simplify 0 into 0 30.877 * [taylor]: Taking taylor expansion of 0 in delta 30.877 * [backup-simplify]: Simplify 0 into 0 30.877 * [backup-simplify]: Simplify 0 into 0 30.877 * [taylor]: Taking taylor expansion of 0 in delta 30.877 * [backup-simplify]: Simplify 0 into 0 30.877 * [backup-simplify]: Simplify 0 into 0 30.877 * [backup-simplify]: Simplify 0 into 0 30.877 * [taylor]: Taking taylor expansion of 0 in phi1 30.877 * [backup-simplify]: Simplify 0 into 0 30.877 * [taylor]: Taking taylor expansion of 0 in delta 30.877 * [backup-simplify]: Simplify 0 into 0 30.877 * [backup-simplify]: Simplify 0 into 0 30.877 * [taylor]: Taking taylor expansion of 0 in delta 30.877 * [backup-simplify]: Simplify 0 into 0 30.877 * [backup-simplify]: Simplify 0 into 0 30.877 * [taylor]: Taking taylor expansion of 0 in delta 30.877 * [backup-simplify]: Simplify 0 into 0 30.877 * [backup-simplify]: Simplify 0 into 0 30.877 * [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)))) 30.877 * [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))))) 30.877 * [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 30.877 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 30.878 * [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))))) 30.878 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 30.878 * [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))))) 30.878 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 30.878 * [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))))) 30.878 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in theta 30.878 * [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))))) 30.878 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in phi1 30.878 * [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))))) 30.878 * [taylor]: Taking taylor expansion of (asin (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta))))) in delta 30.878 * [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))))) 30.879 * [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))))) 30.879 * [taylor]: Taking taylor expansion of 0 in phi1 30.879 * [backup-simplify]: Simplify 0 into 0 30.879 * [taylor]: Taking taylor expansion of 0 in delta 30.879 * [backup-simplify]: Simplify 0 into 0 30.879 * [backup-simplify]: Simplify 0 into 0 30.879 * [taylor]: Taking taylor expansion of 0 in delta 30.879 * [backup-simplify]: Simplify 0 into 0 30.879 * [backup-simplify]: Simplify 0 into 0 30.879 * [backup-simplify]: Simplify 0 into 0 30.879 * [taylor]: Taking taylor expansion of 0 in phi1 30.879 * [backup-simplify]: Simplify 0 into 0 30.879 * [taylor]: Taking taylor expansion of 0 in delta 30.879 * [backup-simplify]: Simplify 0 into 0 30.879 * [backup-simplify]: Simplify 0 into 0 30.879 * [taylor]: Taking taylor expansion of 0 in delta 30.879 * [backup-simplify]: Simplify 0 into 0 30.879 * [backup-simplify]: Simplify 0 into 0 30.879 * [taylor]: Taking taylor expansion of 0 in delta 30.879 * [backup-simplify]: Simplify 0 into 0 30.879 * [backup-simplify]: Simplify 0 into 0 30.879 * [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)))) 30.879 * * * * [progress]: [ 3 / 4 ] generating series at (2 1 2 2 2 1 1) 30.879 * [backup-simplify]: Simplify (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))) into (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) 30.879 * [approximate]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in (theta phi1 delta) around 0 30.879 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in delta 30.880 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 30.880 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in delta 30.880 * [taylor]: Taking taylor expansion of (cos theta) in delta 30.880 * [taylor]: Taking taylor expansion of theta in delta 30.880 * [backup-simplify]: Simplify theta into theta 30.880 * [backup-simplify]: Simplify (cos theta) into (cos theta) 30.880 * [backup-simplify]: Simplify (sin theta) into (sin theta) 30.880 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in delta 30.880 * [taylor]: Taking taylor expansion of (cos phi1) in delta 30.880 * [taylor]: Taking taylor expansion of phi1 in delta 30.880 * [backup-simplify]: Simplify phi1 into phi1 30.880 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.880 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.880 * [taylor]: Taking taylor expansion of (sin delta) in delta 30.880 * [taylor]: Taking taylor expansion of delta in delta 30.880 * [backup-simplify]: Simplify 0 into 0 30.880 * [backup-simplify]: Simplify 1 into 1 30.880 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 30.880 * [taylor]: Taking taylor expansion of (sin phi1) in delta 30.880 * [taylor]: Taking taylor expansion of phi1 in delta 30.880 * [backup-simplify]: Simplify phi1 into phi1 30.880 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.880 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.880 * [taylor]: Taking taylor expansion of (cos delta) in delta 30.880 * [taylor]: Taking taylor expansion of delta in delta 30.880 * [backup-simplify]: Simplify 0 into 0 30.880 * [backup-simplify]: Simplify 1 into 1 30.880 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 30.880 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 30.880 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in phi1 30.880 * [taylor]: Taking taylor expansion of (cos theta) in phi1 30.880 * [taylor]: Taking taylor expansion of theta in phi1 30.880 * [backup-simplify]: Simplify theta into theta 30.880 * [backup-simplify]: Simplify (cos theta) into (cos theta) 30.880 * [backup-simplify]: Simplify (sin theta) into (sin theta) 30.880 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 30.880 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 30.880 * [taylor]: Taking taylor expansion of phi1 in phi1 30.880 * [backup-simplify]: Simplify 0 into 0 30.880 * [backup-simplify]: Simplify 1 into 1 30.880 * [taylor]: Taking taylor expansion of (sin delta) in phi1 30.880 * [taylor]: Taking taylor expansion of delta in phi1 30.880 * [backup-simplify]: Simplify delta into delta 30.880 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.880 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.880 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 30.880 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 30.880 * [taylor]: Taking taylor expansion of phi1 in phi1 30.880 * [backup-simplify]: Simplify 0 into 0 30.880 * [backup-simplify]: Simplify 1 into 1 30.880 * [taylor]: Taking taylor expansion of (cos delta) in phi1 30.880 * [taylor]: Taking taylor expansion of delta in phi1 30.880 * [backup-simplify]: Simplify delta into delta 30.880 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.880 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.881 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 30.881 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 30.881 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 30.881 * [taylor]: Taking taylor expansion of (cos theta) in theta 30.881 * [taylor]: Taking taylor expansion of theta in theta 30.881 * [backup-simplify]: Simplify 0 into 0 30.881 * [backup-simplify]: Simplify 1 into 1 30.881 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 30.881 * [taylor]: Taking taylor expansion of (cos phi1) in theta 30.881 * [taylor]: Taking taylor expansion of phi1 in theta 30.881 * [backup-simplify]: Simplify phi1 into phi1 30.881 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.881 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.881 * [taylor]: Taking taylor expansion of (sin delta) in theta 30.881 * [taylor]: Taking taylor expansion of delta in theta 30.881 * [backup-simplify]: Simplify delta into delta 30.881 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.881 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.881 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 30.881 * [taylor]: Taking taylor expansion of (sin phi1) in theta 30.881 * [taylor]: Taking taylor expansion of phi1 in theta 30.881 * [backup-simplify]: Simplify phi1 into phi1 30.881 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.881 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.881 * [taylor]: Taking taylor expansion of (cos delta) in theta 30.881 * [taylor]: Taking taylor expansion of delta in theta 30.881 * [backup-simplify]: Simplify delta into delta 30.881 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.881 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.881 * [taylor]: Taking taylor expansion of (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in theta 30.881 * [taylor]: Rewrote expression to (+ (* (cos theta) (* (cos phi1) (sin delta))) (* (sin phi1) (cos delta))) 30.881 * [taylor]: Taking taylor expansion of (* (cos theta) (* (cos phi1) (sin delta))) in theta 30.881 * [taylor]: Taking taylor expansion of (cos theta) in theta 30.881 * [taylor]: Taking taylor expansion of theta in theta 30.881 * [backup-simplify]: Simplify 0 into 0 30.881 * [backup-simplify]: Simplify 1 into 1 30.881 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in theta 30.881 * [taylor]: Taking taylor expansion of (cos phi1) in theta 30.881 * [taylor]: Taking taylor expansion of phi1 in theta 30.881 * [backup-simplify]: Simplify phi1 into phi1 30.881 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.881 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.881 * [taylor]: Taking taylor expansion of (sin delta) in theta 30.881 * [taylor]: Taking taylor expansion of delta in theta 30.881 * [backup-simplify]: Simplify delta into delta 30.881 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.881 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.881 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 30.881 * [taylor]: Taking taylor expansion of (sin phi1) in theta 30.881 * [taylor]: Taking taylor expansion of phi1 in theta 30.881 * [backup-simplify]: Simplify phi1 into phi1 30.881 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 30.881 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 30.881 * [taylor]: Taking taylor expansion of (cos delta) in theta 30.882 * [taylor]: Taking taylor expansion of delta in theta 30.882 * [backup-simplify]: Simplify delta into delta 30.882 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.882 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.882 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 30.882 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 30.882 * [backup-simplify]: Simplify (- 0) into 0 30.882 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 30.882 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 30.882 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 30.882 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 30.882 * [backup-simplify]: Simplify (* (cos phi1) (sin delta)) into (* (cos phi1) (sin delta)) 30.882 * [backup-simplify]: Simplify (* 1 (* (cos phi1) (sin delta))) into (* (cos phi1) (sin delta)) 30.882 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 30.882 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 30.882 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 30.883 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 30.883 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 30.883 * [backup-simplify]: Simplify (- 0) into 0 30.883 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 30.883 * [backup-simplify]: Simplify (* (sin phi1) (cos delta)) into (* (sin phi1) (cos delta)) 30.883 * [backup-simplify]: Simplify (+ (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) into (+ (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) 30.883 * [taylor]: Taking taylor expansion of (+ (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta))) in phi1 30.883 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 30.883 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 30.883 * [taylor]: Taking taylor expansion of phi1 in phi1 30.883 * [backup-simplify]: Simplify 0 into 0 30.883 * [backup-simplify]: Simplify 1 into 1 30.883 * [taylor]: Taking taylor expansion of (sin delta) in phi1 30.883 * [taylor]: Taking taylor expansion of delta in phi1 30.883 * [backup-simplify]: Simplify delta into delta 30.883 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.883 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.883 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 30.883 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 30.883 * [taylor]: Taking taylor expansion of phi1 in phi1 30.883 * [backup-simplify]: Simplify 0 into 0 30.883 * [backup-simplify]: Simplify 1 into 1 30.883 * [taylor]: Taking taylor expansion of (cos delta) in phi1 30.883 * [taylor]: Taking taylor expansion of delta in phi1 30.883 * [backup-simplify]: Simplify delta into delta 30.883 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.883 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.883 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 30.883 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 30.884 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 30.884 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 30.884 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 30.884 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 30.884 * [backup-simplify]: Simplify (- 0) into 0 30.884 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 30.884 * [backup-simplify]: Simplify (* 0 (cos delta)) into 0 30.884 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 30.884 * [taylor]: Taking taylor expansion of (sin delta) in delta 30.884 * [taylor]: Taking taylor expansion of delta in delta 30.884 * [backup-simplify]: Simplify 0 into 0 30.884 * [backup-simplify]: Simplify 1 into 1 30.884 * [backup-simplify]: Simplify 0 into 0 30.884 * [backup-simplify]: Simplify (+ 0) into 0 30.885 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 30.885 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.885 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 30.886 * [backup-simplify]: Simplify (+ 0 0) into 0 30.886 * [backup-simplify]: Simplify (+ 0) into 0 30.886 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 30.887 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.887 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 30.887 * [backup-simplify]: Simplify (- 0) into 0 30.888 * [backup-simplify]: Simplify (+ 0 0) into 0 30.888 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 (sin delta))) into 0 30.888 * [backup-simplify]: Simplify (+ 0) into 0 30.888 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (cos phi1) (sin delta)))) into 0 30.888 * [backup-simplify]: Simplify (+ 0) into 0 30.889 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 30.889 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.890 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 30.890 * [backup-simplify]: Simplify (- 0) into 0 30.890 * [backup-simplify]: Simplify (+ 0 0) into 0 30.891 * [backup-simplify]: Simplify (+ 0) into 0 30.891 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 30.892 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.892 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 30.892 * [backup-simplify]: Simplify (+ 0 0) into 0 30.892 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 (cos delta))) into 0 30.893 * [backup-simplify]: Simplify (+ 0 0) into 0 30.893 * [taylor]: Taking taylor expansion of 0 in phi1 30.893 * [backup-simplify]: Simplify 0 into 0 30.893 * [taylor]: Taking taylor expansion of 0 in delta 30.893 * [backup-simplify]: Simplify 0 into 0 30.893 * [backup-simplify]: Simplify 0 into 0 30.893 * [backup-simplify]: Simplify (+ 0) into 0 30.894 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 30.894 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.894 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 30.895 * [backup-simplify]: Simplify (+ 0 0) into 0 30.895 * [backup-simplify]: Simplify (+ 0) into 0 30.895 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin delta))) into 0 30.895 * [backup-simplify]: Simplify (+ 0) into 0 30.896 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 30.896 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.896 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 30.897 * [backup-simplify]: Simplify (- 0) into 0 30.897 * [backup-simplify]: Simplify (+ 0 0) into 0 30.897 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 30.898 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos delta))) into (cos delta) 30.898 * [backup-simplify]: Simplify (+ 0 (cos delta)) into (cos delta) 30.898 * [taylor]: Taking taylor expansion of (cos delta) in delta 30.898 * [taylor]: Taking taylor expansion of delta in delta 30.898 * [backup-simplify]: Simplify 0 into 0 30.898 * [backup-simplify]: Simplify 1 into 1 30.898 * [backup-simplify]: Simplify 1 into 1 30.898 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 30.898 * [backup-simplify]: Simplify 1 into 1 30.899 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.899 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 30.900 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.900 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 30.900 * [backup-simplify]: Simplify (+ 0 0) into 0 30.901 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.902 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 30.902 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.903 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 30.903 * [backup-simplify]: Simplify (- 0) into 0 30.904 * [backup-simplify]: Simplify (+ 0 0) into 0 30.904 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 (sin delta)))) into 0 30.905 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 30.906 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (* (cos phi1) (sin delta))))) into (- (* 1/2 (* (cos phi1) (sin delta)))) 30.907 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.908 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 1))) into 0 30.908 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.909 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 0))) into 0 30.909 * [backup-simplify]: Simplify (- 0) into 0 30.910 * [backup-simplify]: Simplify (+ 0 0) into 0 30.910 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.911 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 30.912 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.912 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 30.913 * [backup-simplify]: Simplify (+ 0 0) into 0 30.913 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 (cos delta)))) into 0 30.913 * [backup-simplify]: Simplify (+ (- (* 1/2 (* (cos phi1) (sin delta)))) 0) into (- (* 1/2 (* (cos phi1) (sin delta)))) 30.913 * [taylor]: Taking taylor expansion of (- (* 1/2 (* (cos phi1) (sin delta)))) in phi1 30.914 * [taylor]: Taking taylor expansion of (* 1/2 (* (cos phi1) (sin delta))) in phi1 30.914 * [taylor]: Taking taylor expansion of 1/2 in phi1 30.914 * [backup-simplify]: Simplify 1/2 into 1/2 30.914 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin delta)) in phi1 30.914 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 30.914 * [taylor]: Taking taylor expansion of phi1 in phi1 30.914 * [backup-simplify]: Simplify 0 into 0 30.914 * [backup-simplify]: Simplify 1 into 1 30.914 * [taylor]: Taking taylor expansion of (sin delta) in phi1 30.914 * [taylor]: Taking taylor expansion of delta in phi1 30.914 * [backup-simplify]: Simplify delta into delta 30.914 * [backup-simplify]: Simplify (sin delta) into (sin delta) 30.914 * [backup-simplify]: Simplify (cos delta) into (cos delta) 30.914 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 30.914 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 30.914 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 30.914 * [backup-simplify]: Simplify (* 1 (sin delta)) into (sin delta) 30.914 * [backup-simplify]: Simplify (* 1/2 (sin delta)) into (* 1/2 (sin delta)) 30.914 * [backup-simplify]: Simplify (- (* 1/2 (sin delta))) into (- (* 1/2 (sin delta))) 30.914 * [taylor]: Taking taylor expansion of (- (* 1/2 (sin delta))) in delta 30.914 * [taylor]: Taking taylor expansion of (* 1/2 (sin delta)) in delta 30.914 * [taylor]: Taking taylor expansion of 1/2 in delta 30.914 * [backup-simplify]: Simplify 1/2 into 1/2 30.914 * [taylor]: Taking taylor expansion of (sin delta) in delta 30.914 * [taylor]: Taking taylor expansion of delta in delta 30.914 * [backup-simplify]: Simplify 0 into 0 30.914 * [backup-simplify]: Simplify 1 into 1 30.915 * [backup-simplify]: Simplify (* 1/2 0) into 0 30.915 * [backup-simplify]: Simplify (- 0) into 0 30.915 * [backup-simplify]: Simplify 0 into 0 30.915 * [taylor]: Taking taylor expansion of 0 in delta 30.916 * [backup-simplify]: Simplify 0 into 0 30.916 * [backup-simplify]: Simplify 0 into 0 30.916 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.917 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 30.918 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.918 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 30.919 * [backup-simplify]: Simplify (+ 0 0) into 0 30.920 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 30.920 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (sin delta)))) into (- (* 1/2 (sin delta))) 30.921 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.922 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 1))) into 0 30.923 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.923 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 0))) into 0 30.924 * [backup-simplify]: Simplify (- 0) into 0 30.924 * [backup-simplify]: Simplify (+ 0 0) into 0 30.925 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.926 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (cos delta)))) into 0 30.926 * [backup-simplify]: Simplify (+ (- (* 1/2 (sin delta))) 0) into (- (* 1/2 (sin delta))) 30.926 * [taylor]: Taking taylor expansion of (- (* 1/2 (sin delta))) in delta 30.926 * [taylor]: Taking taylor expansion of (* 1/2 (sin delta)) in delta 30.926 * [taylor]: Taking taylor expansion of 1/2 in delta 30.926 * [backup-simplify]: Simplify 1/2 into 1/2 30.926 * [taylor]: Taking taylor expansion of (sin delta) in delta 30.926 * [taylor]: Taking taylor expansion of delta in delta 30.926 * [backup-simplify]: Simplify 0 into 0 30.926 * [backup-simplify]: Simplify 1 into 1 30.926 * [backup-simplify]: Simplify (* 1/2 0) into 0 30.927 * [backup-simplify]: Simplify (- 0) into 0 30.927 * [backup-simplify]: Simplify 0 into 0 30.927 * [backup-simplify]: Simplify 0 into 0 30.927 * [backup-simplify]: Simplify (+ 0) into 0 30.927 * [backup-simplify]: Simplify 0 into 0 30.928 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.928 * [backup-simplify]: Simplify 0 into 0 30.928 * [backup-simplify]: Simplify (+ (* 1 (* delta (* 1 1))) (* 1 (* 1 (* phi1 1)))) into (+ phi1 delta) 30.929 * [backup-simplify]: Simplify (fma (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) into (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 30.929 * [approximate]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in (theta phi1 delta) around 0 30.929 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in delta 30.929 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 30.929 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in delta 30.929 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 30.929 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 30.929 * [taylor]: Taking taylor expansion of theta in delta 30.929 * [backup-simplify]: Simplify theta into theta 30.929 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 30.929 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.929 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 30.929 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in delta 30.929 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 30.929 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.929 * [taylor]: Taking taylor expansion of delta in delta 30.929 * [backup-simplify]: Simplify 0 into 0 30.929 * [backup-simplify]: Simplify 1 into 1 30.930 * [backup-simplify]: Simplify (/ 1 1) into 1 30.930 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.930 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 30.930 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.930 * [taylor]: Taking taylor expansion of phi1 in delta 30.930 * [backup-simplify]: Simplify phi1 into phi1 30.930 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.930 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.930 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.930 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 30.930 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 30.930 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.930 * [taylor]: Taking taylor expansion of phi1 in delta 30.930 * [backup-simplify]: Simplify phi1 into phi1 30.930 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.930 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.930 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.930 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 30.930 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.930 * [taylor]: Taking taylor expansion of delta in delta 30.930 * [backup-simplify]: Simplify 0 into 0 30.930 * [backup-simplify]: Simplify 1 into 1 30.930 * [backup-simplify]: Simplify (/ 1 1) into 1 30.930 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.930 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in phi1 30.931 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 30.931 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in phi1 30.931 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 30.931 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 30.931 * [taylor]: Taking taylor expansion of theta in phi1 30.931 * [backup-simplify]: Simplify theta into theta 30.931 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 30.931 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.931 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 30.931 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in phi1 30.931 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 30.931 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.931 * [taylor]: Taking taylor expansion of delta in phi1 30.931 * [backup-simplify]: Simplify delta into delta 30.931 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.931 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.931 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.931 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 30.931 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.931 * [taylor]: Taking taylor expansion of phi1 in phi1 30.931 * [backup-simplify]: Simplify 0 into 0 30.931 * [backup-simplify]: Simplify 1 into 1 30.931 * [backup-simplify]: Simplify (/ 1 1) into 1 30.931 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.931 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 30.931 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 30.931 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.931 * [taylor]: Taking taylor expansion of phi1 in phi1 30.931 * [backup-simplify]: Simplify 0 into 0 30.931 * [backup-simplify]: Simplify 1 into 1 30.932 * [backup-simplify]: Simplify (/ 1 1) into 1 30.932 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.932 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 30.932 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.932 * [taylor]: Taking taylor expansion of delta in phi1 30.932 * [backup-simplify]: Simplify delta into delta 30.932 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.932 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.932 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.932 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 30.932 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 30.932 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 30.932 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 30.932 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 30.932 * [taylor]: Taking taylor expansion of theta in theta 30.932 * [backup-simplify]: Simplify 0 into 0 30.932 * [backup-simplify]: Simplify 1 into 1 30.932 * [backup-simplify]: Simplify (/ 1 1) into 1 30.932 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.932 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 30.932 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 30.932 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.932 * [taylor]: Taking taylor expansion of delta in theta 30.932 * [backup-simplify]: Simplify delta into delta 30.933 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.933 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.933 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.933 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 30.933 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.933 * [taylor]: Taking taylor expansion of phi1 in theta 30.933 * [backup-simplify]: Simplify phi1 into phi1 30.933 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.933 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.933 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.933 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 30.933 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 30.933 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.933 * [taylor]: Taking taylor expansion of phi1 in theta 30.933 * [backup-simplify]: Simplify phi1 into phi1 30.933 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.933 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.933 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.933 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 30.933 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.933 * [taylor]: Taking taylor expansion of delta in theta 30.933 * [backup-simplify]: Simplify delta into delta 30.933 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.933 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.933 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.933 * [taylor]: Taking taylor expansion of (fma (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) in theta 30.933 * [taylor]: Rewrote expression to (+ (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) 30.933 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (sin (/ 1 delta)) (cos (/ 1 phi1)))) in theta 30.933 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 30.933 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 30.933 * [taylor]: Taking taylor expansion of theta in theta 30.933 * [backup-simplify]: Simplify 0 into 0 30.933 * [backup-simplify]: Simplify 1 into 1 30.934 * [backup-simplify]: Simplify (/ 1 1) into 1 30.934 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.934 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (cos (/ 1 phi1))) in theta 30.934 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 30.934 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.934 * [taylor]: Taking taylor expansion of delta in theta 30.934 * [backup-simplify]: Simplify delta into delta 30.934 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.934 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.934 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.934 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 30.934 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.934 * [taylor]: Taking taylor expansion of phi1 in theta 30.934 * [backup-simplify]: Simplify phi1 into phi1 30.934 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.934 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.934 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.934 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 30.934 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 30.934 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 30.934 * [taylor]: Taking taylor expansion of phi1 in theta 30.934 * [backup-simplify]: Simplify phi1 into phi1 30.934 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.934 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.934 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.934 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 30.934 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 30.934 * [taylor]: Taking taylor expansion of delta in theta 30.934 * [backup-simplify]: Simplify delta into delta 30.934 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.934 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.934 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.935 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 30.935 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 30.935 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 30.935 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 30.935 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 30.935 * [backup-simplify]: Simplify (- 0) into 0 30.935 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 30.935 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (cos (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 delta))) 30.935 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 delta)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 30.936 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 30.936 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 30.936 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 30.936 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 30.936 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 30.936 * [backup-simplify]: Simplify (- 0) into 0 30.936 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 30.936 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 30.936 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) into (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 30.936 * [taylor]: Taking taylor expansion of (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) in phi1 30.936 * [taylor]: Taking taylor expansion of (* (cos (/ 1 delta)) (sin (/ 1 phi1))) in phi1 30.936 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 30.936 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.936 * [taylor]: Taking taylor expansion of delta in phi1 30.936 * [backup-simplify]: Simplify delta into delta 30.937 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.937 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.937 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.937 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 30.937 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.937 * [taylor]: Taking taylor expansion of phi1 in phi1 30.937 * [backup-simplify]: Simplify 0 into 0 30.937 * [backup-simplify]: Simplify 1 into 1 30.937 * [backup-simplify]: Simplify (/ 1 1) into 1 30.937 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.937 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) in phi1 30.937 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 30.937 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 30.937 * [taylor]: Taking taylor expansion of phi1 in phi1 30.937 * [backup-simplify]: Simplify 0 into 0 30.937 * [backup-simplify]: Simplify 1 into 1 30.937 * [backup-simplify]: Simplify (/ 1 1) into 1 30.937 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.937 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (sin (/ 1 delta))) in phi1 30.937 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 30.938 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 30.938 * [taylor]: Taking taylor expansion of theta in phi1 30.938 * [backup-simplify]: Simplify theta into theta 30.938 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 30.938 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.938 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 30.938 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 30.938 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 30.938 * [taylor]: Taking taylor expansion of delta in phi1 30.938 * [backup-simplify]: Simplify delta into delta 30.938 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 30.938 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.938 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.938 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 30.938 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 30.938 * [backup-simplify]: Simplify (- 0) into 0 30.938 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 30.938 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) (sin (/ 1 phi1))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 30.938 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 30.939 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 30.939 * [backup-simplify]: Simplify (- 0) into 0 30.939 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 30.939 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 30.939 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 30.939 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 30.939 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (sin (/ 1 delta))) into (* (cos (/ 1 theta)) (sin (/ 1 delta))) 30.939 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 30.939 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 30.939 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in delta 30.939 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 30.939 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 30.939 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.939 * [taylor]: Taking taylor expansion of phi1 in delta 30.940 * [backup-simplify]: Simplify phi1 into phi1 30.940 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.940 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.940 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.940 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 30.940 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.940 * [taylor]: Taking taylor expansion of delta in delta 30.940 * [backup-simplify]: Simplify 0 into 0 30.940 * [backup-simplify]: Simplify 1 into 1 30.940 * [backup-simplify]: Simplify (/ 1 1) into 1 30.940 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 30.940 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 30.940 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 30.940 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 30.940 * [taylor]: Taking taylor expansion of delta in delta 30.940 * [backup-simplify]: Simplify 0 into 0 30.940 * [backup-simplify]: Simplify 1 into 1 30.940 * [backup-simplify]: Simplify (/ 1 1) into 1 30.940 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 30.940 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 30.941 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 30.941 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 30.941 * [taylor]: Taking taylor expansion of theta in delta 30.941 * [backup-simplify]: Simplify theta into theta 30.941 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 30.941 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 30.941 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 30.941 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 30.941 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 30.941 * [taylor]: Taking taylor expansion of phi1 in delta 30.941 * [backup-simplify]: Simplify phi1 into phi1 30.941 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 30.941 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 30.941 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 30.941 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 30.941 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 30.941 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 30.941 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (cos (/ 1 delta)) (sin (/ 1 phi1))) 30.941 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 30.941 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 30.941 * [backup-simplify]: Simplify (- 0) into 0 30.942 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 30.942 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 30.942 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 30.942 * [backup-simplify]: Simplify (- 0) into 0 30.942 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 30.942 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 30.942 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) 30.942 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) 30.943 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))) (* (cos (/ 1 delta)) (sin (/ 1 phi1)))) into (+ (* (cos (/ 1 delta)) (sin (/ 1 phi1))) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) 30.943 * [backup-simplify]: Simplify (+ 0) into 0 30.943 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 30.944 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.944 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.944 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 30.945 * [backup-simplify]: Simplify (- 0) into 0 30.945 * [backup-simplify]: Simplify (+ 0 0) into 0 30.945 * [backup-simplify]: Simplify (+ 0) into 0 30.945 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 30.946 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.946 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.946 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 30.947 * [backup-simplify]: Simplify (+ 0 0) into 0 30.947 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 30.947 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta))))) into 0 30.947 * [backup-simplify]: Simplify (+ 0) into 0 30.947 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 30.948 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.948 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.948 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 30.949 * [backup-simplify]: Simplify (- 0) into 0 30.949 * [backup-simplify]: Simplify (+ 0 0) into 0 30.949 * [backup-simplify]: Simplify (+ 0) into 0 30.949 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 30.950 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.950 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.950 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 30.951 * [backup-simplify]: Simplify (+ 0 0) into 0 30.951 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 30.951 * [backup-simplify]: Simplify (+ 0 0) into 0 30.951 * [taylor]: Taking taylor expansion of 0 in phi1 30.951 * [backup-simplify]: Simplify 0 into 0 30.951 * [taylor]: Taking taylor expansion of 0 in delta 30.951 * [backup-simplify]: Simplify 0 into 0 30.951 * [backup-simplify]: Simplify 0 into 0 30.951 * [backup-simplify]: Simplify (+ 0) into 0 30.952 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 30.952 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.952 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.953 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 30.953 * [backup-simplify]: Simplify (- 0) into 0 30.953 * [backup-simplify]: Simplify (+ 0 0) into 0 30.953 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 (sin (/ 1 phi1)))) into 0 30.953 * [backup-simplify]: Simplify (+ 0) into 0 30.954 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 30.954 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 30.954 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.955 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 30.955 * [backup-simplify]: Simplify (+ 0 0) into 0 30.955 * [backup-simplify]: Simplify (+ 0) into 0 30.955 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 30.955 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 30.958 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.958 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 30.959 * [backup-simplify]: Simplify (- 0) into 0 30.959 * [backup-simplify]: Simplify (+ 0 0) into 0 30.959 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 30.959 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into 0 30.959 * [backup-simplify]: Simplify (+ 0 0) into 0 30.959 * [taylor]: Taking taylor expansion of 0 in delta 30.959 * [backup-simplify]: Simplify 0 into 0 30.959 * [backup-simplify]: Simplify 0 into 0 30.960 * [backup-simplify]: Simplify (+ 0) into 0 30.960 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 30.960 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.961 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.961 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 30.961 * [backup-simplify]: Simplify (+ 0 0) into 0 30.961 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 30.961 * [backup-simplify]: Simplify (+ 0) into 0 30.962 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 30.962 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 30.962 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.963 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 30.963 * [backup-simplify]: Simplify (- 0) into 0 30.963 * [backup-simplify]: Simplify (+ 0 0) into 0 30.963 * [backup-simplify]: Simplify (+ 0) into 0 30.964 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 30.964 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 30.964 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.965 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 30.965 * [backup-simplify]: Simplify (- 0) into 0 30.965 * [backup-simplify]: Simplify (+ 0 0) into 0 30.965 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 30.965 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 30.966 * [backup-simplify]: Simplify (+ 0 0) into 0 30.966 * [backup-simplify]: Simplify 0 into 0 30.967 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.967 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.967 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.968 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.969 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.969 * [backup-simplify]: Simplify (- 0) into 0 30.969 * [backup-simplify]: Simplify (+ 0 0) into 0 30.970 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.970 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.970 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.971 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.971 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.972 * [backup-simplify]: Simplify (+ 0 0) into 0 30.972 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 30.972 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 delta)))))) into 0 30.973 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.973 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.974 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.974 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.974 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.975 * [backup-simplify]: Simplify (- 0) into 0 30.975 * [backup-simplify]: Simplify (+ 0 0) into 0 30.975 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.976 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.976 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.977 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.977 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.977 * [backup-simplify]: Simplify (+ 0 0) into 0 30.978 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 30.978 * [backup-simplify]: Simplify (+ 0 0) into 0 30.978 * [taylor]: Taking taylor expansion of 0 in phi1 30.978 * [backup-simplify]: Simplify 0 into 0 30.978 * [taylor]: Taking taylor expansion of 0 in delta 30.978 * [backup-simplify]: Simplify 0 into 0 30.978 * [backup-simplify]: Simplify 0 into 0 30.978 * [taylor]: Taking taylor expansion of 0 in delta 30.978 * [backup-simplify]: Simplify 0 into 0 30.978 * [backup-simplify]: Simplify 0 into 0 30.979 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.979 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.979 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.980 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.980 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.980 * [backup-simplify]: Simplify (- 0) into 0 30.981 * [backup-simplify]: Simplify (+ 0 0) into 0 30.981 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 30.981 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.982 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.982 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 30.983 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.983 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.983 * [backup-simplify]: Simplify (+ 0 0) into 0 30.984 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.984 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 30.984 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 30.985 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.985 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 30.985 * [backup-simplify]: Simplify (- 0) into 0 30.986 * [backup-simplify]: Simplify (+ 0 0) into 0 30.986 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 30.986 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (sin (/ 1 delta)))))) into 0 30.986 * [backup-simplify]: Simplify (+ 0 0) into 0 30.987 * [taylor]: Taking taylor expansion of 0 in delta 30.987 * [backup-simplify]: Simplify 0 into 0 30.987 * [backup-simplify]: Simplify 0 into 0 30.987 * [backup-simplify]: Simplify (+ (* (cos (/ 1 (/ 1 delta))) (sin (/ 1 (/ 1 phi1)))) (* (cos (/ 1 (/ 1 phi1))) (* (cos (/ 1 (/ 1 theta))) (sin (/ 1 (/ 1 delta)))))) into (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta)))) 30.987 * [backup-simplify]: Simplify (fma (cos (/ 1 (- theta))) (* (cos (/ 1 (- phi1))) (sin (/ 1 (- delta)))) (* (cos (/ 1 (- delta))) (sin (/ 1 (- phi1))))) into (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.987 * [approximate]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in (theta phi1 delta) around 0 30.987 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in delta 30.987 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.987 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 30.987 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 30.987 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 30.987 * [taylor]: Taking taylor expansion of -1 in delta 30.987 * [backup-simplify]: Simplify -1 into -1 30.987 * [taylor]: Taking taylor expansion of theta in delta 30.987 * [backup-simplify]: Simplify theta into theta 30.987 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 30.987 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.987 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.987 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 30.987 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 30.987 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.987 * [taylor]: Taking taylor expansion of -1 in delta 30.987 * [backup-simplify]: Simplify -1 into -1 30.987 * [taylor]: Taking taylor expansion of phi1 in delta 30.987 * [backup-simplify]: Simplify phi1 into phi1 30.987 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.988 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.988 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.988 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 30.988 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 30.988 * [taylor]: Taking taylor expansion of -1 in delta 30.988 * [backup-simplify]: Simplify -1 into -1 30.988 * [taylor]: Taking taylor expansion of delta in delta 30.988 * [backup-simplify]: Simplify 0 into 0 30.988 * [backup-simplify]: Simplify 1 into 1 30.988 * [backup-simplify]: Simplify (/ -1 1) into -1 30.988 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.988 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 30.988 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 30.988 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.988 * [taylor]: Taking taylor expansion of -1 in delta 30.988 * [backup-simplify]: Simplify -1 into -1 30.988 * [taylor]: Taking taylor expansion of phi1 in delta 30.988 * [backup-simplify]: Simplify phi1 into phi1 30.988 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.988 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.988 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.988 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 30.988 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 30.988 * [taylor]: Taking taylor expansion of -1 in delta 30.988 * [backup-simplify]: Simplify -1 into -1 30.988 * [taylor]: Taking taylor expansion of delta in delta 30.988 * [backup-simplify]: Simplify 0 into 0 30.988 * [backup-simplify]: Simplify 1 into 1 30.989 * [backup-simplify]: Simplify (/ -1 1) into -1 30.989 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.989 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 30.989 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.989 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 30.989 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 30.989 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 30.989 * [taylor]: Taking taylor expansion of -1 in phi1 30.989 * [backup-simplify]: Simplify -1 into -1 30.989 * [taylor]: Taking taylor expansion of theta in phi1 30.989 * [backup-simplify]: Simplify theta into theta 30.989 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 30.989 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.989 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.989 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 30.989 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 30.989 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 30.989 * [taylor]: Taking taylor expansion of -1 in phi1 30.989 * [backup-simplify]: Simplify -1 into -1 30.989 * [taylor]: Taking taylor expansion of phi1 in phi1 30.989 * [backup-simplify]: Simplify 0 into 0 30.989 * [backup-simplify]: Simplify 1 into 1 30.989 * [backup-simplify]: Simplify (/ -1 1) into -1 30.989 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.989 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 30.989 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 30.990 * [taylor]: Taking taylor expansion of -1 in phi1 30.990 * [backup-simplify]: Simplify -1 into -1 30.990 * [taylor]: Taking taylor expansion of delta in phi1 30.990 * [backup-simplify]: Simplify delta into delta 30.990 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.990 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.990 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.990 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 30.990 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 30.990 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 30.990 * [taylor]: Taking taylor expansion of -1 in phi1 30.990 * [backup-simplify]: Simplify -1 into -1 30.990 * [taylor]: Taking taylor expansion of phi1 in phi1 30.990 * [backup-simplify]: Simplify 0 into 0 30.990 * [backup-simplify]: Simplify 1 into 1 30.990 * [backup-simplify]: Simplify (/ -1 1) into -1 30.990 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.990 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 30.990 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 30.990 * [taylor]: Taking taylor expansion of -1 in phi1 30.990 * [backup-simplify]: Simplify -1 into -1 30.990 * [taylor]: Taking taylor expansion of delta in phi1 30.990 * [backup-simplify]: Simplify delta into delta 30.990 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.990 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.990 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.990 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 30.990 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.990 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 30.990 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 30.990 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 30.990 * [taylor]: Taking taylor expansion of -1 in theta 30.990 * [backup-simplify]: Simplify -1 into -1 30.990 * [taylor]: Taking taylor expansion of theta in theta 30.991 * [backup-simplify]: Simplify 0 into 0 30.991 * [backup-simplify]: Simplify 1 into 1 30.991 * [backup-simplify]: Simplify (/ -1 1) into -1 30.991 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.991 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 30.991 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 30.991 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.991 * [taylor]: Taking taylor expansion of -1 in theta 30.991 * [backup-simplify]: Simplify -1 into -1 30.991 * [taylor]: Taking taylor expansion of phi1 in theta 30.991 * [backup-simplify]: Simplify phi1 into phi1 30.991 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.991 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.991 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.991 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 30.991 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 30.991 * [taylor]: Taking taylor expansion of -1 in theta 30.991 * [backup-simplify]: Simplify -1 into -1 30.991 * [taylor]: Taking taylor expansion of delta in theta 30.991 * [backup-simplify]: Simplify delta into delta 30.991 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.991 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.991 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.991 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 30.991 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 30.991 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.991 * [taylor]: Taking taylor expansion of -1 in theta 30.991 * [backup-simplify]: Simplify -1 into -1 30.991 * [taylor]: Taking taylor expansion of phi1 in theta 30.991 * [backup-simplify]: Simplify phi1 into phi1 30.991 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.991 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.991 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.992 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 30.992 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 30.992 * [taylor]: Taking taylor expansion of -1 in theta 30.992 * [backup-simplify]: Simplify -1 into -1 30.992 * [taylor]: Taking taylor expansion of delta in theta 30.992 * [backup-simplify]: Simplify delta into delta 30.992 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.992 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.992 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.992 * [taylor]: Taking taylor expansion of (fma (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in theta 30.992 * [taylor]: Rewrote expression to (+ (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.992 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 30.992 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 30.992 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 30.992 * [taylor]: Taking taylor expansion of -1 in theta 30.992 * [backup-simplify]: Simplify -1 into -1 30.992 * [taylor]: Taking taylor expansion of theta in theta 30.992 * [backup-simplify]: Simplify 0 into 0 30.992 * [backup-simplify]: Simplify 1 into 1 30.992 * [backup-simplify]: Simplify (/ -1 1) into -1 30.992 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.992 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 30.992 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 30.992 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.992 * [taylor]: Taking taylor expansion of -1 in theta 30.992 * [backup-simplify]: Simplify -1 into -1 30.992 * [taylor]: Taking taylor expansion of phi1 in theta 30.992 * [backup-simplify]: Simplify phi1 into phi1 30.992 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.992 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.992 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.992 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 30.992 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 30.992 * [taylor]: Taking taylor expansion of -1 in theta 30.993 * [backup-simplify]: Simplify -1 into -1 30.993 * [taylor]: Taking taylor expansion of delta in theta 30.993 * [backup-simplify]: Simplify delta into delta 30.993 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.993 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.993 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.993 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 30.993 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 30.993 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 30.993 * [taylor]: Taking taylor expansion of -1 in theta 30.993 * [backup-simplify]: Simplify -1 into -1 30.993 * [taylor]: Taking taylor expansion of phi1 in theta 30.993 * [backup-simplify]: Simplify phi1 into phi1 30.993 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.993 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.993 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.993 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 30.993 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 30.993 * [taylor]: Taking taylor expansion of -1 in theta 30.993 * [backup-simplify]: Simplify -1 into -1 30.993 * [taylor]: Taking taylor expansion of delta in theta 30.993 * [backup-simplify]: Simplify delta into delta 30.993 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.993 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.993 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.993 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 30.993 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 30.993 * [backup-simplify]: Simplify (- 0) into 0 30.994 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 30.994 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 30.994 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 30.994 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 30.994 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 30.994 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 30.994 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 30.994 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 30.994 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 30.994 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 30.994 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 30.995 * [backup-simplify]: Simplify (- 0) into 0 30.995 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 30.995 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 30.995 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) into (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) 30.995 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) in phi1 30.995 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) in phi1 30.995 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 30.995 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 30.995 * [taylor]: Taking taylor expansion of -1 in phi1 30.995 * [backup-simplify]: Simplify -1 into -1 30.995 * [taylor]: Taking taylor expansion of phi1 in phi1 30.995 * [backup-simplify]: Simplify 0 into 0 30.995 * [backup-simplify]: Simplify 1 into 1 30.995 * [backup-simplify]: Simplify (/ -1 1) into -1 30.995 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.996 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (cos (/ -1 theta))) in phi1 30.996 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 30.996 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 30.996 * [taylor]: Taking taylor expansion of -1 in phi1 30.996 * [backup-simplify]: Simplify -1 into -1 30.996 * [taylor]: Taking taylor expansion of delta in phi1 30.996 * [backup-simplify]: Simplify delta into delta 30.996 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.996 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.996 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.996 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 30.996 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 30.996 * [taylor]: Taking taylor expansion of -1 in phi1 30.996 * [backup-simplify]: Simplify -1 into -1 30.996 * [taylor]: Taking taylor expansion of theta in phi1 30.996 * [backup-simplify]: Simplify theta into theta 30.996 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 30.996 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.996 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.996 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 30.996 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 30.996 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 30.996 * [taylor]: Taking taylor expansion of -1 in phi1 30.996 * [backup-simplify]: Simplify -1 into -1 30.996 * [taylor]: Taking taylor expansion of phi1 in phi1 30.996 * [backup-simplify]: Simplify 0 into 0 30.996 * [backup-simplify]: Simplify 1 into 1 30.996 * [backup-simplify]: Simplify (/ -1 1) into -1 30.996 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.996 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 30.996 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 30.996 * [taylor]: Taking taylor expansion of -1 in phi1 30.996 * [backup-simplify]: Simplify -1 into -1 30.996 * [taylor]: Taking taylor expansion of delta in phi1 30.996 * [backup-simplify]: Simplify delta into delta 30.997 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 30.997 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.997 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 30.997 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 30.997 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 30.997 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 30.997 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 30.997 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 30.997 * [backup-simplify]: Simplify (- 0) into 0 30.997 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 30.997 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (cos (/ -1 theta))) into (* (cos (/ -1 theta)) (sin (/ -1 delta))) 30.997 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 30.997 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 30.997 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 30.998 * [backup-simplify]: Simplify (- 0) into 0 30.998 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 30.998 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 30.998 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) (* (sin (/ -1 phi1)) (cos (/ -1 delta)))) into (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) 30.998 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in delta 30.998 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 30.998 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 30.998 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.998 * [taylor]: Taking taylor expansion of -1 in delta 30.998 * [backup-simplify]: Simplify -1 into -1 30.998 * [taylor]: Taking taylor expansion of phi1 in delta 30.998 * [backup-simplify]: Simplify phi1 into phi1 30.998 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.998 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.998 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.998 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 30.998 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 30.998 * [taylor]: Taking taylor expansion of -1 in delta 30.998 * [backup-simplify]: Simplify -1 into -1 30.998 * [taylor]: Taking taylor expansion of delta in delta 30.998 * [backup-simplify]: Simplify 0 into 0 30.998 * [backup-simplify]: Simplify 1 into 1 30.999 * [backup-simplify]: Simplify (/ -1 1) into -1 30.999 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 30.999 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in delta 30.999 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 30.999 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 30.999 * [taylor]: Taking taylor expansion of -1 in delta 30.999 * [backup-simplify]: Simplify -1 into -1 30.999 * [taylor]: Taking taylor expansion of phi1 in delta 30.999 * [backup-simplify]: Simplify phi1 into phi1 30.999 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 30.999 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 30.999 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 30.999 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in delta 30.999 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 30.999 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 30.999 * [taylor]: Taking taylor expansion of -1 in delta 30.999 * [backup-simplify]: Simplify -1 into -1 30.999 * [taylor]: Taking taylor expansion of theta in delta 30.999 * [backup-simplify]: Simplify theta into theta 30.999 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 30.999 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 30.999 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 30.999 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 30.999 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 30.999 * [taylor]: Taking taylor expansion of -1 in delta 30.999 * [backup-simplify]: Simplify -1 into -1 30.999 * [taylor]: Taking taylor expansion of delta in delta 30.999 * [backup-simplify]: Simplify 0 into 0 30.999 * [backup-simplify]: Simplify 1 into 1 31.000 * [backup-simplify]: Simplify (/ -1 1) into -1 31.000 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.000 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 31.000 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 31.000 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 31.000 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 31.000 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 31.000 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 31.000 * [backup-simplify]: Simplify (- 0) into 0 31.000 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 31.000 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 31.000 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 31.001 * [backup-simplify]: Simplify (- 0) into 0 31.001 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 31.001 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (cos (/ -1 theta))) 31.001 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (cos (/ -1 theta)))) 31.001 * [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)))) 31.001 * [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)))) 31.002 * [backup-simplify]: Simplify (+ 0) into 0 31.002 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 31.002 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.002 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.003 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 31.003 * [backup-simplify]: Simplify (+ 0 0) into 0 31.003 * [backup-simplify]: Simplify (+ 0) into 0 31.004 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 31.004 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.004 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.004 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 31.005 * [backup-simplify]: Simplify (- 0) into 0 31.005 * [backup-simplify]: Simplify (+ 0 0) into 0 31.005 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 31.005 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 31.005 * [backup-simplify]: Simplify (+ 0) into 0 31.006 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 31.006 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.006 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.007 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 31.007 * [backup-simplify]: Simplify (- 0) into 0 31.007 * [backup-simplify]: Simplify (+ 0 0) into 0 31.007 * [backup-simplify]: Simplify (+ 0) into 0 31.008 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 31.008 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.008 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.008 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 31.009 * [backup-simplify]: Simplify (+ 0 0) into 0 31.009 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 31.009 * [backup-simplify]: Simplify (+ 0 0) into 0 31.009 * [taylor]: Taking taylor expansion of 0 in phi1 31.009 * [backup-simplify]: Simplify 0 into 0 31.009 * [taylor]: Taking taylor expansion of 0 in delta 31.009 * [backup-simplify]: Simplify 0 into 0 31.009 * [backup-simplify]: Simplify 0 into 0 31.010 * [backup-simplify]: Simplify (+ 0) into 0 31.010 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 31.010 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 31.011 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.011 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 31.012 * [backup-simplify]: Simplify (- 0) into 0 31.012 * [backup-simplify]: Simplify (+ 0 0) into 0 31.012 * [backup-simplify]: Simplify (+ 0) into 0 31.013 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 31.013 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.014 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.014 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 31.015 * [backup-simplify]: Simplify (+ 0 0) into 0 31.015 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (cos (/ -1 theta)))) into 0 31.015 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into 0 31.016 * [backup-simplify]: Simplify (+ 0) into 0 31.016 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 31.016 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.017 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.017 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 31.018 * [backup-simplify]: Simplify (- 0) into 0 31.018 * [backup-simplify]: Simplify (+ 0 0) into 0 31.018 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 31.019 * [backup-simplify]: Simplify (+ 0 0) into 0 31.019 * [taylor]: Taking taylor expansion of 0 in delta 31.019 * [backup-simplify]: Simplify 0 into 0 31.019 * [backup-simplify]: Simplify 0 into 0 31.019 * [backup-simplify]: Simplify (+ 0) into 0 31.020 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 31.020 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.020 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.021 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 31.021 * [backup-simplify]: Simplify (+ 0 0) into 0 31.021 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 31.022 * [backup-simplify]: Simplify (+ 0) into 0 31.022 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 31.022 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 31.023 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.024 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 31.024 * [backup-simplify]: Simplify (- 0) into 0 31.024 * [backup-simplify]: Simplify (+ 0 0) into 0 31.024 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 31.025 * [backup-simplify]: Simplify (+ 0) into 0 31.025 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 31.025 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.026 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.027 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 31.027 * [backup-simplify]: Simplify (- 0) into 0 31.027 * [backup-simplify]: Simplify (+ 0 0) into 0 31.028 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (cos (/ -1 theta))))) into 0 31.028 * [backup-simplify]: Simplify (+ 0 0) into 0 31.028 * [backup-simplify]: Simplify 0 into 0 31.029 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.029 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.030 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.030 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.031 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.031 * [backup-simplify]: Simplify (+ 0 0) into 0 31.032 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.033 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.033 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.034 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.034 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.035 * [backup-simplify]: Simplify (- 0) into 0 31.035 * [backup-simplify]: Simplify (+ 0 0) into 0 31.036 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 31.036 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 31.037 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.038 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.038 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.039 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.039 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.040 * [backup-simplify]: Simplify (- 0) into 0 31.040 * [backup-simplify]: Simplify (+ 0 0) into 0 31.041 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.041 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.042 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.042 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.043 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.043 * [backup-simplify]: Simplify (+ 0 0) into 0 31.044 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 31.044 * [backup-simplify]: Simplify (+ 0 0) into 0 31.044 * [taylor]: Taking taylor expansion of 0 in phi1 31.045 * [backup-simplify]: Simplify 0 into 0 31.045 * [taylor]: Taking taylor expansion of 0 in delta 31.045 * [backup-simplify]: Simplify 0 into 0 31.045 * [backup-simplify]: Simplify 0 into 0 31.045 * [taylor]: Taking taylor expansion of 0 in delta 31.045 * [backup-simplify]: Simplify 0 into 0 31.045 * [backup-simplify]: Simplify 0 into 0 31.046 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.046 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.046 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.047 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.048 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.048 * [backup-simplify]: Simplify (- 0) into 0 31.048 * [backup-simplify]: Simplify (+ 0 0) into 0 31.049 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.050 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.050 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.051 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.051 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.052 * [backup-simplify]: Simplify (+ 0 0) into 0 31.052 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (cos (/ -1 theta))))) into 0 31.053 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 31.054 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.054 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.055 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.056 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.056 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.056 * [backup-simplify]: Simplify (- 0) into 0 31.057 * [backup-simplify]: Simplify (+ 0 0) into 0 31.057 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 31.058 * [backup-simplify]: Simplify (+ 0 0) into 0 31.058 * [taylor]: Taking taylor expansion of 0 in delta 31.058 * [backup-simplify]: Simplify 0 into 0 31.058 * [backup-simplify]: Simplify 0 into 0 31.058 * [backup-simplify]: Simplify (+ (* (cos (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- delta)))) (cos (/ -1 (/ 1 (- theta)))))) (* (sin (/ -1 (/ 1 (- phi1)))) (cos (/ -1 (/ 1 (- delta)))))) into (+ (* (cos phi1) (* (sin delta) (cos theta))) (* (sin phi1) (cos delta))) 31.058 * * * * [progress]: [ 4 / 4 ] generating series at (2 1 1) 31.059 * [backup-simplify]: Simplify (* (sin delta) (* (cos phi1) (sin theta))) into (* (sin delta) (* (cos phi1) (sin theta))) 31.059 * [approximate]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in (delta phi1 theta) around 0 31.059 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in theta 31.059 * [taylor]: Taking taylor expansion of (sin delta) in theta 31.059 * [taylor]: Taking taylor expansion of delta in theta 31.059 * [backup-simplify]: Simplify delta into delta 31.059 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.059 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.059 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in theta 31.059 * [taylor]: Taking taylor expansion of (cos phi1) in theta 31.059 * [taylor]: Taking taylor expansion of phi1 in theta 31.059 * [backup-simplify]: Simplify phi1 into phi1 31.059 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.059 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.059 * [taylor]: Taking taylor expansion of (sin theta) in theta 31.059 * [taylor]: Taking taylor expansion of theta in theta 31.059 * [backup-simplify]: Simplify 0 into 0 31.059 * [backup-simplify]: Simplify 1 into 1 31.059 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in phi1 31.059 * [taylor]: Taking taylor expansion of (sin delta) in phi1 31.059 * [taylor]: Taking taylor expansion of delta in phi1 31.059 * [backup-simplify]: Simplify delta into delta 31.059 * [backup-simplify]: Simplify (sin delta) into (sin delta) 31.059 * [backup-simplify]: Simplify (cos delta) into (cos delta) 31.059 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in phi1 31.059 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 31.059 * [taylor]: Taking taylor expansion of phi1 in phi1 31.059 * [backup-simplify]: Simplify 0 into 0 31.059 * [backup-simplify]: Simplify 1 into 1 31.059 * [taylor]: Taking taylor expansion of (sin theta) in phi1 31.059 * [taylor]: Taking taylor expansion of theta in phi1 31.059 * [backup-simplify]: Simplify theta into theta 31.059 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.059 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.059 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in delta 31.060 * [taylor]: Taking taylor expansion of (sin delta) in delta 31.060 * [taylor]: Taking taylor expansion of delta in delta 31.060 * [backup-simplify]: Simplify 0 into 0 31.060 * [backup-simplify]: Simplify 1 into 1 31.060 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in delta 31.060 * [taylor]: Taking taylor expansion of (cos phi1) in delta 31.060 * [taylor]: Taking taylor expansion of phi1 in delta 31.060 * [backup-simplify]: Simplify phi1 into phi1 31.060 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.060 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.060 * [taylor]: Taking taylor expansion of (sin theta) in delta 31.060 * [taylor]: Taking taylor expansion of theta in delta 31.060 * [backup-simplify]: Simplify theta into theta 31.060 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.060 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.060 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (sin theta))) in delta 31.060 * [taylor]: Taking taylor expansion of (sin delta) in delta 31.060 * [taylor]: Taking taylor expansion of delta in delta 31.060 * [backup-simplify]: Simplify 0 into 0 31.060 * [backup-simplify]: Simplify 1 into 1 31.060 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in delta 31.060 * [taylor]: Taking taylor expansion of (cos phi1) in delta 31.060 * [taylor]: Taking taylor expansion of phi1 in delta 31.060 * [backup-simplify]: Simplify phi1 into phi1 31.060 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 31.060 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 31.060 * [taylor]: Taking taylor expansion of (sin theta) in delta 31.060 * [taylor]: Taking taylor expansion of theta in delta 31.060 * [backup-simplify]: Simplify theta into theta 31.060 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.060 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.060 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 31.061 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 31.061 * [backup-simplify]: Simplify (- 0) into 0 31.061 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 31.061 * [backup-simplify]: Simplify (* (sin theta) 1) into (sin theta) 31.061 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 31.061 * [backup-simplify]: Simplify (+ (sin theta) 0) into (sin theta) 31.061 * [backup-simplify]: Simplify (* (cos phi1) (sin theta)) into (* (cos phi1) (sin theta)) 31.061 * [backup-simplify]: Simplify (* 0 (* (cos phi1) (sin theta))) into 0 31.061 * [taylor]: Taking taylor expansion of 0 in phi1 31.061 * [backup-simplify]: Simplify 0 into 0 31.062 * [taylor]: Taking taylor expansion of 0 in theta 31.062 * [backup-simplify]: Simplify 0 into 0 31.062 * [backup-simplify]: Simplify 0 into 0 31.062 * [backup-simplify]: Simplify (+ 0) into 0 31.062 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 1)) into 0 31.063 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.064 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 0)) into 0 31.064 * [backup-simplify]: Simplify (+ 0 0) into 0 31.064 * [backup-simplify]: Simplify (+ 0) into 0 31.065 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 31.066 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.066 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 31.066 * [backup-simplify]: Simplify (- 0) into 0 31.067 * [backup-simplify]: Simplify (+ 0 0) into 0 31.067 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 (sin theta))) into 0 31.067 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 31.068 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos phi1) (sin theta)))) into (* (cos phi1) (sin theta)) 31.068 * [taylor]: Taking taylor expansion of (* (cos phi1) (sin theta)) in phi1 31.068 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 31.068 * [taylor]: Taking taylor expansion of phi1 in phi1 31.068 * [backup-simplify]: Simplify 0 into 0 31.068 * [backup-simplify]: Simplify 1 into 1 31.068 * [taylor]: Taking taylor expansion of (sin theta) in phi1 31.068 * [taylor]: Taking taylor expansion of theta in phi1 31.068 * [backup-simplify]: Simplify theta into theta 31.068 * [backup-simplify]: Simplify (sin theta) into (sin theta) 31.068 * [backup-simplify]: Simplify (cos theta) into (cos theta) 31.068 * [backup-simplify]: Simplify (* (sin theta) 1) into (sin theta) 31.068 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 31.068 * [backup-simplify]: Simplify (+ (sin theta) 0) into (sin theta) 31.068 * [backup-simplify]: Simplify (* 1 (sin theta)) into (sin theta) 31.068 * [taylor]: Taking taylor expansion of (sin theta) in theta 31.068 * [taylor]: Taking taylor expansion of theta in theta 31.068 * [backup-simplify]: Simplify 0 into 0 31.069 * [backup-simplify]: Simplify 1 into 1 31.069 * [backup-simplify]: Simplify 0 into 0 31.069 * [taylor]: Taking taylor expansion of 0 in theta 31.069 * [backup-simplify]: Simplify 0 into 0 31.069 * [backup-simplify]: Simplify 0 into 0 31.069 * [backup-simplify]: Simplify 0 into 0 31.070 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.070 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 1))) into 0 31.071 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.072 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 0))) into 0 31.072 * [backup-simplify]: Simplify (+ 0 0) into 0 31.073 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.073 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 31.074 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.079 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 31.080 * [backup-simplify]: Simplify (- 0) into 0 31.081 * [backup-simplify]: Simplify (+ 0 0) into 0 31.081 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 (sin theta)))) into 0 31.082 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.083 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (cos phi1) (sin theta))))) into 0 31.083 * [taylor]: Taking taylor expansion of 0 in phi1 31.083 * [backup-simplify]: Simplify 0 into 0 31.083 * [taylor]: Taking taylor expansion of 0 in theta 31.083 * [backup-simplify]: Simplify 0 into 0 31.083 * [backup-simplify]: Simplify 0 into 0 31.084 * [backup-simplify]: Simplify (+ 0) into 0 31.084 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 1)) into 0 31.085 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.086 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 0)) into 0 31.086 * [backup-simplify]: Simplify (+ 0 0) into 0 31.086 * [backup-simplify]: Simplify (+ 0) into 0 31.087 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sin theta))) into 0 31.087 * [taylor]: Taking taylor expansion of 0 in theta 31.087 * [backup-simplify]: Simplify 0 into 0 31.087 * [backup-simplify]: Simplify 0 into 0 31.087 * [backup-simplify]: Simplify 0 into 0 31.087 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) 31.087 * [approximate]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in (delta phi1 theta) around 0 31.087 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in theta 31.087 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 31.087 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.087 * [taylor]: Taking taylor expansion of phi1 in theta 31.087 * [backup-simplify]: Simplify phi1 into phi1 31.088 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.088 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.088 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.088 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in theta 31.088 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in theta 31.088 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 31.088 * [taylor]: Taking taylor expansion of theta in theta 31.088 * [backup-simplify]: Simplify 0 into 0 31.088 * [backup-simplify]: Simplify 1 into 1 31.088 * [backup-simplify]: Simplify (/ 1 1) into 1 31.088 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.088 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 31.088 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.088 * [taylor]: Taking taylor expansion of delta in theta 31.088 * [backup-simplify]: Simplify delta into delta 31.088 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.088 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.089 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.089 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in phi1 31.089 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 31.089 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.089 * [taylor]: Taking taylor expansion of phi1 in phi1 31.089 * [backup-simplify]: Simplify 0 into 0 31.089 * [backup-simplify]: Simplify 1 into 1 31.089 * [backup-simplify]: Simplify (/ 1 1) into 1 31.089 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.089 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in phi1 31.089 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in phi1 31.089 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 31.089 * [taylor]: Taking taylor expansion of theta in phi1 31.089 * [backup-simplify]: Simplify theta into theta 31.089 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.089 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.090 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.090 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 31.090 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.090 * [taylor]: Taking taylor expansion of delta in phi1 31.090 * [backup-simplify]: Simplify delta into delta 31.090 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.090 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.090 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.090 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in delta 31.090 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 31.090 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.090 * [taylor]: Taking taylor expansion of phi1 in delta 31.090 * [backup-simplify]: Simplify phi1 into phi1 31.090 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.090 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.090 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.090 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in delta 31.090 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in delta 31.090 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 31.090 * [taylor]: Taking taylor expansion of theta in delta 31.090 * [backup-simplify]: Simplify theta into theta 31.090 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.090 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.090 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.090 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 31.090 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.090 * [taylor]: Taking taylor expansion of delta in delta 31.090 * [backup-simplify]: Simplify 0 into 0 31.090 * [backup-simplify]: Simplify 1 into 1 31.090 * [backup-simplify]: Simplify (/ 1 1) into 1 31.090 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.091 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in delta 31.091 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 31.091 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 31.091 * [taylor]: Taking taylor expansion of phi1 in delta 31.091 * [backup-simplify]: Simplify phi1 into phi1 31.091 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.091 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.091 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.091 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in delta 31.091 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in delta 31.091 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 31.091 * [taylor]: Taking taylor expansion of theta in delta 31.091 * [backup-simplify]: Simplify theta into theta 31.091 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.091 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.091 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.091 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 31.091 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 31.091 * [taylor]: Taking taylor expansion of delta in delta 31.091 * [backup-simplify]: Simplify 0 into 0 31.091 * [backup-simplify]: Simplify 1 into 1 31.091 * [backup-simplify]: Simplify (/ 1 1) into 1 31.091 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.091 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 31.091 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 31.092 * [backup-simplify]: Simplify (- 0) into 0 31.092 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 31.092 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 1) into (sin (/ 1 theta)) 31.092 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 0) into 0 31.092 * [backup-simplify]: Simplify (+ (sin (/ 1 theta)) 0) into (sin (/ 1 theta)) 31.092 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (sin (/ 1 delta))) into (* (sin (/ 1 theta)) (sin (/ 1 delta))) 31.092 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) 31.092 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 31.092 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 31.092 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 31.092 * [taylor]: Taking taylor expansion of delta in phi1 31.092 * [backup-simplify]: Simplify delta into delta 31.092 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.092 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.092 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.092 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (cos (/ 1 phi1))) in phi1 31.092 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in phi1 31.092 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 31.092 * [taylor]: Taking taylor expansion of theta in phi1 31.092 * [backup-simplify]: Simplify theta into theta 31.092 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 31.092 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.092 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 31.093 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 31.093 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 31.093 * [taylor]: Taking taylor expansion of phi1 in phi1 31.093 * [backup-simplify]: Simplify 0 into 0 31.093 * [backup-simplify]: Simplify 1 into 1 31.093 * [backup-simplify]: Simplify (/ 1 1) into 1 31.093 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.093 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 31.093 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 31.093 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 31.093 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 1) into (sin (/ 1 theta)) 31.093 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 0) into 0 31.093 * [backup-simplify]: Simplify (+ (sin (/ 1 theta)) 0) into (sin (/ 1 theta)) 31.093 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (cos (/ 1 phi1))) into (* (sin (/ 1 theta)) (cos (/ 1 phi1))) 31.093 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) 31.093 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) in theta 31.093 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 31.093 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 31.093 * [taylor]: Taking taylor expansion of phi1 in theta 31.093 * [backup-simplify]: Simplify phi1 into phi1 31.094 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 31.094 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 31.094 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 31.094 * [taylor]: Taking taylor expansion of (* (sin (/ 1 theta)) (sin (/ 1 delta))) in theta 31.094 * [taylor]: Taking taylor expansion of (sin (/ 1 theta)) in theta 31.094 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 31.094 * [taylor]: Taking taylor expansion of theta in theta 31.094 * [backup-simplify]: Simplify 0 into 0 31.094 * [backup-simplify]: Simplify 1 into 1 31.094 * [backup-simplify]: Simplify (/ 1 1) into 1 31.094 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 31.094 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 31.094 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 31.094 * [taylor]: Taking taylor expansion of delta in theta 31.094 * [backup-simplify]: Simplify delta into delta 31.094 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 31.094 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 31.094 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 31.094 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 31.095 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 31.095 * [backup-simplify]: Simplify (- 0) into 0 31.095 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 31.095 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 31.095 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 31.095 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 31.095 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) (sin (/ 1 delta))) into (* (sin (/ 1 theta)) (sin (/ 1 delta))) 31.095 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) into (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) 31.095 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (sin (/ 1 theta)) (cos (/ 1 phi1)))) into (* (cos (/ 1 phi1)) (* (sin (/ 1 theta)) (sin (/ 1 delta)))) 31.096 * [backup-simplify]: Simplify (+ 0) into 0 31.096 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 1)) into 0 31.096 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 31.096 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.097 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 0)) into 0 31.097 * [backup-simplify]: Simplify (+ 0 0) into 0 31.097 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 31.097 * [backup-simplify]: Simplify (+ 0) into 0 31.098 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 31.098 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.098 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.099 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 31.099 * [backup-simplify]: Simplify (- 0) into 0 31.099 * [backup-simplify]: Simplify (+ 0 0) into 0 31.099 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 theta)) (sin (/ 1 delta))))) into 0 31.099 * [taylor]: Taking taylor expansion of 0 in phi1 31.099 * [backup-simplify]: Simplify 0 into 0 31.099 * [taylor]: Taking taylor expansion of 0 in theta 31.099 * [backup-simplify]: Simplify 0 into 0 31.099 * [backup-simplify]: Simplify 0 into 0 31.100 * [backup-simplify]: Simplify (+ 0) into 0 31.100 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 1)) into 0 31.100 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 31.100 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.101 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 0)) into 0 31.101 * [backup-simplify]: Simplify (+ 0 0) into 0 31.101 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 31.101 * [backup-simplify]: Simplify (+ 0) into 0 31.102 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 31.102 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.102 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.102 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 31.103 * [backup-simplify]: Simplify (+ 0 0) into 0 31.103 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (sin (/ 1 theta)) (cos (/ 1 phi1))))) into 0 31.103 * [taylor]: Taking taylor expansion of 0 in theta 31.103 * [backup-simplify]: Simplify 0 into 0 31.103 * [backup-simplify]: Simplify 0 into 0 31.103 * [backup-simplify]: Simplify (+ 0) into 0 31.103 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 31.104 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 31.104 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.104 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 31.105 * [backup-simplify]: Simplify (+ 0 0) into 0 31.105 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 (sin (/ 1 delta)))) into 0 31.105 * [backup-simplify]: Simplify (+ 0) into 0 31.105 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 31.105 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 31.106 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.106 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 31.106 * [backup-simplify]: Simplify (- 0) into 0 31.107 * [backup-simplify]: Simplify (+ 0 0) into 0 31.107 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (* (sin (/ 1 theta)) (sin (/ 1 delta))))) into 0 31.107 * [backup-simplify]: Simplify 0 into 0 31.107 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.108 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.108 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.108 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.109 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.109 * [backup-simplify]: Simplify (+ 0 0) into 0 31.109 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ 1 delta))))) into 0 31.110 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.110 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.111 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.111 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.111 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.112 * [backup-simplify]: Simplify (- 0) into 0 31.112 * [backup-simplify]: Simplify (+ 0 0) into 0 31.112 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 theta)) (sin (/ 1 delta)))))) into 0 31.112 * [taylor]: Taking taylor expansion of 0 in phi1 31.112 * [backup-simplify]: Simplify 0 into 0 31.112 * [taylor]: Taking taylor expansion of 0 in theta 31.112 * [backup-simplify]: Simplify 0 into 0 31.112 * [backup-simplify]: Simplify 0 into 0 31.112 * [taylor]: Taking taylor expansion of 0 in theta 31.112 * [backup-simplify]: Simplify 0 into 0 31.112 * [backup-simplify]: Simplify 0 into 0 31.113 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.113 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.114 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.114 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.114 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.115 * [backup-simplify]: Simplify (+ 0 0) into 0 31.115 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 31.115 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.116 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.116 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.116 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.117 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.117 * [backup-simplify]: Simplify (+ 0 0) into 0 31.117 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (sin (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 31.117 * [taylor]: Taking taylor expansion of 0 in theta 31.118 * [backup-simplify]: Simplify 0 into 0 31.118 * [backup-simplify]: Simplify 0 into 0 31.118 * [backup-simplify]: Simplify (* (cos (/ 1 (/ 1 phi1))) (* (sin (/ 1 (/ 1 theta))) (sin (/ 1 (/ 1 delta))))) into (* (cos phi1) (* (sin theta) (sin delta))) 31.118 * [backup-simplify]: Simplify (* (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (sin (/ 1 (- theta))))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) 31.118 * [approximate]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in (delta phi1 theta) around 0 31.118 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in theta 31.118 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 31.118 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.118 * [taylor]: Taking taylor expansion of -1 in theta 31.118 * [backup-simplify]: Simplify -1 into -1 31.118 * [taylor]: Taking taylor expansion of phi1 in theta 31.118 * [backup-simplify]: Simplify phi1 into phi1 31.118 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.118 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.118 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.118 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in theta 31.118 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in theta 31.118 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 31.118 * [taylor]: Taking taylor expansion of -1 in theta 31.118 * [backup-simplify]: Simplify -1 into -1 31.118 * [taylor]: Taking taylor expansion of theta in theta 31.118 * [backup-simplify]: Simplify 0 into 0 31.118 * [backup-simplify]: Simplify 1 into 1 31.118 * [backup-simplify]: Simplify (/ -1 1) into -1 31.119 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.119 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 31.119 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.119 * [taylor]: Taking taylor expansion of -1 in theta 31.119 * [backup-simplify]: Simplify -1 into -1 31.119 * [taylor]: Taking taylor expansion of delta in theta 31.119 * [backup-simplify]: Simplify delta into delta 31.119 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.119 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.119 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.119 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in phi1 31.119 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 31.119 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.119 * [taylor]: Taking taylor expansion of -1 in phi1 31.119 * [backup-simplify]: Simplify -1 into -1 31.119 * [taylor]: Taking taylor expansion of phi1 in phi1 31.119 * [backup-simplify]: Simplify 0 into 0 31.119 * [backup-simplify]: Simplify 1 into 1 31.119 * [backup-simplify]: Simplify (/ -1 1) into -1 31.119 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.119 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in phi1 31.119 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in phi1 31.119 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 31.119 * [taylor]: Taking taylor expansion of -1 in phi1 31.119 * [backup-simplify]: Simplify -1 into -1 31.119 * [taylor]: Taking taylor expansion of theta in phi1 31.119 * [backup-simplify]: Simplify theta into theta 31.119 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.119 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.119 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.119 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 31.119 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.119 * [taylor]: Taking taylor expansion of -1 in phi1 31.120 * [backup-simplify]: Simplify -1 into -1 31.120 * [taylor]: Taking taylor expansion of delta in phi1 31.120 * [backup-simplify]: Simplify delta into delta 31.120 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.120 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.120 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.120 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in delta 31.120 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 31.120 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.120 * [taylor]: Taking taylor expansion of -1 in delta 31.120 * [backup-simplify]: Simplify -1 into -1 31.120 * [taylor]: Taking taylor expansion of phi1 in delta 31.120 * [backup-simplify]: Simplify phi1 into phi1 31.120 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.120 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.120 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.120 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in delta 31.120 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in delta 31.120 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 31.120 * [taylor]: Taking taylor expansion of -1 in delta 31.120 * [backup-simplify]: Simplify -1 into -1 31.120 * [taylor]: Taking taylor expansion of theta in delta 31.120 * [backup-simplify]: Simplify theta into theta 31.120 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.120 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.120 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.120 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 31.120 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.120 * [taylor]: Taking taylor expansion of -1 in delta 31.120 * [backup-simplify]: Simplify -1 into -1 31.120 * [taylor]: Taking taylor expansion of delta in delta 31.120 * [backup-simplify]: Simplify 0 into 0 31.120 * [backup-simplify]: Simplify 1 into 1 31.120 * [backup-simplify]: Simplify (/ -1 1) into -1 31.121 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.121 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in delta 31.121 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 31.121 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 31.121 * [taylor]: Taking taylor expansion of -1 in delta 31.121 * [backup-simplify]: Simplify -1 into -1 31.121 * [taylor]: Taking taylor expansion of phi1 in delta 31.121 * [backup-simplify]: Simplify phi1 into phi1 31.121 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.121 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.121 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.121 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in delta 31.121 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in delta 31.121 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 31.121 * [taylor]: Taking taylor expansion of -1 in delta 31.121 * [backup-simplify]: Simplify -1 into -1 31.121 * [taylor]: Taking taylor expansion of theta in delta 31.121 * [backup-simplify]: Simplify theta into theta 31.121 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.121 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.121 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.121 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 31.121 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 31.121 * [taylor]: Taking taylor expansion of -1 in delta 31.121 * [backup-simplify]: Simplify -1 into -1 31.121 * [taylor]: Taking taylor expansion of delta in delta 31.121 * [backup-simplify]: Simplify 0 into 0 31.121 * [backup-simplify]: Simplify 1 into 1 31.121 * [backup-simplify]: Simplify (/ -1 1) into -1 31.121 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.122 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 31.122 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 31.122 * [backup-simplify]: Simplify (- 0) into 0 31.122 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 31.122 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 1) into (sin (/ -1 theta)) 31.122 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 0) into 0 31.122 * [backup-simplify]: Simplify (+ (sin (/ -1 theta)) 0) into (sin (/ -1 theta)) 31.122 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (sin (/ -1 theta))) 31.122 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) 31.122 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) in phi1 31.122 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 31.122 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 31.122 * [taylor]: Taking taylor expansion of -1 in phi1 31.122 * [backup-simplify]: Simplify -1 into -1 31.122 * [taylor]: Taking taylor expansion of phi1 in phi1 31.122 * [backup-simplify]: Simplify 0 into 0 31.122 * [backup-simplify]: Simplify 1 into 1 31.123 * [backup-simplify]: Simplify (/ -1 1) into -1 31.123 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.123 * [taylor]: Taking taylor expansion of (* (sin (/ -1 delta)) (sin (/ -1 theta))) in phi1 31.123 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 31.123 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 31.123 * [taylor]: Taking taylor expansion of -1 in phi1 31.123 * [backup-simplify]: Simplify -1 into -1 31.123 * [taylor]: Taking taylor expansion of delta in phi1 31.123 * [backup-simplify]: Simplify delta into delta 31.123 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.123 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.123 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.123 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in phi1 31.123 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 31.123 * [taylor]: Taking taylor expansion of -1 in phi1 31.123 * [backup-simplify]: Simplify -1 into -1 31.123 * [taylor]: Taking taylor expansion of theta in phi1 31.123 * [backup-simplify]: Simplify theta into theta 31.123 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 31.123 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.123 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 31.123 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 31.123 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 31.123 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 31.123 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 1) into (sin (/ -1 theta)) 31.123 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 0) into 0 31.123 * [backup-simplify]: Simplify (+ (sin (/ -1 theta)) 0) into (sin (/ -1 theta)) 31.124 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) (sin (/ -1 theta))) into (* (sin (/ -1 theta)) (sin (/ -1 delta))) 31.124 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) 31.124 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) in theta 31.124 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 31.124 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 31.124 * [taylor]: Taking taylor expansion of -1 in theta 31.124 * [backup-simplify]: Simplify -1 into -1 31.124 * [taylor]: Taking taylor expansion of phi1 in theta 31.124 * [backup-simplify]: Simplify phi1 into phi1 31.124 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 31.124 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 31.124 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 31.124 * [taylor]: Taking taylor expansion of (* (sin (/ -1 theta)) (sin (/ -1 delta))) in theta 31.124 * [taylor]: Taking taylor expansion of (sin (/ -1 theta)) in theta 31.124 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 31.124 * [taylor]: Taking taylor expansion of -1 in theta 31.124 * [backup-simplify]: Simplify -1 into -1 31.124 * [taylor]: Taking taylor expansion of theta in theta 31.124 * [backup-simplify]: Simplify 0 into 0 31.124 * [backup-simplify]: Simplify 1 into 1 31.124 * [backup-simplify]: Simplify (/ -1 1) into -1 31.124 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 31.124 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 31.124 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 31.124 * [taylor]: Taking taylor expansion of -1 in theta 31.124 * [backup-simplify]: Simplify -1 into -1 31.124 * [taylor]: Taking taylor expansion of delta in theta 31.124 * [backup-simplify]: Simplify delta into delta 31.125 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 31.125 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 31.125 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 31.125 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 31.125 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 31.125 * [backup-simplify]: Simplify (- 0) into 0 31.125 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 31.125 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 31.125 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 31.125 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 31.125 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) (sin (/ -1 delta))) into (* (sin (/ -1 delta)) (sin (/ -1 theta))) 31.125 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) 31.125 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) into (* (cos (/ -1 phi1)) (* (sin (/ -1 delta)) (sin (/ -1 theta)))) 31.126 * [backup-simplify]: Simplify (+ 0) into 0 31.126 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 1)) into 0 31.126 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 31.127 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.127 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 0)) into 0 31.127 * [backup-simplify]: Simplify (+ 0 0) into 0 31.127 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 31.128 * [backup-simplify]: Simplify (+ 0) into 0 31.128 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 31.128 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.128 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.129 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 31.129 * [backup-simplify]: Simplify (- 0) into 0 31.129 * [backup-simplify]: Simplify (+ 0 0) into 0 31.129 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (sin (/ -1 theta))))) into 0 31.129 * [taylor]: Taking taylor expansion of 0 in phi1 31.129 * [backup-simplify]: Simplify 0 into 0 31.129 * [taylor]: Taking taylor expansion of 0 in theta 31.129 * [backup-simplify]: Simplify 0 into 0 31.129 * [backup-simplify]: Simplify 0 into 0 31.130 * [backup-simplify]: Simplify (+ 0) into 0 31.130 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 1)) into 0 31.130 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 31.131 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.131 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 0)) into 0 31.131 * [backup-simplify]: Simplify (+ 0 0) into 0 31.131 * [backup-simplify]: Simplify (+ 0) into 0 31.132 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 31.132 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.132 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.133 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 31.133 * [backup-simplify]: Simplify (+ 0 0) into 0 31.133 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 (sin (/ -1 theta)))) into 0 31.133 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 theta)) (sin (/ -1 delta))))) into 0 31.133 * [taylor]: Taking taylor expansion of 0 in theta 31.133 * [backup-simplify]: Simplify 0 into 0 31.133 * [backup-simplify]: Simplify 0 into 0 31.133 * [backup-simplify]: Simplify (+ 0) into 0 31.134 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 31.134 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 31.134 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.135 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 31.135 * [backup-simplify]: Simplify (+ 0 0) into 0 31.135 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 31.135 * [backup-simplify]: Simplify (+ 0) into 0 31.136 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 31.136 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 31.136 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.136 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 31.137 * [backup-simplify]: Simplify (- 0) into 0 31.137 * [backup-simplify]: Simplify (+ 0 0) into 0 31.137 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (sin (/ -1 delta)) (sin (/ -1 theta))))) into 0 31.137 * [backup-simplify]: Simplify 0 into 0 31.138 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.138 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.138 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.139 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.139 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.139 * [backup-simplify]: Simplify (+ 0 0) into 0 31.140 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 31.140 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.141 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.141 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.141 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.142 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.142 * [backup-simplify]: Simplify (- 0) into 0 31.142 * [backup-simplify]: Simplify (+ 0 0) into 0 31.142 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -1 delta)) (sin (/ -1 theta)))))) into 0 31.143 * [taylor]: Taking taylor expansion of 0 in phi1 31.143 * [backup-simplify]: Simplify 0 into 0 31.143 * [taylor]: Taking taylor expansion of 0 in theta 31.143 * [backup-simplify]: Simplify 0 into 0 31.143 * [backup-simplify]: Simplify 0 into 0 31.143 * [taylor]: Taking taylor expansion of 0 in theta 31.143 * [backup-simplify]: Simplify 0 into 0 31.143 * [backup-simplify]: Simplify 0 into 0 31.143 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.144 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.144 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 31.144 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.145 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.145 * [backup-simplify]: Simplify (+ 0 0) into 0 31.146 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.147 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 31.147 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 31.148 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.149 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 31.149 * [backup-simplify]: Simplify (+ 0 0) into 0 31.150 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 theta))))) into 0 31.150 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -1 theta)) (sin (/ -1 delta)))))) into 0 31.150 * [taylor]: Taking taylor expansion of 0 in theta 31.151 * [backup-simplify]: Simplify 0 into 0 31.151 * [backup-simplify]: Simplify 0 into 0 31.151 * [backup-simplify]: Simplify (* (cos (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- delta)))) (sin (/ -1 (/ 1 (- theta)))))) into (* (cos phi1) (* (sin delta) (sin theta))) 31.151 * * * [progress]: simplifying candidates 31.151 * * * * [progress]: [ 1 / 76 ] simplifiying candidate # 31.151 * * * * [progress]: [ 2 / 76 ] simplifiying candidate # 31.151 * * * * [progress]: [ 3 / 76 ] simplifiying candidate # 31.151 * * * * [progress]: [ 4 / 76 ] simplifiying candidate # 31.151 * * * * [progress]: [ 5 / 76 ] simplifiying candidate # 31.152 * * * * [progress]: [ 6 / 76 ] simplifiying candidate # 31.152 * * * * [progress]: [ 7 / 76 ] simplifiying candidate # 31.152 * * * * [progress]: [ 8 / 76 ] simplifiying candidate # 31.152 * * * * [progress]: [ 9 / 76 ] simplifiying candidate # 31.152 * * * * [progress]: [ 10 / 76 ] simplifiying candidate # 31.152 * * * * [progress]: [ 11 / 76 ] simplifiying candidate # 31.152 * * * * [progress]: [ 12 / 76 ] simplifiying candidate # 31.152 * * * * [progress]: [ 13 / 76 ] simplifiying candidate # 31.152 * * * * [progress]: [ 14 / 76 ] simplifiying candidate # 31.152 * * * * [progress]: [ 15 / 76 ] simplifiying candidate # 31.152 * * * * [progress]: [ 16 / 76 ] simplifiying candidate # 31.152 * * * * [progress]: [ 17 / 76 ] simplifiying candidate # 31.153 * * * * [progress]: [ 18 / 76 ] simplifiying candidate # 31.153 * * * * [progress]: [ 19 / 76 ] simplifiying candidate # 31.153 * * * * [progress]: [ 20 / 76 ] simplifiying candidate # 31.153 * * * * [progress]: [ 21 / 76 ] simplifiying candidate #real (real->posit16 (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 31.153 * * * * [progress]: [ 22 / 76 ] simplifiying candidate # 31.153 * * * * [progress]: [ 23 / 76 ] simplifiying candidate # 31.153 * * * * [progress]: [ 24 / 76 ] simplifiying candidate # 31.153 * * * * [progress]: [ 25 / 76 ] simplifiying candidate # 31.153 * * * * [progress]: [ 26 / 76 ] simplifiying candidate # 31.153 * * * * [progress]: [ 27 / 76 ] simplifiying candidate # 31.153 * * * * [progress]: [ 28 / 76 ] simplifiying candidate # 31.153 * * * * [progress]: [ 29 / 76 ] simplifiying candidate # 31.154 * * * * [progress]: [ 30 / 76 ] simplifiying candidate # 31.154 * * * * [progress]: [ 31 / 76 ] simplifiying candidate # 31.154 * * * * [progress]: [ 32 / 76 ] simplifiying candidate #real (real->posit16 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 31.154 * * * * [progress]: [ 33 / 76 ] simplifiying candidate # 31.154 * * * * [progress]: [ 34 / 76 ] simplifiying candidate # 31.154 * * * * [progress]: [ 35 / 76 ] simplifiying candidate # 31.154 * * * * [progress]: [ 36 / 76 ] simplifiying candidate # 31.154 * * * * [progress]: [ 37 / 76 ] simplifiying candidate # 31.154 * * * * [progress]: [ 38 / 76 ] simplifiying candidate # 31.154 * * * * [progress]: [ 39 / 76 ] simplifiying candidate # 31.154 * * * * [progress]: [ 40 / 76 ] simplifiying candidate # 31.154 * * * * [progress]: [ 41 / 76 ] simplifiying candidate # 31.155 * * * * [progress]: [ 42 / 76 ] simplifiying candidate # 31.155 * * * * [progress]: [ 43 / 76 ] simplifiying candidate #real (real->posit16 (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))))) lambda1))> 31.155 * * * * [progress]: [ 44 / 76 ] simplifiying candidate # 31.155 * * * * [progress]: [ 45 / 76 ] simplifiying candidate # 31.155 * * * * [progress]: [ 46 / 76 ] simplifiying candidate # 31.155 * * * * [progress]: [ 47 / 76 ] simplifiying candidate # 31.155 * * * * [progress]: [ 48 / 76 ] simplifiying candidate # 31.155 * * * * [progress]: [ 49 / 76 ] simplifiying candidate # 31.155 * * * * [progress]: [ 50 / 76 ] simplifiying candidate # 31.155 * * * * [progress]: [ 51 / 76 ] simplifiying candidate # 31.155 * * * * [progress]: [ 52 / 76 ] simplifiying candidate # 31.155 * * * * [progress]: [ 53 / 76 ] simplifiying candidate # 31.155 * * * * [progress]: [ 54 / 76 ] simplifiying candidate # 31.156 * * * * [progress]: [ 55 / 76 ] simplifiying candidate # 31.156 * * * * [progress]: [ 56 / 76 ] simplifiying candidate # 31.156 * * * * [progress]: [ 57 / 76 ] simplifiying candidate # 31.156 * * * * [progress]: [ 58 / 76 ] simplifiying candidate # 31.156 * * * * [progress]: [ 59 / 76 ] simplifiying candidate # 31.156 * * * * [progress]: [ 60 / 76 ] simplifiying candidate # 31.156 * * * * [progress]: [ 61 / 76 ] simplifiying candidate # 31.156 * * * * [progress]: [ 62 / 76 ] simplifiying candidate # 31.156 * * * * [progress]: [ 63 / 76 ] simplifiying candidate #real (real->posit16 (* (sin delta) (* (cos phi1) (sin theta))))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) lambda1))> 31.156 * * * * [progress]: [ 64 / 76 ] simplifiying candidate # 31.156 * * * * [progress]: [ 65 / 76 ] simplifiying candidate # 31.156 * * * * [progress]: [ 66 / 76 ] simplifiying candidate # 31.157 * * * * [progress]: [ 67 / 76 ] simplifiying candidate # 31.157 * * * * [progress]: [ 68 / 76 ] simplifiying candidate # 31.157 * * * * [progress]: [ 69 / 76 ] simplifiying candidate # 31.157 * * * * [progress]: [ 70 / 76 ] simplifiying candidate # 31.157 * * * * [progress]: [ 71 / 76 ] simplifiying candidate # 31.157 * * * * [progress]: [ 72 / 76 ] simplifiying candidate # 31.157 * * * * [progress]: [ 73 / 76 ] simplifiying candidate # 31.157 * * * * [progress]: [ 74 / 76 ] simplifiying candidate # 31.157 * * * * [progress]: [ 75 / 76 ] simplifiying candidate # 31.157 * * * * [progress]: [ 76 / 76 ] simplifiying candidate # 31.159 * [simplify]: Simplifying: (fma (* (cbrt (cos delta)) (cbrt (cos delta))) (cbrt (cos delta)) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))) (fma (- (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin phi1) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1))) (fma (sqrt (cos delta)) (sqrt (cos delta)) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))) (fma (- (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin phi1) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1))) (fma 1 (cos delta) (- (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1)))) (fma (- (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (sin phi1) (* (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sin phi1))) (expm1 (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) (log1p (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) (- (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (- (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (- (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (/ (exp (cos delta)) (exp (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) (log (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) (exp (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) (* (cbrt (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) (cbrt (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))))) (cbrt (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) (* (* (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) (sqrt (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) (sqrt (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) (- (pow (cos delta) 3) (pow (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) 3)) (+ (* (cos delta) (cos delta)) (+ (* (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (* (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))))) (- (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (- (* (cos delta) (cos delta)) (* (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) (+ (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (- (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))))) (real->posit16 (- (cos delta) (* (sin phi1) (sin (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))))) (expm1 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (log1p (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (/ PI 2) (acos (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))) (log (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (exp (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (* (cbrt (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (cbrt (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))))) (cbrt (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (* (* (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))) (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sqrt (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (sqrt (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (real->posit16 (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (expm1 (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))) (log1p (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))) (* (cos theta) (* (cos phi1) (sin delta))) (log (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))) (exp (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))) (* (cbrt (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))) (cbrt (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))))) (cbrt (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))) (* (* (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1))) (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))) (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))) (sqrt (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))) (sqrt (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))) (real->posit16 (fma (cos theta) (* (cos phi1) (sin delta)) (* (cos delta) (sin phi1)))) (expm1 (* (sin 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)))) (- 1 (+ (* phi1 delta) (* 1/2 (pow delta 2)))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (sin phi1) (* (cos theta) (cos phi1)))))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos theta) (* (sin delta) (cos phi1)))))) (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) (asin (fma (cos theta) (* (sin delta) (cos phi1)) (* (sin phi1) (cos delta)))) (asin (fma (cos theta) (* (cos phi1) (sin delta)) (* (sin phi1) (cos delta)))) (+ phi1 delta) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta)))) (+ (* (cos phi1) (* (sin delta) (cos theta))) (* (sin phi1) (cos delta))) 0 (* (cos phi1) (* (sin theta) (sin delta))) (* (cos phi1) (* (sin delta) (sin theta))) 31.162 * * [simplify]: iteration 1: (146 enodes) 31.225 * * [simplify]: iteration 2: (300 enodes) 31.334 * * [simplify]: iteration 3: (835 enodes) 31.902 * * [simplify]: Extracting #0: cost 57 inf + 0 31.902 * * [simplify]: Extracting #1: cost 278 inf + 1 31.905 * * [simplify]: Extracting #2: cost 601 inf + 2272 31.921 * * [simplify]: Extracting #3: cost 471 inf + 44899 31.983 * * [simplify]: Extracting #4: cost 222 inf + 169271 32.063 * * [simplify]: Extracting #5: cost 14 inf + 305977 32.161 * * [simplify]: Extracting #6: cost 0 inf + 314773 32.244 * [simplify]: Simplified to: (- (* (cbrt (cos delta)) (* (cbrt (cos delta)) (cbrt (cos delta)))) (* (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (sin phi1))) (* (+ (sin phi1) (- (sin phi1))) (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1)))))) (- (cos delta) (* (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (sin phi1))) (* (+ (sin phi1) (- (sin phi1))) (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1)))))) (- (cos delta) (* (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (sin phi1))) (* (+ (sin phi1) (- (sin phi1))) (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1)))))) (expm1 (- (cos delta) (* (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (sin phi1)))) (log1p (- (cos delta) (* (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (sin phi1)))) (* (- (sin phi1)) (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1)))))) (* (- (sin phi1)) (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1)))))) (* (- (sin phi1)) (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1)))))) (exp (- (cos delta) (* (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (sin phi1)))) (log (- (cos delta) (* (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (sin phi1)))) (exp (- (cos delta) (* (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (sin phi1)))) (* (cbrt (- (cos delta) (* (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (sin phi1)))) (cbrt (- (cos delta) (* (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (sin phi1))))) (cbrt (- (cos delta) (* (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (sin phi1)))) (* (* (- (cos delta) (* (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (sin phi1))) (- (cos delta) (* (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (sin phi1)))) (- (cos delta) (* (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (sin phi1)))) (sqrt (- (cos delta) (* (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (sin phi1)))) (sqrt (- (cos delta) (* (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (sin phi1)))) (- (* (* (cos delta) (cos delta)) (cos delta)) (* (* (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (sin phi1)) (* (* (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (sin phi1)) (* (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (sin phi1))))) (fma (cos delta) (cos delta) (* (* (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (sin phi1)) (+ (cos delta) (* (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (sin phi1))))) (* (- (sin phi1)) (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1)))))) (- (* (cos delta) (cos delta)) (* (* (sin phi1) (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1)))))) (* (sin phi1) (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1)))))))) (fma (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (sin phi1) (cos delta)) (* (- (sin phi1)) (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1)))))) (real->posit16 (- (cos delta) (* (sin (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (sin phi1)))) (expm1 (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (log1p (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (/ PI 2) (acos (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1)))) (log (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (exp (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (* (cbrt (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (cbrt (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1)))))) (cbrt (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (* (* (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1)))) (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (sqrt (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (sqrt (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (real->posit16 (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (expm1 (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1)))) (log1p (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1)))) (* (cos phi1) (* (sin delta) (cos theta))) (log (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1)))) (exp (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1)))) (* (cbrt (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1)))) (cbrt (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (cbrt (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1)))) (* (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))) (* (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))) (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (sqrt (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1)))) (sqrt (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1)))) (real->posit16 (fma (* (sin delta) (cos theta)) (cos phi1) (* (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 delta))) (sqrt (* (* (sin theta) (cos phi1)) (sin delta))) (* (cos phi1) (sin delta)) (* (* (cbrt (sin delta)) (cos phi1)) (sin theta)) (* (* (sin theta) (cos phi1)) (sqrt (sin delta))) (* (* (sin theta) (cos phi1)) (sin delta)) (real->posit16 (* (* (sin theta) (cos phi1)) (sin delta))) (- 1 (* delta (+ phi1 (* delta 1/2)))) (- (cos delta) (* (sin phi1) (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (- (cos delta) (* (sin phi1) (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))))) (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1)))) (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1)))) (asin (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1)))) (+ delta phi1) (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))) (fma (* (sin delta) (cos theta)) (cos phi1) (* (cos delta) (sin phi1))) 0 (* (* (sin theta) (cos phi1)) (sin delta)) (* (* (sin theta) (cos phi1)) (sin delta)) 32.254 * * * [progress]: adding candidates to table 34.027 * [progress]: [Phase 3 of 3] Extracting. 34.041 * [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) 34.042 * * [simplify]: iteration 1: (21 enodes) 34.043 * * [simplify]: iteration 2: (27 enodes) 34.045 * * [simplify]: Extracting #0: cost 1 inf + 0 34.045 * * [simplify]: Extracting #1: cost 3 inf + 0 34.045 * * [simplify]: Extracting #2: cost 4 inf + 1 34.045 * * [simplify]: Extracting #3: cost 8 inf + 1 34.045 * * [simplify]: Extracting #4: cost 13 inf + 1 34.045 * * [simplify]: Extracting #5: cost 15 inf + 2 34.046 * * [simplify]: Extracting #6: cost 9 inf + 309 34.046 * * [simplify]: Extracting #7: cost 10 inf + 734 34.046 * * [simplify]: Extracting #8: cost 6 inf + 1557 34.047 * * [simplify]: Extracting #9: cost 4 inf + 2703 34.047 * * [simplify]: Extracting #10: cost 3 inf + 3346 34.048 * * [simplify]: Extracting #11: cost 0 inf + 5996 34.050 * [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)))))))))